CN203922101U - A kind of carton palletizing mechanical arm fixture - Google Patents
A kind of carton palletizing mechanical arm fixture Download PDFInfo
- Publication number
- CN203922101U CN203922101U CN201420196265.9U CN201420196265U CN203922101U CN 203922101 U CN203922101 U CN 203922101U CN 201420196265 U CN201420196265 U CN 201420196265U CN 203922101 U CN203922101 U CN 203922101U
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- Prior art keywords
- column
- backup pad
- entablatrance
- upper backup
- carton
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- Expired - Lifetime
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- 238000000034 method Methods 0.000 abstract description 8
- 230000033001 locomotion Effects 0.000 description 6
- 235000008733 Citrus aurantifolia Nutrition 0.000 description 5
- 240000006909 Tilia x europaea Species 0.000 description 5
- 235000011941 Tilia x europaea Nutrition 0.000 description 5
- 239000004571 lime Substances 0.000 description 5
- 238000010521 absorption reaction Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
- 230000007812 deficiency Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
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Abstract
The utility model discloses a kind of carton palletizing mechanical arm fixture, comprise upper backup pad, column one, column two, comb shape supporting seat, clamping plate, entablatrance, vacuum cup; Described upper backup pad is horizontal direction, and column two is fixedly connected with upper backup pad is vertical, and the downside of upper backup pad is provided with track, and one end of column one is installed on the track of upper backup pad downside; Described column two is provided with guide rail, and described entablatrance is horizontal direction, and one end of entablatrance is installed on the guide rail of column two, and entablatrance is fixedly connected with clamping plate, and vacuum cup is fixedly connected on clamping plate lower surface; Described comb shape supporting seat is fixedly connected with column one.The carton palletizing mechanical arm fixture that the utility model relates to combines to be drawn and two kinds of forms of gripping, simple in structure, reliable in action, the buttress type that can not have influence on original buttress type or be about to pile up in piling process, has improved efficiency and the reliability of piling operation dramatically.
Description
Technical field
The utility model relates to automated warehousing field, particularly a kind of carton palletizing mechanical arm fixture.
Background technology
In warehouse logistics automatic field, for ease of transfer and transport, storage object often need to shift between different carrying containers, and the piling of carton is modal flow process wherein.So-called carton piling is by artificial or automation equipment, single-piece carton fitly to be piled up on pallet by predetermined row's case scheme.In large-scale logistics distribution center of modern times, for improving the whole efficiency of material flows automation system, the piling link of carton generally adopts high-efficiency high-accuracy robotic device.For the specification of carton, the actuating station of manipulator is installed corresponding fixture, and palletizing mechanical arm fixture generally adopts the pattern of gripping structure or vacuum cup, by fixture, carton is carried out to gripping or absorption, with high efficient and reliable complete piling work.In piling process, fixture should ensure not original buttress type or the buttress type that is about to pile up interfere or destroy.Visible, the structural shape of palletizing mechanical arm fixture directly has influence on efficiency and the reliability of piling operation.
Existing palletizing mechanical arm fixture generally adopts the pattern of gripping structure or vacuum cup, by fixture, carton is carried out to gripping or absorption.The manipulator fixture of gripping structure is owing to spatially having limited the degree of freedom of carton, so the reliability of gripping is higher, but is limited by the structural shape of gripping, in the time of piling, often easily produces and interferes with existing buttress type or the buttress type that is about to pile up; The manipulator fixture structure of vacuum cup pattern is comparatively simple, and carton is suspended under sucker, therefore in the time of piling, generally can not exert an influence to buttress type.But be limited by the impact of reliability and the carton surface evenness of sucker, may cause suction force deficiency, cause drawing failure or piling falls midway, when serious, even can damage product.
Utility model content
The utility model has overcome the shortcoming of prior art, and a kind of novel carton palletizing mechanical arm fixture is provided.
A kind of carton palletizing mechanical arm fixture of the present utility model, comprises upper backup pad, column one, column two, track, guide rail, comb shape supporting seat, clamping plate, entablatrance, vacuum cup; Described upper backup pad is horizontal direction, and column two is fixedly connected with upper backup pad is vertical, and the downside of upper backup pad is provided with track, and one end of column one is installed on the track of upper backup pad downside; Described column two is provided with guide rail, and described entablatrance is horizontal direction, vertical with column two, and one end of entablatrance is installed on the guide rail of column two, and entablatrance is fixedly connected with clamping plate, and vacuum cup is fixedly connected on clamping plate lower surface; Described comb shape supporting seat is parallel with entablatrance, is fixedly connected with column one.
The carton palletizing mechanical arm fixture that the utility model relates to combines to be drawn and two kinds of forms of gripping, simple in structure, reliable in action, the buttress type that can not have influence on original buttress type or be about to pile up in piling process, has improved efficiency and the reliability of piling operation dramatically.
Brief description of the drawings
Fig. 1 is a kind of carton palletizing mechanical arm of the utility model fixture schematic diagram 1;
Fig. 2 is a kind of carton palletizing mechanical arm of the utility model fixture schematic diagram 2.
In figure 1, upper backup pad; 2, column one; 3, track; 4, guide rail; 5, column two; 7, comb shape supporting seat; 8, clamping plate; 10, entablatrance; 11, vacuum cup.
Detailed description of the invention
Below in conjunction with the drawings and specific embodiments, the utility model is described in further detail:
As illustrated in figs. 1 and 2, a kind of carton palletizing mechanical arm fixture of the present utility model, comprises upper backup pad 1, column 1, column 25, track 3, guide rail 4, comb shape supporting seat 7, clamping plate 8, entablatrance 10, vacuum cup 11; Described upper backup pad 1 is horizontal direction, and column 25 is fixedly connected with upper backup pad 1 is vertical, and the downside of upper backup pad 1 is provided with track 3, and one end of column 1 is installed on the track 3 of upper backup pad 1 downside; Described column 25 is provided with guide rail 4, and described entablatrance 10 is horizontal direction, vertical with column 25, and one end of entablatrance 10 is installed on the guide rail of column 25, and entablatrance 10 is fixedly connected with clamping plate 8, and vacuum cup 11 is fixedly connected on clamping plate 8 lower surfaces; Described comb shape supporting seat 7 is parallel with entablatrance 10, is fixedly connected with column 1.
Before carton arrives manipulator stacking position, the front and back detent mechanism of manipulator fixture is positioned at front end position, and upper and lower detent mechanism is positioned at limes superiors position.
Front and back end position above depends on the position of column one on upper backup pad guide rail, in the time that column one travels forward also near column two, and end position before arriving; When column one is away from column two during to an end motion of upper backup pad, end position after arriving.When manipulator wait instruction and gripping carton, be all positioned at front end position; And after manipulator stacking completes, comb shape supporting seat is extracted out from carton bottom, end position after must arriving.
The position of entablatrance on column two guide rails depended in high-low limit position above, when entablatrance upward movement, while approaching upper backup pad, arrives limes superiors position; When entablatrance move in opposite directions and positioning clamping carton after, arrive smallest limit position.When manipulator wait instruction and relieving carton, be positioned at limes superiors position; And when manipulator gripping carton, must arrive smallest limit position.
In the time that carton arrives by conveyer and is positioned piling assigned address, manipulator moves along desired trajectory, the comb shape supporting seat 7 of manipulator fixture is inserted in the conveyer roller gap of carton bottom, mention slightly straight up subsequently, comb shape supporting seat 7 and carton lower surface are come in contact, in this process, manipulator fixture is static with respect to manipulator; Stop motion after manipulator arrival assigned address, the upper and lower clamping device of manipulator fixture starts action, and comb shape supporting seat 7 keeps motionless, and clamping plate 8 move downward from limes superiors position along column 25, until come in contact with carton upper surface; After clamping plate 8 stop motions, the large-area vacuum sucker 11 that is positioned at clamping plate downside is started working, and completes the absorption to carton top face; Manipulator moves along desired trajectory, carton is transported to pallet stacking region from travel line, now, the upper and lower surface of carton becomes the angle of 5～10 degree with horizontal surface, carton is leaned forward, deliver to piling assigned address so that follow-up carton is drawn, in this process, manipulator fixture is static with respect to manipulator; Subsequently, large-area vacuum sucker 11 quits work, and decontrols carton; The clamping device up and down of manipulator fixture is decontroled, and comb shape supporting seat 7 keeps motionless, and clamping plate 8 are along column 25 upward movements; Meanwhile, the end position motion backward of front and back detent mechanism, the track 3 of upper end edge metal framework structure upper backup pad 1 downside of the column 1 of front and back detent mechanism moves backward; Manipulator moves along desired trajectory, returns to conveyer end position to be palletized, and in this process, the front and back detent mechanism of manipulator fixture is got back to front end position, and upper and lower detent mechanism is got back to limes superiors position.Above process, reciprocation cycle, completes the piling link to carton.
Although the utility model is described in conjunction with above embodiment, but the utility model is not limited to above-described embodiment, and being only subject to the restriction of claim, those of ordinary skill in the art can easily modify to it and change, but do not leave essence design of the present utility model and scope.
Claims (1)
1. a carton palletizing mechanical arm fixture, is characterized in that: comprise upper backup pad, column one, column two, track, guide rail, comb shape supporting seat, clamping plate, entablatrance, vacuum cup; Described upper backup pad is horizontal direction, and column two is fixedly connected with upper backup pad is vertical, and the downside of upper backup pad is provided with track, and one end of column one is installed on the track of upper backup pad downside; Described column two is provided with guide rail, and described entablatrance is horizontal direction, vertical with column two, and one end of entablatrance is installed on the guide rail of column two, and entablatrance is fixedly connected with clamping plate, and vacuum cup is fixedly connected on clamping plate lower surface; Described comb shape supporting seat is parallel with entablatrance, is fixedly connected with column one.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420196265.9U CN203922101U (en) | 2014-04-22 | 2014-04-22 | A kind of carton palletizing mechanical arm fixture |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420196265.9U CN203922101U (en) | 2014-04-22 | 2014-04-22 | A kind of carton palletizing mechanical arm fixture |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203922101U true CN203922101U (en) | 2014-11-05 |
Family
ID=51817960
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420196265.9U Expired - Lifetime CN203922101U (en) | 2014-04-22 | 2014-04-22 | A kind of carton palletizing mechanical arm fixture |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203922101U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106625577A (en) * | 2016-11-16 | 2017-05-10 | 广东国哲自动化设备有限公司 | Carrying manipulator |
| CN108778965A (en) * | 2016-03-04 | 2018-11-09 | 希迈新科技有限公司 | The clamping of tray |
| CN109502358A (en) * | 2018-12-12 | 2019-03-22 | 长沙长泰智能装备有限公司 | Carton stacker robot fixture |
| CN110589503A (en) * | 2019-10-22 | 2019-12-20 | 珠海格力智能装备有限公司 | Anchor clamps and pile up neatly machine people |
-
2014
- 2014-04-22 CN CN201420196265.9U patent/CN203922101U/en not_active Expired - Lifetime
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108778965A (en) * | 2016-03-04 | 2018-11-09 | 希迈新科技有限公司 | The clamping of tray |
| CN106625577A (en) * | 2016-11-16 | 2017-05-10 | 广东国哲自动化设备有限公司 | Carrying manipulator |
| CN109502358A (en) * | 2018-12-12 | 2019-03-22 | 长沙长泰智能装备有限公司 | Carton stacker robot fixture |
| CN110589503A (en) * | 2019-10-22 | 2019-12-20 | 珠海格力智能装备有限公司 | Anchor clamps and pile up neatly machine people |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CX01 | Expiry of patent term |
Granted publication date: 20141105 |
|
| CX01 | Expiry of patent term |