CN218464938U

CN218464938U - Robot material pile up neatly anchor clamps

Info

Publication number: CN218464938U
Application number: CN202222735494.0U
Authority: CN
Inventors: 蒲俊; 张诚飞; 黄震; 南燚
Original assignee: Wuhan Zhiyun Robot System Co ltd
Current assignee: Wuhan Zhiyun Robot System Co ltd
Priority date: 2022-10-14
Filing date: 2022-10-14
Publication date: 2023-02-10
Anticipated expiration: 2032-10-14

Abstract

The utility model discloses a robot material pile up neatly anchor clamps belongs to pile up neatly anchor clamps technical field, include: the device comprises a mounting seat, two movable clamping plates, a driving device and two clamping devices. The two movable clamping plates are arranged on one side of the mounting seat in parallel; the driving device is arranged on the mounting seat, and the driving end of the driving device is connected with at least one movable clamping plate; the two clamping devices are correspondingly arranged at one end of each movable clamping plate, which is far away from the mounting seat, one end of each movable clamping plate corresponds to one end of each movable clamping plate, each clamping device comprises two clamping blocks which are arranged in parallel and at least one driving piece, one end of each clamping block extends to the first clamping cavity, and each driving piece is connected with the corresponding clamping block and is used for driving one clamping block to move relative to the other clamping block so as to reduce the size of the second clamping cavity for clamping materials in the direction vertical to the first clamping cavity; this device is through spacing to two direction degrees of freedom of material X axle, Y axle, makes the in-process of material handling more stable, and when the robot position appearance transform, the difficult dislocation of multilayer material drops.

Description

Robot material pile up neatly anchor clamps

Technical Field

The utility model belongs to the technical field of the pile up neatly anchor clamps technique and specifically relates to a robot material pile up neatly anchor clamps are related to.

Background

The stacking clamp is generally arranged at the end of a mechanical arm in the stacking device or the stacking device, and is used for clamping various articles to complete the work of carrying, transferring and stacking. The stacking clamp can be integrated in any production line and widely applied to boxes, bottles, bags, drums, film-coated products, filling products and the like.

The prior art is mostly two parts about getting and presss from both sides, for example, the opening egg box pile up neatly fixture device that publication number is CN209618348U provides, utilize two splint of cylinder drive to press from both sides tight material, this kind of scheme is feasible to single object, but pile up to a plurality of objects and put the transport, when the robot position appearance transform, can make the object dislocation drop, the fixed of intermediate object piece only depends on with the frictional force between upper and lower material, and if great article, splint can have deformation and lead to the contained angle, make the material atress inhomogeneous, make the material drop.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to overcome above-mentioned technique not enough, provide a robot material pile up neatly anchor clamps, solve among the prior art pile up neatly anchor clamps and when the great article is got to robot position appearance transform or clamp, probably can make the object mistake technical problem who drops.

In order to achieve the above technical purpose, the technical scheme of the utility model provide a robot material pile up neatly anchor clamps, include:

a mounting seat;

the two movable clamping plates are arranged on one side of the mounting seat in parallel, and a first clamping cavity with adjustable size is formed between the two movable clamping plates;

the driving end of the driving device is connected with at least one movable clamping plate and is used for driving one movable clamping plate to move relative to the other movable clamping plate so as to reduce the first clamping cavity to clamp the material;

the clamping device comprises two clamping devices, the two clamping devices are arranged at one ends, deviating from the mounting seat, of the two movable clamping plates in a one-to-one correspondence mode, each clamping device comprises two clamping blocks arranged in parallel and at least one driving piece, one ends of the two clamping blocks extend to the first clamping cavity, a second clamping cavity which is adjustable in size and is vertical to the first clamping cavity in clamping direction is formed between the two clamping blocks, and the driving pieces are connected with the clamping blocks and are used for driving one clamping block to move relative to the other clamping block so as to reduce the size of the second clamping cavity and clamp materials in the direction vertical to the first clamping cavity.

In some embodiments, a sliding groove is formed in one side of the mounting seat, and a sliding block is arranged at one end of each movable clamping plate close to the mounting seat, wherein the sliding block connected with the driving device is slidably arranged in the sliding groove.

In some embodiments, the driving device includes a screw rod and a motor, the screw rod is disposed in the sliding groove and is in threaded connection with a sliding block slidably disposed in the sliding groove, and a driving shaft of the motor is connected with the screw rod.

In some embodiments, the driving device further comprises two supports, the two supports and the two lead screws are respectively arranged at two ends of the sliding groove, the thread turning directions of the two lead screws are opposite, one ends, close to each other, of the two lead screws are connected through the coupler, the other ends of the two lead screws are respectively rotatably connected with one support, and the two sliding blocks are respectively in threaded connection with the two lead screws.

In some embodiments, a bearing is embedded in each support, an outer ring of the bearing is fixedly connected with the support, and an inner ring of the bearing is fixedly connected with the screw rod.

In some embodiments, four driving members are provided, and the driving ends of the four driving members are respectively connected with the four clamping blocks in a one-to-one correspondence manner.

In some embodiments, the driving member comprises an air cylinder, the air cylinder is arranged at one end of the movable clamping plate, and a driving shaft of the air cylinder is connected with the clamping block.

In some embodiments, one side of the clamp block is attached to the end face of the movable clamp plate and is slidably connected with the movable clamp plate.

In some embodiments, the movable clamp plate includes two cross rods and two vertical rods, the two cross rods are arranged side by side, and the two vertical rods are respectively vertically arranged at two ends between the two cross rods and connected with the cross rods.

In some embodiments, the middle of the side of the mounting base away from the movable clamp plate is provided with a flange for mounting the device on the robot through the flange.

Compared with the prior art, the beneficial effects of the utility model include: through the mount pad that sets up, two remove splint, two clamping device that drive arrangement and cooperation set up, drive arrangement's drive end can drive two and remove splint and press from both sides the material and get, the driving piece can drive two clamp splice to apply the clamp direction looks vertically clamp force with first tight chamber of clamp to the material, make two clamping device respectively at two one end that remove splint and deviate from the stress point do not to apply the power of another direction to the material both sides, through to material X axle, spacing of two direction degrees of freedom of Y axle, the in-process that makes the material transport is more stable, when robot position appearance transform, the difficult dislocation of multilayer material drops.

In this device, the clamping device who sets up is passed through to the one end of movable clamp plate non-stress point, has the clamp power of getting that can press from both sides tight material mutually vertically with movable clamp plate clamp force, consequently under the prerequisite of pressing from both sides and getting steadily guaranteeing, movable clamp plate's length can suitably reduce to shorten movable clamp plate motion point and press from both sides the distance of getting between the point, need not to adopt too much structure compensation movable clamp plate moment that receives, can avoid movable clamp plate because of the too big deformation of application of force, realize firm the clamp simultaneously and get.

Drawings

Fig. 1 is a perspective view of an embodiment of a robot material palletizing jig provided by the present invention;

fig. 2 is a front sectional view of an embodiment of a robot material stacking jig provided by the present invention;

FIG. 3 is a perspective view of the robotic material pallet clamp of FIG. 1 in actual operation;

FIG. 4 is a perspective view of the flange mounting of the robotic material stacking fixture of FIG. 1;

fig. 5 is a perspective view of a moving jaw of the robotic material pallet clamp of fig. 1.

In the figure: 1. a mounting seat; 11. a chute; 2. moving the clamping plate; 21. a cross bar; 22. a vertical rod; 23. a slider; 3. a drive device; 31. a screw rod; 32. a motor; 33. a support; 34. a bearing; 35. a coupling; 4. a clamping device; 41. a clamping block; 42. a drive member; 5. a flange plate.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

As shown in fig. 1, the utility model provides a robot material pile up neatly anchor clamps, include: the device comprises a mounting seat 1, two movable clamping plates 2, a driving device 3 and two clamping devices 4.

Two movable clamp plates 2 are arranged on one side of the mounting seat 1 in parallel, and a first clamping cavity with adjustable size is formed between the two movable clamp plates 2.

The driving device 3 is arranged on the mounting base 1, and a driving end of the driving device 3 is connected with at least one movable clamping plate 2 and used for driving one movable clamping plate 2 to move relative to the other movable clamping plate 2 so as to reduce the first clamping cavity to clamp materials.

Two clamping devices 4, two clamping devices 4 are respectively arranged at one end of each movable clamping plate 2 departing from the mounting base 1 in a one-to-one correspondence manner, each clamping device 4 comprises two clamping blocks 41 arranged in parallel and at least one driving part 42, one ends of the two clamping blocks 41 extend to a first clamping cavity, a second clamping cavity which is adjustable in size and vertical to the first clamping cavity in clamping direction is formed between the two clamping blocks 41, and the driving part 42 is connected with the clamping blocks 41 and is used for driving one clamping block 41 to move relative to the other clamping block 41 so as to reduce the clamping of materials in the first clamping cavity in the second clamping cavity in the vertical direction.

In the device, as shown in fig. 3, a driving end of a driving device 3 can drive one movable clamping plate 2 to move relatively to another movable clamping plate 2, so that a first clamping cavity is reduced, the two movable clamping plates 2 clamp materials, the size of the first clamping cavity is adjustable, the materials with different thicknesses can be conveyed, two clamping devices 4 are respectively arranged on the two movable clamping plates 2, a driving piece 42 can drive one clamping block 41 to move relatively to another clamping block 41, so that a second clamping cavity is reduced, the two clamping blocks 41 apply a clamping force perpendicular to the clamping direction of the first clamping cavity to the materials at one end of the movable clamping plate 2, which is far away from a stress point, and the material conveying process is more stable through limiting the degrees of freedom of the materials in two directions of an X axis and a Y axis, and when the pose of a robot is changed, multiple layers of materials are not easy to fall off; the atress of splint is mainly concentrated in the tip that links to each other with drive arrangement 3, if press from both sides and get great object, then the moment that the other end received will be bigger, because the arm of force is longer, and it then needs bigger power to press from both sides great object, lead to splint to produce the deformation easily, this device sets up clamping device 4 in the one end that removes splint 2 and deviates from mount pad 1, another tip that makes remove splint 2 has can be in another direction with the tight power of pressing from both sides of material clamp, consequently, the length of removing splint 2 can suitably reduce, in order to shorten splint motion point and press from both sides the distance of getting between the point, make the device can guarantee to remove splint 2 stably, realize firm the clamp simultaneously and get.

Specifically, the length of the clamping block 41 can be appropriately lengthened for different clamping scenes.

As shown in fig. 1, in some embodiments, four driving members 42 are provided, each driving member 42 includes a cylinder, the cylinders are installed at one end of the movable clamp plate 2, the driving shafts of the four cylinders are respectively connected to the four clamp blocks 41 in a one-to-one correspondence, when in use, the cylinders are used to drive the two clamp blocks 41 to approach each other so as to reduce the second clamping cavity to clamp the material, the four driving members 42 are provided, and the clamp blocks 41 can adapt to the position of the material clamped and fixed by the movable clamp plate 2, and the material can be clamped and fixed without adjusting the material.

Further, in some embodiments, the driving member 42 may be an electric telescopic rod, a hydraulic cylinder, or the like.

As shown in fig. 2 and 5, in some embodiments, a sliding groove 11 is formed in one side of the mounting base 1, and a sliding block 23 is disposed at one end of each movable clamping plate 2 close to the mounting base 1, wherein the sliding block 23 connected to the driving device 3 is slidably disposed in the sliding groove 11, so that when the movable clamping plate 2 moves, the movable clamping plate can slide along the sliding groove 11 through the sliding block 23, and is used for guiding a movement track of the movable clamping plate 2, the driving device 3 includes a screw rod 31 and a motor 32, the screw rod 31 is disposed in the sliding groove 11 and is in threaded connection with the sliding block 23 slidably disposed in the sliding groove 11, a driving shaft of the motor 32 is connected to the screw rod 31, the screw rod 31 is driven to rotate by the motor 32, the screw rod 31 rotates to drive the sliding block 23 to linearly displace in the sliding groove 11, and the movable clamping plate 2 is driven to move relative to another movable clamping plate 2.

Further, in some embodiments, the driving device 3 may include an air cylinder or the like to achieve the movement of driving the movable clamp plate 2.

As shown in fig. 2, the driving device 3 further includes two supports 33, two supports 33 and two screw rods 31 are disposed, the two supports 33 are disposed at two ends of the sliding chute 11 and rotatably connected to one ends of the two screw rods 31, respectively, for supporting the screw rods 31 to ensure stability of the screw rods 31, the two screw rods 31 have opposite screw thread turning directions and are connected to each other through a coupling 35, the two sliders 23 are equally and respectively in threaded connection with the two screw rods 31, because the screw thread turning directions of the two screw rods 31 are opposite, that is, when the motor 32 drives the screw rods 31 to rotate forward and backward, the two movable clamping plates 2 move in opposite or similar directions to complete clamping or loosening operations, when in actual use, the two movable clamping plates 2 simultaneously generate clamping forces at two sides of the material to clamp the material, so as to achieve rapid clamping, and the clamping stability is high.

Further, in some embodiments, one screw rod 31, not shown in the drawings, may be provided, two supports 33 are respectively rotatably connected to two ends of the screw rod 31, one of the two sliding blocks 23 is slidably connected to the sliding slot 11, the other sliding block 23 is fixedly connected to the sliding slot 11 and is in threaded connection with the screw rod 31, when the motor 32 drives the screw rod 31 to rotate, one of the movable clamp plates 2 is fixed, and the motor 32 can drive the sliding block 23 and the movable clamp plate 2, which are in threaded connection, to linearly displace, so that the movable clamp plate 2 moves relative to the fixed movable clamp plate 2, thereby achieving the clamping or loosening operation; in order to ensure the stability of the screw rod 31 during the rotation movement, a bearing 34 is embedded in each support 33, the outer ring of the bearing 34 is fixedly connected with the support 33, and the inner ring of the bearing 34 is fixedly connected with the screw rod 31.

As shown in fig. 4, in some embodiments, a flange 5 is provided in the middle of the side of the mounting base 1 facing away from the mobile clamp plate 2, for mounting the device on the robot via the flange 5.

As shown in fig. 5, in some embodiments, in order to improve the stability of the clamping block 41 during the movement, one side of the clamping block 41 is attached to the end surface of the movable clamping plate 2, so that the clamping block 41 slides on the end surface of the movable clamping plate 2 during the movement.

Further, in some embodiments, the movable clamp plate 2 includes two cross rods 21 and two vertical rods 22, the two cross rods 21 are arranged side by side, and the two vertical rods 22 are respectively vertically disposed at two ends between the two cross rods 21 and connected to the cross rods 21.

The utility model discloses a mount pad 1 that sets up, two remove splint 2, two clamping device 4 that drive arrangement 3 and cooperation set up, drive arrangement 3's drive end can drive two remove splint 2 and press from both sides the material and get, driving piece 42 can drive two clamp splice 41 and applys the clamp direction looks vertically clamp force with first tight chamber of clamp to the material, make two clamping device 4 respectively two remove splint 2 one end that deviates from the stress point do not do all to the material both sides with the power of another direction, through material X axle, the spacing of two direction degrees of freedom of Y axle, the in-process that makes the material transport is more stable, when robot position appearance transform, the difficult dislocation of multilayer material drops.

The utility model discloses a clamping device 4 that sets up is passed through to the one end of moving splint 2 non-stress point, have and move 2 clamp force looks vertically of moving splint and can press from both sides the double-layered power of getting of tight material, consequently under the prerequisite of pressing from both sides is being guaranteed to stabilize to press from both sides, the length of moving splint 2 can suitably reduce to shorten the distance between moving splint 2 motion point and clamp and get the point, need not to adopt too much structure compensation moving splint 2 moment that receives, can avoid moving splint 2 because of the too big deformation of application of force, realize firm clamp simultaneously and get.

The working principle is as follows: during the use, utilize ring flange 5 with anchor clamps direct mount on the robot, the robot drives this anchor clamps and removes and arrange the material outside in, motor 32 drive lead screw 31 is rotatory afterwards, lead screw 31 rotates and drives two and its threaded connection's slider 23 and be close to each other and slide, it presss from both sides tightly the material to drive two movable clamp plate 2, utilize cylinder drive clamp splice 41 to the direction translation that is close to the material this moment until supporting tightly the material, exert through two corresponding clamp splice 41 and move clamp plate 2 looks vertically clamp force with the material and press from both sides tightly, accomplish promptly and snatch the action.

The above description of the present invention does not limit the scope of the present invention. Any other corresponding changes and modifications according to the technical idea of the present invention should be included in the scope of the claims of the present invention.

Claims

1. The utility model provides a robot material pile up neatly anchor clamps which characterized in that includes:

a mounting seat;

two clamping device, two clamping device one-to-one sets up respectively in two the movable clamp plate deviates from the one end of mount pad, every clamping device all includes two clamp splice and at least one driving piece of arranging side by side, two the one end of clamp splice all extends to first clamp chamber makes and forms one size adjustable and press from both sides the direction with first clamp chamber vertically second presss from both sides tight chamber, the driving piece links to each other with the clamp splice and is used for driving another clamp splice of a clamp splice relative motion to it presss from both sides tight material with first clamp chamber looks vertical direction to reduce the second and press from both sides tight chamber.

2. The robot material stacking clamp according to claim 1, wherein a sliding groove is formed in one side of the mounting base, a sliding block is arranged at one end, close to the mounting base, of each movable clamping plate, and the sliding block connected with the driving device is slidably arranged in the sliding groove.

3. A robot material palletizing clamp according to claim 2, wherein the driving device comprises a screw rod and a motor, the screw rod is arranged in the chute and is in threaded connection with a sliding block which is slidably arranged in the chute, and a driving shaft of the motor is connected with the screw rod.

4. The robotic material palletizing fixture according to claim 3, wherein the driving device further comprises two supports, the two supports and the two lead screws are respectively disposed at two ends of the chute, the screw threads of the two lead screws are opposite in rotation direction, one ends of the two lead screws close to each other are connected through a coupler, the other ends of the two lead screws are respectively rotatably connected with one of the supports, and the two sliding blocks are respectively in threaded connection with the two lead screws.

5. The robot material stacking clamp according to claim 4, wherein a bearing is embedded in each support, an outer ring of the bearing is fixedly connected with the support, and an inner ring of the bearing is fixedly connected with the screw rod.

6. The robot material stacking clamp according to claim 1, wherein four driving members are provided, and driving ends of the four driving members are respectively connected with the four clamping blocks in a one-to-one correspondence manner.

7. A robotic material palletizing clamp according to claim 1, wherein the driving member comprises a cylinder, the cylinder is mounted at one end of the movable clamp plate, and a driving shaft of the cylinder is connected with the clamp blocks.

8. A robotic material palletizer clamp according to claim 1, wherein one side of the clamping block is engaged with an end surface of the movable clamping plate and is slidably connected with the movable clamping plate.

9. The robot material palletizing clamp according to claim 1, wherein the movable clamping plate comprises two cross rods and two vertical rods, the two cross rods are arranged side by side, and the two vertical rods are respectively vertically arranged at two ends between the two cross rods and connected with the cross rods.

10. The robot material palletizing clamp according to claim 1, wherein a flange is arranged in the middle of one side of the mounting seat, which faces away from the movable clamping plate, and is used for mounting a device on a robot through the flange.