CN203495959U

CN203495959U - Robot self-adaptive clamping hand for stacking box pieces

Info

Publication number: CN203495959U
Application number: CN201320484800.6U
Authority: CN
Inventors: 丁鸿年; 毕晓燕; 夏卫明; 廉和平
Original assignee: SHANGHAI XINGPAI AUTOMATION TECHNOLOGY Co Ltd; Shanghai Xingpai Energy Technology Co Ltd; SHANGHAI XINGLU MACHINERY EQUIPMENT CO Ltd
Current assignee: SHANGHAI XINGPAI AUTOMATION TECHNOLOGY Co Ltd; Shanghai Xingpai Energy Technology Co Ltd; SHANGHAI XINGLU MACHINERY EQUIPMENT CO Ltd
Priority date: 2013-08-08
Filing date: 2013-08-08
Publication date: 2014-03-26
Anticipated expiration: 2023-08-08

Abstract

The utility model discloses a robot self-adaptive clamping hand for stacking box pieces, which relates to the technical field of a stacking device and realizing the effect of increasing the stacking efficiency. The robot self-adaptive clamping hand comprises a base body, a clamping and moving device, a base supporting device and a side moving device, wherein the clamping and moving device comprises a clamping and moving air cylinder which is arranged on the base body, clamping and moving guide rails and a clamping and moving rack which is arranged on the clamping and moving guide rails, the clamping and moving rack is fixedly connected with a power arm of the clamping and moving air cylinder, and the clamping and moving rack is provided with a proximity sensor; the base supporting device comprises an oscillating air cylinder which is arranged on the clamping and moving rack, oscillating arms which are pivoted on the clamping and moving rack and a pushing rack which is fixedly arranged on the oscillating arms, the pushing rack is pivoted with a power arm of the oscillating air cylinder, and the lower end of the pushing rack is fixedly provided with a base supporting hook plate; the side moving device comprises a side moving guide rod, a side moving air cylinder and a side pressing plate, the side moving guide rod and the side moving air cylinder are arranged on the base body, the side pressing plate is arranged on the side moving guide rod, the side pressing plate is fixedly connected with a power arm of the side moving air cylinder, and the side pressing plate is provided with a proximity sensor. The robot self-adaptive clamping hand provided by the utility model is suitable for stacking operation of the box pieces.

Description

Robot self adaptation handgrip for piling case part

Technical field

The utility model relates to Palletizer technology, particularly relates to a kind of technology of the robot self adaptation handgrip for piling case part.

Background technology

Along with the develop rapidly of Robotics, industrial robot has been widely used in every field, in logistics palletizing operation, adopts robot to capture case part automatic stacking, can reduce labour intensity, improves piling efficiency.

Existing piling Xiang Jian robot all can only capture the case part of single specification kind, capture many specifications case part and need adjust or change handgrip, cannot in single operation process, take turns crawl around from the different size case part of many streamlines, cannot further improve piling efficiency.

Utility model content

For the defect existing in above-mentioned prior art, technical problem to be solved in the utility model is to provide a kind of many specifications of energy self-adapting grasping case part, can improve the robot self adaptation handgrip for piling case part of piling efficiency.

In order to solve the problems of the technologies described above, a kind of robot self adaptation handgrip for piling case part provided by the utility model, is characterized in that: comprise matrix, folder moving device, backing device, side shifter;

Described folder moving device comprises that folder moves cylinder, folder moves frame, and two folders move guide rail;

Described two folders move the straight rail that guide rail is level, and two folders move guide rail and are all fixed on matrix, and are parallel to each other;

Described folder moves cylinder and is arranged on matrix, and the flexible axis of power arm that folder moves cylinder moves axis for folder, and described folder moves axis and is parallel to two folders and moves guide rail;

Described folder moves frame and is slidably mounted on two folders and moves on guide rail, and its support body extends downward lower than two folders and moves guide rail, and it is affixed that the power arm that folder moves cylinder moves top of the trellis by two slide rules and folder, presss from both sides to move frame bottom and be equipped with and approach inductor;

Described backing device comprises oscillating cylinder, pushes away frame, and two swing arms;

Frame pivot joint is all moved with folder in the upper end of described two swing arms, the pivot axis of two swing arms all with a backing dead in line, described backing axis is one perpendicular to folder, to move the horizontal axis of axis;

The described frame that pushes away is fixed on two swing arms, and moves guide rail lower than two folders, and the lower end that pushes away frame is fixed with the backing hook plate towards matrix bending, and described backing hooks the bottom of plate and moves frame lower than folder;

Described oscillating cylinder is arranged on folder and moves on frame, and the flexible axis of power arm of oscillating cylinder and folder move axis and be not parallel to each other, and perpendicular to backing axis, the power arm of oscillating cylinder is through being parallel to the pivot of backing axis and pushing away frame pivot joint;

Described side shifter comprises sidesway cylinder, side guide, sidesway guide rod;

Described sidesway guide rod is straight-bar, and sidesway guide rod is fixed on matrix, and the shaft of sidesway guide rod is parallel to backing axis and moves frame bottom higher than folder;

Described sidesway cylinder is arranged on matrix, and the power arm telescopic shaft line parallel of sidesway cylinder is in backing axis;

Described side guide is slidably mounted on sidesway guide rod, and affixed with the power arm of sidesway cylinder, and the plate body of side guide extends downward lower than sidesway guide rod and two folders and moves guide rail, and side guide bottom is equipped with and is approached inductor.

The robot self adaptation handgrip for piling case part that the utility model provides, at folder, move on frame and side guide and be all equipped with and approach inductor, the length and width of energy self-adapting detecting case part, by the cooperation of folder moving device, backing device, side shifter, can capture adaptively many specifications case part, can in single operation process, realize single handgrip and take turns crawl around from the different size case part of many streamlines, can further improve piling efficiency.

Accompanying drawing explanation

Fig. 1 is the stereogram of the robot self adaptation handgrip for piling case part of the utility model embodiment;

Fig. 2 is the right view of folder moving device of the robot self adaptation handgrip for piling case part of the utility model embodiment;

Fig. 3 is the front view of folder moving device of the robot self adaptation handgrip for piling case part of the utility model embodiment;

Fig. 4 is the right view of backing device of the robot self adaptation handgrip for piling case part of the utility model embodiment;

Fig. 5 is the front view of backing device of the robot self adaptation handgrip for piling case part of the utility model embodiment;

Fig. 6 is the front view of side shifter of the robot self adaptation handgrip for piling case part of the utility model embodiment;

Fig. 7 is the top view of side shifter of the robot self adaptation handgrip for piling case part of the utility model embodiment.

The specific embodiment

Below in conjunction with accompanying drawing explanation, embodiment of the present utility model is described in further detail, but the present embodiment is not limited to the utility model, every employing analog structure of the present utility model and similar variation thereof, all should list protection domain of the present utility model in.

As shown in Fig. 1-Fig. 7, a kind of robot self adaptation handgrip for piling case part that the utility model embodiment provides, is characterized in that: comprise matrix 1, folder moving device, backing device, side shifter;

Described folder moving device comprises that folder moves cylinder 21, folder moves frame 22, and two folders move guide rail 23;

Described two folders move the straight rail that guide rail 23 is level, and two folders move guide rail 23 and are all fixed on matrix 1, and are parallel to each other;

Described folder moves cylinder 21 and is arranged on matrix 1, and the flexible axis of power arm that folder moves cylinder 21 moves axis for folder, and described folder moves axis and is parallel to two folders and moves guide rail 23;

Described folder moves frame 22 and is slidably mounted on two folders and moves on guide rail 23, and its support body extends downward lower than two folders and moves guide rail 23, and it is affixed that the power arm that folder moves cylinder 21 moves frame 22 tops by two slide rules and folder, presss from both sides to move frame 22 bottoms and be equipped with and approach inductor 24;

Described backing device comprises oscillating cylinder 31, pushes away frame 33, and two swing arms 32;

Frame 22 pivot joints are all moved with folder in the upper end of described two swing arms 32, the pivot axis of two swing arms 32 all with a backing dead in line, described backing axis is one perpendicular to folder, to move the horizontal axis of axis;

The described frame 33 that pushes away is fixed on two swing arms 32, and moves guide rail 23 lower than two folders, and the lower end that pushes away frame 33 is fixed with the backing hook plate 34 towards matrix 1 bending, and described backing hooks the bottom of plate 34 and moves frame 22 lower than folder;

Described oscillating cylinder 31 is arranged on folder and moves on frame 22, and the flexible axis of the power arm of oscillating cylinder 31 and folder move axis and be not parallel to each other, and perpendicular to backing axis, the power arm of oscillating cylinder 31 is through being parallel to the pivot of backing axis and pushing away frame 33 pivot joints;

Described side shifter comprises sidesway cylinder 41, side guide 42, sidesway guide rod 43;

Described sidesway guide rod 43 is straight-bar, and sidesway guide rod 43 is fixed on matrix 1, and the shaft of sidesway guide rod 43 is parallel to backing axis and moves frame 22 bottoms higher than folder;

Described sidesway cylinder 41 is arranged on matrix 1, and the power arm telescopic shaft line parallel of sidesway cylinder 41 is in backing axis;

Described side guide 42 is slidably mounted on sidesway guide rod 43, and affixed with the power arm of sidesway cylinder 41, and the plate body of side guide 42 extends downward lower than sidesway guide rod 43 and two folders and moves guide rail 23, and side guide 42 bottoms are equipped with and are approached inductor 44.

The utility model embodiment is applicable to being arranged on robot palletizer and uses, and by matrix 1, is connected with robot palletizer, and its workflow is as follows:

In the time of need to capturing the case part on production line, robot palletizer drive handgrip move to goal box part directly over, the power arm that folder moves cylinder extends limit position, making folder move frame moves on guide rail and slides into from matrix highest distance position at folder, the power arm of oscillating cylinder is reduced to limit position, make swing arm upwards be switched to backing and hook plate in highest order, the power arm of sidesway cylinder is reduced to limit position, make side guide on sidesway guide rod, outwards slide into extreme position, now handgrip is complete open configuration, and it is maximum that matrix, folder move the space that frame, side guide three enclose;

Then, robot palletizer drives handgrip to drop to and captures position, after putting in place, folder moves the power arm retraction of cylinder, making folder move frame moves on guide rail and slides and shift near matrix at folder, when folder moves approaching inductor 24 and touching target casing of frame bottom, the power arm that folder moves cylinder stops action and folder is moved to frame is locked in the position that just in time touches target casing, then the power arm of oscillating cylinder extend out to limit position, make swing arm be switched to backing downwards and hook plate in lowest order, now backing hook plate is held the bottom of target casing, then the power arm of sidesway cylinder stretches out, side guide is slided to target carton on sidesway guide rod, when the approaching inductor 44 and touch target casing of side guide bottom, the power arm of sidesway cylinder stops action side guide is locked in to the position that just in time touches target casing, now target casing is grabbed into matrix, folder moves frame, side guide, backing hooks in the enclosed space of plate, can drive handgrip by robot palletizer, goal box part is moved to piling position and carry out piling.

Claims

1. for a robot self adaptation handgrip for piling case part, it is characterized in that: comprise matrix, folder moving device, backing device, side shifter;