CN204149162U - Piling paw torn open by a kind of robot - Google Patents
Piling paw torn open by a kind of robot Download PDFInfo
- Publication number
- CN204149162U CN204149162U CN201420390709.2U CN201420390709U CN204149162U CN 204149162 U CN204149162 U CN 204149162U CN 201420390709 U CN201420390709 U CN 201420390709U CN 204149162 U CN204149162 U CN 204149162U
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- Prior art keywords
- robot
- piling
- sucker
- paw
- torn open
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- 230000007246 mechanism Effects 0.000 claims abstract description 49
- 230000003028 elevating effect Effects 0.000 claims description 11
- 238000000034 method Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000001105 regulatory effect Effects 0.000 description 2
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 1
- 229910052782 aluminium Inorganic materials 0.000 description 1
- 239000004411 aluminium Substances 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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Abstract
The utility model discloses a kind of robot and tear piling paw open, belong to technical field of automation, comprise the fixed mechanism of body, sucking disc mechanism and fixing described object, described sucking disc mechanism and fixed mechanism are located on described body, described body is connected with described robot, the vavuum pump that described sucking disc mechanism comprises sucker and is connected with described sucker, what described sucker matched with described fixed mechanism is located on described body.The technical solution of the utility model adopts vavuum pump to draw large weight carton, can realize heavy load, high-speed cruising, and safe and reliable, zero fall case.
Description
Technical field
The utility model belongs to technical field of automation, relates to a kind of robot hand, particularly relates to a kind of robot being applied to carton object and tears piling paw open.
Background technology
At present, on market, disclosed robot tears piling sucker paw open and mostly uses vacuum generator, large below multi-load 10kg and be difficult to the carton of compatible multiple different size.For greater weight workpiece carton workpiece, due to the restriction of paper material and throughput, sucker is difficult to reach theoretical suction, and be difficult to realize stable pick-and-place under high-speed cruising, rate of substitute is high.
Meanwhile, the different and carton weight of the height due to carton greatly, if do not have this mechanism, can cause paw compatible multiple height dimension or sucker not to be difficult to pick up carton, or easily fall case.
Utility model content
In view of this, the utility model provides a kind of robot and tears piling paw open.
For achieving the above object, concrete technical scheme is as follows:
Piling paw torn open by a kind of robot, be applied in robot transport object, wherein, the described fixed mechanism torn piling paw open and comprise body, sucking disc mechanism and fixing described object, described sucking disc mechanism and fixed mechanism are located on described body, described body is connected with described robot, the vavuum pump that described sucking disc mechanism comprises sucker and is connected with described sucker, and what described sucker matched with described fixed mechanism is located on described body.
Preferably, described fixed mechanism comprises elevating mechanism and horizontal mechanism, and described elevating mechanism and horizontal mechanism fix described object by lifting and horizontal movement.
Preferably, described elevating mechanism comprises lifting and drives, and described lifting drives and is connected with described sucker, and described lifting drives described sucker relative to the vertically movement of described body.
Preferably, described lifting drives as lift cylinder.
Preferably, described horizontal mechanism comprises horizontal drive and inserts son, described horizontal drive drives described slotting son to move horizontally relative to described body, and described lifting drives and horizontal drive drives described sucker and slotting son to form the space of the also adjustable size holding described object respectively.
Preferably, described horizontal drive is Rodless cylinder.
Preferably, be also provided with baffle plate between described sucker and slotting son, described baffle plate is perpendicular to described body.
Preferably, described lift cylinder and/or horizontal air cylinder are provided with Pressure gauge.
Preferably, also comprise vavuum pump tracheae, described vavuum pump is connected with described sucker by described vavuum pump tracheae.
Preferably, described vavuum pump and/or sucker are also provided with pressure-regulating device.
Relative to prior art, the advantage of the technical solution of the utility model has:
1, structure is simple, is convenient to make;
2, sucker suction force can reach more than 30kg, and draw large weight carton, can realize heavy load, high-speed cruising, safe and reliable, zero falls case;
3, ensure that carton is compacted holds in the process of motion, without falling case, and is applicable to the carton of different size.
Accompanying drawing explanation
The accompanying drawing forming a part of the present utility model is used to provide further understanding of the present utility model, and schematic description and description of the present utility model, for explaining the utility model, is not formed improper restriction of the present utility model.In the accompanying drawings:
Fig. 1 is the structural representation of the utility model embodiment;
Fig. 2 is the perspective view of the utility model embodiment;
Fig. 3 is the elevating mechanism structural representation of the utility model embodiment;
Fig. 4 is the enforcement schematic diagram of the utility model embodiment.
Detailed description of the invention
Below in conjunction with the accompanying drawing in the utility model embodiment, be clearly and completely described the technical scheme in the utility model embodiment, obviously, described embodiment is only the utility model part embodiment, instead of whole embodiments.Based on the embodiment in the utility model, those of ordinary skill in the art are not making the every other embodiment obtained under creative work prerequisite, all belong to the scope of the utility model protection.
It should be noted that, when not conflicting, the embodiment in the utility model and the feature in embodiment can combine mutually.
Below with reference to accompanying drawing, concrete explaination is done to embodiment of the present utility model.
Embodiment of the present utility model as shown in Figure 1, is applied to robot 10 and carries in object.Tear the fixed mechanism that piling paw comprises body 1, sucking disc mechanism and mounting article open.Sucking disc mechanism and fixed mechanism are located on body.Body 1 is connected with robot 10.The vavuum pump 9 that sucking disc mechanism comprises sucker 2 and is connected with sucker 2.What sucker 2 matched with fixed mechanism is located on body 1.
Embodiment of the present utility model adopts vavuum pump, and sucker suction force can reach more than 30kg, and draw large weight carton, can realize heavy load, high-speed cruising, safe and reliable, zero falls case.
As shown in fig. 1, in embodiment of the present utility model, preferred fixed mechanism comprises elevating mechanism and horizontal mechanism, and elevating mechanism and horizontal mechanism are by lifting and horizontal movement mounting article.Elevating mechanism comprises lifting and drives, and is preferably lift cylinder 4, and lifting drives and is connected with sucker 2, and lifting drives sucker 2 relative to body 1 vertically movement.Horizontal mechanism comprises horizontal drive and inserts son 6, is preferably Rodless cylinder 5, and horizontal drive driving is inserted son 6 and moved horizontally relative to body 1.Lifting drives and horizontal drive drives sucker 2 respectively and inserts the space that sub 6 form the also adjustable size holding object.
Fixed mechanism of the present utility model to ensure in the process of motion carton etc. object is compacted to hold, without falling case.And the object of compatible multiple different size, such as can grab the carton of the differing heights such as height 200mm-400mm, zero can be realized and fall case rate.And doing simple adjustment, the carton that can realize more large scale scope tears piling open.
As shown in 1 and Fig. 2 figure, in embodiment of the present utility model, body 1 material is preferably aluminium section bar.Robot tears piling paw open and comprises body 1, sucker 2, baffle plate 3, lift cylinder 4, Rodless cylinder 5, inserts son 6, the pneumatic control components 7 for control cylinder, vavuum pump tracheae 8, vavuum pump 9.
As shown in 3 figure, preferred elevating mechanism comprises lift cylinder 4, magnetic valve 41, Pressure gauge 42, tracheae 43.By regulating Pressure gauge 42 to suitable pressure, and then be unlikely to carton is out of shape.When sucker 2 holds carton, lift cylinder 4 moves downwardly to carton when pushing down slotting sub 6, and magnetic valve 41 is positioned at II position, and gas circuit is passed through from Pressure gauge 42, thus realizes pressure regulating action.And in other duties, magnetic valve 41 is positioned at I position, thus ensure that cylinder has a distinct increment power.
As shown in figs. 1 and 4, in embodiment of the present utility model, specific works flow process comprises:
Piling motion flow: 1, carton buttress is placed into assigned address; 2, robot 10 setting in motion, the paw on arm moves to above a carton of paper stack top layer thereupon; 3, now sucker 2 is positioned at position D, inserts son 6 and is in position B, as accompanying drawing 4, when sucker 2 is pressed onto carton, makes robot stop moving downward; 4, sucker 2 starts to inhale carton, and Rodless cylinder 5 moves to position A to left movement 5, slotting son 6 simultaneously, and lift cylinder 4 moves downward, and sucker 2 moves to position C, compresses carton, and robot hand rises; 6, robot 10 moves to discharge position; 7, sucker 2 moves to position D, and insert son 6 and move to position B, then sucker 2 moves to position C, and interfere with the carton that code is good to prevent inserting son 6 during piling, sucker 2 stops suction, and finally drop carton; 8, robot 10 returns initial point; 9, circulate above piling action.
De-stacking motion flow: 1, carton is placed into assigned address; 2, robot 10 setting in motion, the paw on arm moves to above a carton of paper stack top layer thereupon, and robot stops moving downward; 3, sucker 2 moves to position C, and insert son during to prevent de-stacking and interferes with other cartons, when sucker 2 is pressed onto carton, sucker 2 holds carton, and 4, sucker 2 moves to position D, insert son 6 to seat A, then sucker 2 moves to position C, compression carton; 6, robot 10 moves to discharge position; 7, sucker 2 moves to position D, and insert son 6 and move to position B, sucker 2 stops suction, and finally drop carton; 8, robot 10 returns initial point; 9, circulate above de-stacking action.
Be described in detail specific embodiment of the utility model above, but it is just as example, the utility model is not restricted to specific embodiment described above.To those skilled in the art, any equivalent modifications that the utility model is carried out and substituting also all among category of the present utility model.Therefore, not departing from the equalization conversion and amendment done under spirit and scope of the present utility model, all should be encompassed in scope of the present utility model.
Claims (10)
1. piling paw torn open by a robot, be applied in robot transport object, it is characterized in that, the described fixed mechanism torn piling paw open and comprise body, sucking disc mechanism and fixing described object, described sucking disc mechanism and fixed mechanism are located on described body, described body is connected with described robot, the vavuum pump that described sucking disc mechanism comprises sucker and is connected with described sucker, and what described sucker matched with described fixed mechanism is located on described body.
2. piling paw torn open by robot as claimed in claim 1, and it is characterized in that, described fixed mechanism comprises elevating mechanism and horizontal mechanism, and described elevating mechanism and horizontal mechanism fix described object by lifting and horizontal movement.
3. piling paw torn open by robot as claimed in claim 2, it is characterized in that, described elevating mechanism comprises lifting and drives, and described lifting drives and is connected with described sucker, and described lifting drives described sucker relative to the vertically movement of described body.
4. piling paw torn open by robot as claimed in claim 3, it is characterized in that, described lifting drives as lift cylinder.
5. piling paw torn open by robot as claimed in claim 4, it is characterized in that, described horizontal mechanism comprises horizontal drive and inserts son, described horizontal drive drives described slotting son to move horizontally relative to described body, and described lifting drives and horizontal drive drives described sucker and slotting son to form the space of the also adjustable size holding described object respectively.
6. piling paw torn open by robot as claimed in claim 5, and it is characterized in that, described horizontal drive is Rodless cylinder.
7. piling paw torn open by robot as claimed in claim 6, and it is characterized in that, be also provided with baffle plate between described sucker and slotting son, described baffle plate is perpendicular to described body.
8. piling paw torn open by robot as claimed in claim 7, and it is characterized in that, described lift cylinder and/or horizontal air cylinder are provided with Pressure gauge.
9. piling paw torn open by robot as claimed in claim 8, it is characterized in that, also comprises vavuum pump tracheae, and described vavuum pump is connected with described sucker by described vavuum pump tracheae.
10. piling paw torn open by robot as claimed in claim 9, it is characterized in that, described vavuum pump and/or sucker are also provided with pressure-regulating device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420390709.2U CN204149162U (en) | 2014-07-15 | 2014-07-15 | Piling paw torn open by a kind of robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420390709.2U CN204149162U (en) | 2014-07-15 | 2014-07-15 | Piling paw torn open by a kind of robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204149162U true CN204149162U (en) | 2015-02-11 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420390709.2U Expired - Lifetime CN204149162U (en) | 2014-07-15 | 2014-07-15 | Piling paw torn open by a kind of robot |
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| Country | Link |
|---|---|
| CN (1) | CN204149162U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106217400A (en) * | 2016-08-18 | 2016-12-14 | 南通通机股份有限公司 | A kind of novel robot handgrip |
| CN106742298A (en) * | 2016-12-01 | 2017-05-31 | 佛山市湘德智能科技有限公司 | A kind of multi-function robot tears the dismounting technique of paper stack open |
| CN112591444A (en) * | 2020-12-10 | 2021-04-02 | 湖州嘉升电气设备有限公司 | Automatic assembly line of diversion |
-
2014
- 2014-07-15 CN CN201420390709.2U patent/CN204149162U/en not_active Expired - Lifetime
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106217400A (en) * | 2016-08-18 | 2016-12-14 | 南通通机股份有限公司 | A kind of novel robot handgrip |
| CN106742298A (en) * | 2016-12-01 | 2017-05-31 | 佛山市湘德智能科技有限公司 | A kind of multi-function robot tears the dismounting technique of paper stack open |
| CN112591444A (en) * | 2020-12-10 | 2021-04-02 | 湖州嘉升电气设备有限公司 | Automatic assembly line of diversion |
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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: 20150211 |