CN203738811U - Gripper for stacking rectangular basket pieces - Google Patents
Gripper for stacking rectangular basket pieces Download PDFInfo
- Publication number
- CN203738811U CN203738811U CN201420128847.3U CN201420128847U CN203738811U CN 203738811 U CN203738811 U CN 203738811U CN 201420128847 U CN201420128847 U CN 201420128847U CN 203738811 U CN203738811 U CN 203738811U
- Authority
- CN
- China
- Prior art keywords
- piling
- voussoir
- clamping plate
- fixed head
- basket part
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn - After Issue
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- Stacking Of Articles And Auxiliary Devices (AREA)
Abstract
The utility model relates to the technical field of stacking equipment and provides a gripper for stacking rectangular basket pieces. The gripper can improve the stacking quality of the rectangular basket pieces. The gripper comprises a base and a fixing plate. A fixed clamping plate is fixed to the left portion of the fixing plate. A horizontal moving clamping plate capable of moving horizontally and a clamping air cylinder used for driving the horizontal moving clamping plate to move horizontally are arranged on the right portion of the fixing plate. The base is provided with a wedge block guide groove. A wedge block capable of moving horizontally is arranged in the wedge block guide groove. The right end of the wedge block is provided with a wedge face inclined downwards from left to right. The base is provided with an inclined air cylinder used for driving the wedge block to sliding horizontally. The fixing plate is connected with the lower end of the base in a pivotal mode and can rotate vertically in a pivotal mode relative to the base. An upper plate face of the fixing plate is provided with a lifting roller. The lifting roller abuts against the wedge face of the right end of the wedge block in a clearance fit mode. The gripper is suitable for stacking the rectangular basket pieces.
Description
Technical field
The utility model relates to Palletizer technology, particularly relates to a kind of technology of handgrip of piling rectangle basket part.
Background technology
The application of robot in logistics palletizing operation is increasingly extensive, and the palletizing technology that is applicable to various different article is also more and more ripe, but the diversification that will meet mechanical function also has many gaps.
Generally adopt the method for clamping for the piling of rectangle basket part, the handgrip of existing piling rectangle basket part mainly by being arranged on respectively a strap on pedestal, translation clamping plate form, and for driving the gripper cylinder that translation clamping plate move to form, the power arm of gripper cylinder often stretches once, can realize and once clamp, discharge target basket part.But in palletizing operation process, because the thickness of handgrip itself is added to reserve and is exited distance, if when the current piling position basket part that around piling is good can have influence on handgrip, easily cause basket part and lower floor's basket part misalignment of this piling, or every layer of basket part spacing is not tight, thereby reduce piling quality, can cause even piling heap to collapse.
For example, in rectangle basket part piling heap as shown in Figure 4, every one deck has 5 piling positions, the piling order of every one deck is followed successively by A1, A2, A3, A4, A5, handgrip is in the time capturing rectangle basket part, utilize strap and translation clamping plate to clamp the both sides short leg of target basket part, so in the time of piling A1, A2, this four piling positions of A3, A4, the basket part that around piling is good can not have influence on handgrip, and in the time of piling A5 position, the rectangle basket part of A4 position can have influence on the advance and retreat of handgrip, easily causes basket part and lower floor's basket part misalignment of A5 position piling.
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 handgrip of the piling rectangle basket part that can improve rectangle basket part piling quality.
In order to solve the problems of the technologies described above, the handgrip of a kind of piling rectangle basket part provided by the utility model, comprises pedestal, fixed head; The left part of described fixed head is fixed with a strap, and the right part of fixed head is provided with the translation clamping plate that can move left and right, and juxtaposition is useful on the translation guide rail that guiding translation clamping plate move left and right, and gripper cylinder for driving translation clamping plate to move left and right; It is characterized in that:
On described pedestal, there is the voussoir guide groove that a left and right connects, this voussoir guide groove is built-in with a voussoir that can horizontally slip, the right-hand member of this voussoir has downward-sloping from left to right wedge surface, on pedestal, be equipped with the tilt cylinders for driving voussoir to horizontally slip, cylinder body and the pedestal of tilt cylinders are hinged, and power arm and the voussoir of tilt cylinders are affixed;
Described fixed head and the pivot joint of pedestal lower end, and the energy upper and lower pivotable of pedestal relatively, the upper face of fixed head is equipped with a dance roller, and this dance roller props up the wedge surface of voussoir right-hand member with movable fit system.
Further, on described translation clamping plate, be fixed with outstanding tray left.
Further, the front and back dual-side of described fixed head be respectively fixed with one outstanding to frame top board downwards, described to frame top board higher than the tray on lower edge and the translation clamping plate of strap.
Further, on the right panel face of described strap, be pasted with soft friction plate.
Further, on the lower face of described fixed head, be fixed with each two the downward outstanding keepers in front and back.
The handgrip of the piling rectangle basket part that the utility model provides, utilize the wedge surface of voussoir and the combination of dance roller to tilt to be grabbed a basket part piling angle, making to be grabbed a basket seam for part bottom can be embedded in the top basket mouth of lower floor's basket part, the basket part that has ensured piling aligns with lower floor basket part, can improve rectangle basket part piling quality.
Brief description of the drawings
Fig. 1 is the stereogram of the handgrip of the piling rectangle basket part of the utility model embodiment;
Fig. 2 is the front view of the handgrip of the piling rectangle basket part of the utility model embodiment;
Fig. 3 is the front view after the handgrip of the piling rectangle basket part of the utility model embodiment is cut open along the flexible axis of power arm of tilt cylinders;
Fig. 4 is the schematic diagram of rectangle basket part piling heap.
Detailed description of the invention
Below in conjunction with brief description of the drawings, 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 Figure 1-Figure 3, the handgrip of a kind of piling rectangle basket part that the utility model embodiment provides, is characterized in that: comprise pedestal 1, fixed head 2;
On described pedestal 1, there is the voussoir guide groove that a left and right connects, this voussoir guide groove is built-in with a voussoir that can horizontally slip 4, the right-hand member of this voussoir 4 has downward-sloping from left to right wedge surface, on pedestal 1, be equipped with the tilt cylinders 7 for driving voussoir 4 to horizontally slip, the cylinder body of tilt cylinders 7 and pedestal 1 are hinged, and the power arm of tilt cylinders 7 and voussoir 4 are affixed;
Described fixed head 2 and pedestal 1 lower end pivot joint, and the energy upper and lower pivotable of pedestal relatively, the upper face of fixed head 2 is equipped with a dance roller 3, and this dance roller 3 props up the wedge surface of voussoir 4 right-hand members with movable fit system;
The left part of described fixed head 2 is fixed with a strap 5, and the right part of fixed head 2 is provided with the translation clamping plate 6 that can move left and right, and juxtaposition is useful on the translation guide rail that guiding translation clamping plate move left and right, and gripper cylinder 8 for driving translation clamping plate to move left and right;
On the right panel face of described strap 5, be pasted with soft friction plate, on described translation clamping plate 6, be fixed with outstanding tray 9 left;
Each two downward outstanding keepers 21 before and after being fixed with on the lower face of described fixed head 2, the front and back dual-side of fixed head 2 be respectively fixed with one outstanding to frame top board 22 downwards, described to frame top board 22 higher than the tray 9 on lower edge and the translation clamping plate of strap 5.
The utility model embodiment is applicable to being arranged on robot palletizer and uses, and when use, pedestal is fixed on the mechanical arm of robot palletizer, piles as example taking the rectangle basket part piling shown in Fig. 4, and the piling step of this rectangle basket part piling heap is as follows:
1) robot palletizer drive handgrip move to target basket part directly over, and strap is alignd with the left surface of target basket part;
2) power arm of gripper cylinder stretches out, and translation clamping plate are moved right, and makes the space between strap and translation clamping plate be enough to hold target basket part;
3) robot palletizer drive handgrip decline until fixed head before and after dual-side to frame top board encounter target basket part basket mouthful, now strap props up the left surface of target basket part, soft friction plate on strap can increase frictional force, is convenient to the crawl of target basket part;
4) power arm of gripper cylinder is retracted, thereby drive translation clamping plate to be moved to the left, make strap clamp target basket part together with translation clamping plate, tray on the clamping plate of translation simultaneously embeds the interior recess of target basket part right flank and holds target basket part and bear part weight, make clamping force just can clamp steadily target basket part too greatly, avoid causing because of excessive clamping force the damage of target basket part;
5) robot palletizer first drives handgrip to rise, then drives handgrip to move to directly over piling position;
6) if piling A1, A2, A3, A4 position, go to step 7, otherwise the power arm of tilt cylinders shrinks and drives the cammed surface of voussoir to retract, dance roller is declined along the wedge surface of voussoir, and drive the downward pivotable of fixed head, fixed head is tilted, also tilted by the target basket part of the strap on fixed head and translation clamping plate clamping thereupon, make the seam of target basket part bottom aim at the basket mouthful of lower floor's basket part that piling is good;
7) robot palletizer drives handgrip to decline, until the seam of target basket part bottom embeds the basket mouthful of lower floor's basket part that piling is good;
8) power arm of gripper cylinder stretches out and drives translation clamping plate to move right, and target basket part is released into piling position, and then robot palletizer drives handgrip to rise;
9) repeating step 1 is to step 8, until the complete all basket parts of piling.
Claims (5)
1. the handgrip of a piling rectangle basket part, comprise pedestal, fixed head, the left part of described fixed head is fixed with a strap, the right part of fixed head is provided with the translation clamping plate that can move left and right, juxtaposition is useful on the translation guide rail that guiding translation clamping plate move left and right, and gripper cylinder for driving translation clamping plate to move left and right; It is characterized in that:
On described pedestal, there is the voussoir guide groove that a left and right connects, this voussoir guide groove is built-in with a voussoir that can horizontally slip, the right-hand member of this voussoir has downward-sloping from left to right wedge surface, on pedestal, be equipped with the tilt cylinders for driving voussoir to horizontally slip, cylinder body and the pedestal of tilt cylinders are hinged, and power arm and the voussoir of tilt cylinders are affixed;
Described fixed head and the pivot joint of pedestal lower end, and the energy upper and lower pivotable of pedestal relatively, the upper face of fixed head is equipped with a dance roller, and this dance roller props up the wedge surface of voussoir right-hand member with movable fit system.
2. the handgrip of piling rectangle basket part according to claim 1, is characterized in that: on described translation clamping plate, be fixed with outstanding tray left.
3. the handgrip of piling rectangle basket part according to claim 2, is characterized in that: the front and back dual-side of described fixed head be respectively fixed with one outstanding to frame top board downwards, described to frame top board higher than the tray on lower edge and the translation clamping plate of strap.
4. the handgrip of piling rectangle basket part according to claim 1 and 2, is characterized in that: on the right panel face of described strap, be pasted with soft friction plate.
5. the handgrip of piling rectangle basket part according to claim 1 and 2, is characterized in that: each two downward outstanding keepers before and after being fixed with on the lower face of described fixed head.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420128847.3U CN203738811U (en) | 2014-03-21 | 2014-03-21 | Gripper for stacking rectangular basket pieces |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420128847.3U CN203738811U (en) | 2014-03-21 | 2014-03-21 | Gripper for stacking rectangular basket pieces |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203738811U true CN203738811U (en) | 2014-07-30 |
Family
ID=51338673
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420128847.3U Withdrawn - After Issue CN203738811U (en) | 2014-03-21 | 2014-03-21 | Gripper for stacking rectangular basket pieces |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203738811U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103862479A (en) * | 2014-03-21 | 2014-06-18 | 上海星派自动化科技有限公司 | Hand grab for stacking rectangular basket piece |
| CN114394417A (en) * | 2021-12-23 | 2022-04-26 | 盐城雄鹰精密机械有限公司 | Floor package pile up neatly device |
-
2014
- 2014-03-21 CN CN201420128847.3U patent/CN203738811U/en not_active Withdrawn - After Issue
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103862479A (en) * | 2014-03-21 | 2014-06-18 | 上海星派自动化科技有限公司 | Hand grab for stacking rectangular basket piece |
| CN114394417A (en) * | 2021-12-23 | 2022-04-26 | 盐城雄鹰精密机械有限公司 | Floor package pile up neatly device |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CP01 | Change in the name or title of a patent holder | ||
| CP01 | Change in the name or title of a patent holder |
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 Xingpai Automation Technology Co., Ltd. |
|
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20140730 Effective date of abandoning: 20180710 |