CN205187377U - A snatch pile up neatly equipment down for huge overweight flat -sheet material - Google Patents
A snatch pile up neatly equipment down for huge overweight flat -sheet material Download PDFInfo
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- CN205187377U CN205187377U CN201521007481.5U CN201521007481U CN205187377U CN 205187377 U CN205187377 U CN 205187377U CN 201521007481 U CN201521007481 U CN 201521007481U CN 205187377 U CN205187377 U CN 205187377U
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- sheet material
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- overweight
- palletizer
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Abstract
The utility model relates to a snatch pile up neatly equipment down for huge overweight flat -sheet material, including pile up neatly machine people, tongs and sucking disc, the sucking disc set up in the end of tongs, the tongs set up in pile up neatly machine people's arm terminal, the sucking disc contact in the below of the flat -sheet material production roll table below with the motion face of flat -sheet material, the artificial heavily loaded pile up neatly machine people of pile up neatly machine. Adopt a snatch pile up neatly equipment down for huge overweight flat -sheet material of this kind of structure for it is great that heavy load pile up neatly industrial robot picks board material size, the great huge overweight flat -sheet material circumstances of weight, and the process that picks to be the tongs pick from the planar downside of panel motion, can apply to the especially big heavy panel of especially big heavy machine people pile up neatly transport, like glass, steel sheet etc to reduce the sheet surface's scotch, be applicable to the occasion that surperficial quality expected much, be applicable to extensive popularization and application.
Description
Technical field
The utility model relates to palletizing technology field, particularly relates to sheet material palletizing technology field, specifically refers to a kind of lower crawl Palletizer for huge overweight flat-sheet material.
Background technology
Along with constantly advancing of industrial robot, for the robot palletizer also broad development of huge overweight flat-sheet material, and in the process of carrying out the heavy sheet material piling of super large, always be to adopt and capture from the upper surface of sheet material moving surface, this Grasp Modes, often cause sheet material to be subject to downward pressure, and cause the friction of sheet material and roller-way, plate surface is left a trace; When sheet material quality requirements is strict, be badly in need of the problem that will solve surface scratch.
Utility model content
The purpose of this utility model is the shortcoming overcoming above-mentioned prior art, provide a kind ofly can realize in roller-way carrying, the mode of carrying out lower crawl below roller-way, can actv. reduce sheet material when carrying with the friction force of roller-way, the lower crawl Palletizer for huge overweight flat-sheet material effectively eliminating surperficial vestige.
To achieve these goals, the lower crawl Palletizer for huge overweight flat-sheet material of the present utility model has following formation:
This is used for the lower crawl Palletizer of huge overweight flat-sheet material, its principal feature is, described equipment comprises robot palletizer, handgrip and sucker, described sucker is arranged at the end of described handgrip, described handgrip is arranged at the arm end of described robot palletizer, and described sucker contacts with the below of the moving surface of flat-sheet material.
Preferably, described robot palletizer is heavily loaded robot palletizer.
Preferably, described robot palletizer comprises pedestal, arm component, wrist assembly, end flange and Shoulder components, described pedestal is connected with described wrist assembly by described Shoulder components, arm component, described end flange one end is connected with described wrist assembly, and the described end flange other end is connected with described handgrip.
More preferably, described arm component comprises large arm, forearm, be connected to elbow joint between large arm and forearm and the elbow joint motor be connected with described elbow joint and elbow joint retarder, described Shoulder components comprises shoulder joint, shoulder joint motor and shoulder joint retarder, described wrist assembly comprises wrist, wrist joint motor and wrist joint retarder, and described robot also comprises the end motor and end retarder that are connected with described end flange.
Preferably, described sucker matrix form is distributed in the end of described handgrip.
Preferably, described handgrip comprises sucker pipe link, recoil spring, pole, pole is overlapped, pole adapter plate, traveling wave wall, cylinder mounting plate, cylinder, proximity switch frame, proximity switch and section material frame, described sucker is by sucker pipe link, pole, pole adapter plate is connected with described section material frame, described recoil spring and pole are sheathed on described pole, described cylinder is installed on described section material frame by cylinder mounting plate, described proximity switch is installed on described section material frame by proximity switch frame, described cylinder is connected with described sucker by traveling wave wall.
Preferably, described sucker is produced the below of roller-way in flat-sheet material and is contacted with the below of the moving surface of flat-sheet material.
Have employed the lower crawl Palletizer for huge overweight flat-sheet material in this utility model, board dimension is captured larger for heavily loaded piling industrial robot, the huge overweight flat-sheet material situation that weight is larger, and the process captured is that handgrip captures from the downside of sheet material plane of movement, the especially big heavy sheet material of especially big heavy robot's Palletised carry can be applied to, as glass, steel plate etc., to reduce the scratch of plate surface, be applicable to the occasion that surface quality requirements is high, be applicable to large-scale promotion application.
Accompanying drawing explanation
Fig. 1 is the structural representation of the lower crawl Palletizer for huge overweight flat-sheet material of the present utility model.
Fig. 2 is the schematic diagram after the lower crawl Palletizer for huge overweight flat-sheet material of the present utility model captures.
Fig. 3 is the schematic diagram combinationally used for the lower crawl Palletizer of huge overweight flat-sheet material of the present utility model.
Reference numeral:
1 heavily loaded robot palletizer
2 times crawl handgrips
3 matrix suckers
4 huge flat-sheet materials
Detailed description of the invention
In order to more clearly describe technology contents of the present utility model, conduct further description below in conjunction with specific embodiment.
As shown in Figures 1 to 3, to achieve these goals, lower crawl Palletizer for huge overweight flat-sheet material of the present utility model comprises robot palletizer 1, handgrip 2 and sucker 3, described sucker 3 is arranged at the end of described handgrip 2, described handgrip 2 is arranged at the arm end of described robot palletizer 1, and described sucker 3 contacts with the below of the moving surface of flat-sheet material 4.
In one preferably embodiment, described robot palletizer 1 is heavily loaded robot palletizer.
In one preferably embodiment, described robot palletizer 1 comprises pedestal, arm component, wrist assembly, end flange and Shoulder components, described pedestal is connected with described wrist assembly by described Shoulder components, arm component, described end flange one end is connected with described wrist assembly, and the described end flange other end is connected with described handgrip 2.
In a kind of better embodiment, described arm component comprises large arm, forearm, be connected to elbow joint between large arm and forearm and the elbow joint motor be connected with described elbow joint and elbow joint retarder, described Shoulder components comprises shoulder joint, shoulder joint motor and shoulder joint retarder, described wrist assembly comprises wrist, wrist joint motor and wrist joint retarder, and described robot also comprises the end motor and end retarder that are connected with described end flange.
In one preferably embodiment, described sucker 3 matrix form is distributed in the end of described handgrip.
In one preferably embodiment, described handgrip 2 comprises sucker pipe link, recoil spring, pole, pole is overlapped, pole adapter plate, traveling wave wall, cylinder mounting plate, cylinder, proximity switch frame, proximity switch and section material frame, described sucker is by sucker pipe link, pole, pole adapter plate is connected with described section material frame, described recoil spring and pole are sheathed on described pole, described cylinder is installed on described section material frame by cylinder mounting plate, described proximity switch is installed on described section material frame by proximity switch frame, described cylinder is connected with described sucker 3 by traveling wave wall.Cylinder is stirred pole by swinging plate and is driven sucker 3, in single-way linkage; Recoil spring be enclosed within pole between sucker pipe link and pole cover between.
In one preferably embodiment, the below that described sucker 3 produces roller-way in flat-sheet material contacts with the below of the moving surface of flat-sheet material 4, can directly by flat-sheet material 4 vertically stacking.
In the present embodiment, the carrying piling carrying out huge overweight flat-sheet material for robot of the present utility model, industrial robot used is heavily loaded robot palletizer 1, and the sheet material of crawl is sheet material surperficial easy to wear, and as glass etc., detailed process is as follows:
A working cycle comprises: standby, capture, carrying three processes.
Standby: robot 1 moves to crawl position, namely handgrip 2 is in below roller-way, and handgrip 2 captures the below of plane at sheet material moving surface, and captures plane and sheet material lower surface horizontal parallel, and the diff-H of two planes is within 10-20MM.
Capture: after sheet material 4 arrives robot gripper crawl position, by ambient light electric induction signal, robot 1 enters stage of gripping, robot 1 upward movement, in motion process, sucker 3 is drawn, and is subject to the effect of sheet material 4 gravity, makes sucker 3 that deformation occur, more effectively to draw, as shown in Figure 1;
Carrying: along with robot 1 motion vertically upward, sheet material 4 hightails roller-way vertically upward, and then robot 1 carries out being transported to needs position to carry out putting plate.
In the technical scheme of the lower crawl Palletizer for huge overweight flat-sheet material of the present utility model, each wherein included function device and modular device all can correspond to actual particular hardware circuit structure, therefore these modules and unit only utilize hardware circuit just can realize, and do not need to assist namely automatically to realize corresponding function with specific control software design.
Have employed the lower crawl Palletizer for huge overweight flat-sheet material in this utility model, board dimension is captured larger for heavily loaded piling industrial robot, the huge overweight flat-sheet material situation that weight is larger, and the process captured is that handgrip captures from the downside of sheet material plane of movement, the especially big heavy sheet material of especially big heavy robot's Palletised carry can be applied to, as glass, steel plate etc., to reduce the scratch of plate surface, be applicable to the occasion that surface quality requirements is high, be applicable to large-scale promotion application.
In this description, the utility model is described with reference to its specific embodiment.But, still can make various amendment and conversion obviously and not deviate from spirit and scope of the present utility model.Therefore, specification sheets and accompanying drawing are regarded in an illustrative, rather than a restrictive.
Claims (7)
1. the lower crawl Palletizer for huge overweight flat-sheet material, it is characterized in that, described equipment comprises robot palletizer, handgrip and sucker, described sucker is arranged at the end of described handgrip, described handgrip is arranged at the arm end of described robot palletizer, and described sucker contacts with the below of the moving surface of flat-sheet material.
2. the lower crawl Palletizer for huge overweight flat-sheet material according to claim 1, it is characterized in that, described robot palletizer is heavily loaded robot palletizer.
3. the lower crawl Palletizer for huge overweight flat-sheet material according to claim 1, it is characterized in that, described robot palletizer comprises pedestal, arm component, wrist assembly, end flange and Shoulder components, described pedestal is connected with described wrist assembly by described Shoulder components, arm component, described end flange one end is connected with described wrist assembly, and the described end flange other end is connected with described handgrip.
4. the lower crawl Palletizer for huge overweight flat-sheet material according to claim 3, it is characterized in that, described arm component comprises large arm, forearm, be connected to elbow joint between large arm and forearm and the elbow joint motor be connected with described elbow joint and elbow joint retarder, described Shoulder components comprises shoulder joint, shoulder joint motor and shoulder joint retarder, described wrist assembly comprises wrist, wrist joint motor and wrist joint retarder, and described robot also comprises the end motor and end retarder that are connected with described end flange.
5. the lower crawl Palletizer for huge overweight flat-sheet material according to claim 1, is characterized in that, described sucker matrix form is distributed in the end of described handgrip.
6. the lower crawl Palletizer for huge overweight flat-sheet material according to claim 1, it is characterized in that, described handgrip comprises sucker pipe link, recoil spring, pole, pole is overlapped, pole adapter plate, traveling wave wall, cylinder mounting plate, cylinder, proximity switch frame, proximity switch and section material frame, described sucker is by sucker pipe link, pole, pole adapter plate is connected with described section material frame, described recoil spring and pole are sheathed on described pole, described cylinder is installed on described section material frame by cylinder mounting plate, described proximity switch is installed on described section material frame by proximity switch frame, described cylinder is connected with described sucker by traveling wave wall.
7. the lower crawl Palletizer for huge overweight flat-sheet material according to claim 1, is characterized in that, described sucker is produced the below of roller-way in flat-sheet material and contacted with the below of the moving surface of flat-sheet material.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201521007481.5U CN205187377U (en) | 2015-12-07 | 2015-12-07 | A snatch pile up neatly equipment down for huge overweight flat -sheet material |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201521007481.5U CN205187377U (en) | 2015-12-07 | 2015-12-07 | A snatch pile up neatly equipment down for huge overweight flat -sheet material |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205187377U true CN205187377U (en) | 2016-04-27 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201521007481.5U Active CN205187377U (en) | 2015-12-07 | 2015-12-07 | A snatch pile up neatly equipment down for huge overweight flat -sheet material |
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| Country | Link |
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| CN (1) | CN205187377U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109093611A (en) * | 2018-08-21 | 2018-12-28 | 河南省睿卡机器人制造有限公司 | It is a kind of for grabbing the robot system of waste refrigerators |
-
2015
- 2015-12-07 CN CN201521007481.5U patent/CN205187377U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109093611A (en) * | 2018-08-21 | 2018-12-28 | 河南省睿卡机器人制造有限公司 | It is a kind of for grabbing the robot system of waste refrigerators |
| CN109093611B (en) * | 2018-08-21 | 2022-05-10 | 河南省睿卡机器人制造有限公司 | Robot system for grabbing waste refrigerators |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of utility model: A snatch pile up neatly equipment down for huge overweight flat -sheet material Effective date of registration: 20200416 Granted publication date: 20160427 Pledgee: Anxin Agricultural Insurance Co., Ltd. Shanghai Minhang Branch Company Pledgor: CNBM TRIUMPH ROBOTICS (SHANGHAI) Co.,Ltd. Registration number: Y2020310000009 |
|
| PE01 | Entry into force of the registration of the contract for pledge of patent right | ||
| PC01 | Cancellation of the registration of the contract for pledge of patent right |
Date of cancellation: 20210603 Granted publication date: 20160427 Pledgee: Anxin Agricultural Insurance Co., Ltd. Shanghai Minhang Branch Co. Pledgor: CNBM TRIUMPH ROBOTICS (SHANGHAI) Co.,Ltd. Registration number: Y2020310000009 |
|
| PC01 | Cancellation of the registration of the contract for pledge of patent right |