CN203566714U - Synchronous gripper of bag robot palletizer - Google Patents
Synchronous gripper of bag robot palletizer Download PDFInfo
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- CN203566714U CN203566714U CN201320714731.3U CN201320714731U CN203566714U CN 203566714 U CN203566714 U CN 203566714U CN 201320714731 U CN201320714731 U CN 201320714731U CN 203566714 U CN203566714 U CN 203566714U
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- 230000001360 synchronised effect Effects 0.000 title claims abstract description 56
- 210000000078 claw Anatomy 0.000 abstract 1
- 238000005516 engineering process Methods 0.000 description 5
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 3
- 230000001276 controlling effect Effects 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
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Abstract
The utility model provides a synchronous gripper of a bag robot palletizer, and relates to the technical field of palletizing equipment. The technical problem about how to improve the efficiency and quality of bag palletizing operation is solved. The synchronous gripper comprises a gripper main frame, a clamping air cylinder and two swing arms. The gripper main frame is provided with a left synchronous pivot and a right synchronous pivot which are in parallel, each synchronous pivot is fixedly provided with a synchronous base wheel coaxially, and the two synchronous base wheels are connected with each other through a crossed driving belt. The two swing arms are fixed on the two synchronous pivots respectively, the lower ends of the two swing arms are respectively and fixedly provided with a set of hooked claws, and the upper ends of the two swing arms are respectively provided with a driving pivot which is parallel to the synchronous pivots. One swing arm is pivoted to a cylinder body of the clamping air cylinder through the driving pivot on the swing arm, and the other swing arm is pivoted to a power arm of the clamping air cylinder through the driving pivot on the swing arm. The synchronous gripper of the bag robot palletizer is suitable for bag palletizing operation.
Description
Technical field
The utility model relates to Palletizer technology, particularly relates to a kind of technology of synchronous handgrip of bag robot palletizer.
Background technology
The appearance of robot is the developing major issue of contemporary science and technology, and it is one of greatest invention of 20th century mankind.The manual labor that industrial robot is not only being undertaken simply, repeated in manufacturing industry, the more important thing is and guaranteeing product quality, enhancing productivity; People is freed from severe, dangerous operation environment etc. to aspect and demonstrate superiority.
Existing bag stack robot manipulator is mainly by handgrip pedestal, and the each swing arm in left and right being arranged on handgrip pedestal forms, and in two swing arms, is respectively fixed with hook pawl, and handgrip pedestal is provided with two cylinders, for controlling respectively two swinging arms.Because utilizing two cylinders, existing bag stack robot manipulator controls respectively two swinging arms, if the gas circuit of two cylinders is different in size or the different speed of actions that will affect swing arm of air pressure height, easily cause the folding of two swing arms asynchronous, thereby have influence on efficiency and the quality of palletizing operation.
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 synchronous handgrip of the bag robot palletizer that can improve bag palletizing operation efficiency and quality.
In order to solve the problems of the technologies described above, the synchronous handgrip of a kind of bag robot palletizer provided by the utility model, is characterized in that: comprise handgrip body frame, clamping cylinder, and two swing arms;
On described handgrip body frame, be equipped with each synchronous pivot around, these two synchronous pivots are parallel to each other, and are all coaxially fixed with a synchronous base wheel on every synchronous pivot, and these two synchronous base wheels are by intersecting driving-belt interconnection;
Described two swing arms are separately fixed on two synchronous pivots, the lower end of two swing arms is respectively fixed with one group and hooks pawl, and two groups of hook tip subtends that hook pawl arrange, the upper end of two swing arms is respectively equipped with a driving pivot, and two drive pivot to be all parallel to synchronous pivot, the cylinder body of the driving pivot pivot joint clamping cylinder of one of them swing arm in this swing arm, the power arm of the driving pivot pivot joint clamping cylinder of another swing arm in this swing arm.
Further, on described handgrip body frame, be equipped with and press bag cylinder, the cylinder body of described pressure bag cylinder is fixed on handgrip body frame, press the flexible axis of power arm of bag cylinder perpendicular to synchronous pivot, and perpendicular to the flexible axis of power arm of clamping cylinder, press the power arm lower end of bag cylinder to be fixed with pressure bag frame, described pressure bag frame hooks between pawl at two groups.
The synchronous handgrip of the bag robot palletizer that the utility model provides utilizes single cylinder to control two swing arms simultaneously, and utilizes synchronous base wheel to make two swing arms can synchronously open, synchronously close up, and can improve bag palletizing operation efficiency and quality.
Accompanying drawing explanation
Fig. 1 is the synchronous handgrip of bag robot palletizer of the utility model embodiment structural representation when closing up state;
Fig. 2 is the synchronous handgrip of bag robot palletizer of the utility model embodiment structural representation when open configuration;
Fig. 3 be the synchronous handgrip of bag robot palletizer of the utility model embodiment when closing up state, the structural representations of two synchronous base wheels;
Fig. 4 be the synchronous handgrip of bag robot palletizer of the utility model embodiment when open configuration, the structural representations of two synchronous base wheels.
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 Figure 1-Figure 4, the synchronous handgrip of a kind of bag robot palletizer that the utility model embodiment provides, is characterized in that: comprise handgrip body frame 1, clamping cylinder 4, and two swing arms 2;
On described handgrip body frame 1, be equipped with each synchronous pivot 3 around, these two synchronous pivots 3 are parallel to each other, on every synchronous pivot 3, be all coaxially fixed with a synchronous base wheel 9, these two synchronous base wheels 9 interconnect by intersection driving-belt 91, on one of them synchronous base wheel, are fixed with the tensioning means 92 for regulating intersection driving-belt 91 degrees of tightness;
Described two swing arms 2 are separately fixed on two synchronous pivots 3, the lower end of two swing arms 2 is respectively fixed with one group and hooks pawl 5, and two groups of hook tip subtends that hook pawl 5 arrange, the upper end of two swing arms 2 is respectively equipped with a driving pivot 6, and two drive pivot 6 to be all parallel to synchronous pivot 3, the cylinder body of the driving pivot 6 pivot joint clamping cylinders 4 of one of them swing arm 2 in this swing arm, the power arm of the driving pivot 6 pivot joint clamping cylinders 4 of another swing arm 2 in this swing arm.
In the utility model embodiment, on described handgrip body frame 1, be equipped with and press bag cylinder 7, the cylinder body of described pressure bag cylinder 7 is fixed on handgrip body frame 1, press the flexible axis of power arm of bag cylinder 7 perpendicular to synchronous pivot 3, and perpendicular to the flexible axis of power arm of clamping cylinder 4, press the power arm lower end of bag cylinder 7 to be fixed with pressure bag frame 8, described pressure bag frame 8 hooks between pawl 5 at two groups.
The utility model embodiment is applicable to being arranged on robot palletizer and uses, and during installation, by gusset piece, handgrip body frame is connected with robot palletizer, and its workflow is as follows:
During piling, robot palletizer drive synchronous handgrip move to target bag directly over, now synchronous handgrip is in open configuration, then robot palletizer drives synchronous handgrip to drop to target bag crawl position, then the power arm of clamping cylinder stretches out, and then drive two swing arm subtend pivotables to close up, hook pawl in two swing arms is caught target bag immediately, now press the power arm of bag cylinder to stretch out, drive and press the decline of bag frame to push down target bag, then robot palletizer drives synchronous handgrip to rise, drive again synchronous handgrip to move to piling position, press bag cylinder power arm to retract, band dynamic pressure bag frame rises, then the power arm of clamping cylinder is retracted, and then drive two swing arms dorsad pivotable open, target bag falls to target piling position immediately, the piling of single bag has accused.
Claims (2)
1. a synchronous handgrip for bag robot palletizer, is characterized in that: comprise handgrip body frame, clamping cylinder, and two swing arms;
On described handgrip body frame, be equipped with each synchronous pivot around, these two synchronous pivots are parallel to each other, and are all coaxially fixed with a synchronous base wheel on every synchronous pivot, and these two synchronous base wheels are by intersecting driving-belt interconnection;
Described two swing arms are separately fixed on two synchronous pivots, the lower end of two swing arms is respectively fixed with one group and hooks pawl, and two groups of hook tip subtends that hook pawl arrange, the upper end of two swing arms is respectively equipped with a driving pivot, and two drive pivot to be all parallel to synchronous pivot, the cylinder body of the driving pivot pivot joint clamping cylinder of one of them swing arm in this swing arm, the power arm of the driving pivot pivot joint clamping cylinder of another swing arm in this swing arm.
2. the synchronous handgrip of bag robot palletizer according to claim 1, it is characterized in that: on described handgrip body frame, be equipped with and press bag cylinder, the cylinder body of described pressure bag cylinder is fixed on handgrip body frame, press the flexible axis of power arm of bag cylinder perpendicular to synchronous pivot, and perpendicular to the flexible axis of power arm of clamping cylinder, press the power arm lower end of bag cylinder to be fixed with pressure bag frame, described pressure bag frame hooks between pawl at two groups.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320714731.3U CN203566714U (en) | 2013-11-14 | 2013-11-14 | Synchronous gripper of bag robot palletizer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320714731.3U CN203566714U (en) | 2013-11-14 | 2013-11-14 | Synchronous gripper of bag robot palletizer |
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| Publication Number | Publication Date |
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| CN203566714U true CN203566714U (en) | 2014-04-30 |
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| CN201320714731.3U Expired - Fee Related CN203566714U (en) | 2013-11-14 | 2013-11-14 | Synchronous gripper of bag robot palletizer |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104325464A (en) * | 2014-09-15 | 2015-02-04 | 南通凯迪自动机械有限公司 | Four-linkage clamping mechanical arm for yarn balls |
| CN105150224A (en) * | 2015-09-10 | 2015-12-16 | 安徽工程大学 | Dual clamping mechanical catching hand device |
| CN105235940A (en) * | 2015-09-21 | 2016-01-13 | 苏州市盛百威包装设备有限公司 | Clamping jaw grabbing mechanism for box filler |
| CN106583945A (en) * | 2016-12-28 | 2017-04-26 | 张飘 | Four-claw automatic centering chuck and machine tool |
| CN106737771A (en) * | 2016-11-30 | 2017-05-31 | 绵阳图致信息科技有限公司 | Suitable for the reclaimer robot control system of yielding material |
| CN109160274A (en) * | 2018-10-31 | 2019-01-08 | 天津泰华易而速机器人科技有限公司 | A kind of pneumatic claw hook type handgrip |
| CN109850265A (en) * | 2019-03-26 | 2019-06-07 | 西安磁林电气自动化工程有限公司 | A kind of packaging bag bag openning body |
| CN111121553A (en) * | 2018-10-31 | 2020-05-08 | 沈阳新松机器人自动化股份有限公司 | Automation equipment of pressure equipment basin stained paper crust |
| CN111302075A (en) * | 2019-12-12 | 2020-06-19 | 江苏昱博自动化设备有限公司 | Pile up neatly with grabbing bag manipulator |
| CN113479380A (en) * | 2021-07-05 | 2021-10-08 | 上海熙香艺享电子商务有限公司 | Bowl lifting, grabbing and film pressing mechanism and method |
-
2013
- 2013-11-14 CN CN201320714731.3U patent/CN203566714U/en not_active Expired - Fee Related
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104325464A (en) * | 2014-09-15 | 2015-02-04 | 南通凯迪自动机械有限公司 | Four-linkage clamping mechanical arm for yarn balls |
| CN105150224A (en) * | 2015-09-10 | 2015-12-16 | 安徽工程大学 | Dual clamping mechanical catching hand device |
| CN105235940A (en) * | 2015-09-21 | 2016-01-13 | 苏州市盛百威包装设备有限公司 | Clamping jaw grabbing mechanism for box filler |
| CN106737771A (en) * | 2016-11-30 | 2017-05-31 | 绵阳图致信息科技有限公司 | Suitable for the reclaimer robot control system of yielding material |
| CN106583945A (en) * | 2016-12-28 | 2017-04-26 | 张飘 | Four-claw automatic centering chuck and machine tool |
| CN111121553B (en) * | 2018-10-31 | 2022-08-02 | 沈阳新松机器人自动化股份有限公司 | Automation equipment of pressure equipment basin stained paper crust |
| CN109160274A (en) * | 2018-10-31 | 2019-01-08 | 天津泰华易而速机器人科技有限公司 | A kind of pneumatic claw hook type handgrip |
| CN111121553A (en) * | 2018-10-31 | 2020-05-08 | 沈阳新松机器人自动化股份有限公司 | Automation equipment of pressure equipment basin stained paper crust |
| CN109850265A (en) * | 2019-03-26 | 2019-06-07 | 西安磁林电气自动化工程有限公司 | A kind of packaging bag bag openning body |
| CN109850265B (en) * | 2019-03-26 | 2023-11-28 | 西安磁林电气自动化工程有限公司 | Packaging bag opening mechanism |
| CN111302075A (en) * | 2019-12-12 | 2020-06-19 | 江苏昱博自动化设备有限公司 | Pile up neatly with grabbing bag manipulator |
| CN113479380A (en) * | 2021-07-05 | 2021-10-08 | 上海熙香艺享电子商务有限公司 | Bowl lifting, grabbing and film pressing mechanism and method |
| CN113479380B (en) * | 2021-07-05 | 2024-02-27 | 上海熙香艺享电子商务有限公司 | Bowl lifting grabbing film pressing mechanism and method |
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Address after: 201802 Shanghai city Jiading District Nanxiang high tech Development Zone No. 9 Building 6 layer Ke Sheng Lu A Patentee after: SHANGHAI XINGPACK AUTOMATION Co.,Ltd. Address before: 201802 Shanghai city Jiading District Nanxiang high tech Development Zone No. 9 Building 6 layer Ke Sheng Lu A Patentee before: SHANGHAI XINGPACK AUTOMATION TECHNOLOGY CO.,LTD. |
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20140430 |