Multifunctional clamp

Abstract

A tray clamping mechanism comprises a pair of tray fork arms and a first clamping device, the rear ends of the tray fork arms are fixed to the lower portion of the front end of a rack, and the first clamping device is installed on the portion, above the tray fork arms, of the rack; the visual monitoring mechanism comprises a downward camera; the film drawing mechanism comprises a plurality of film clamping plates and a second clamping device, the rear ends of the film clamping plates are fixed to the front end of the rack, the film clamping plates are located above the tray fork arm, a tray avoiding space is formed between the film clamping plates and the tray fork arm, and the second clamping device is located above the film clamping plates; the stacking mechanism comprises a vacuum chuck and a floating buffer part, the vacuum chuck is installed at the lower end or the rear end of the rack through the floating buffer part, and the floating buffer part is used for floating up and down when the vacuum chuck sucks products to achieve buffering and deviation correction. The automatic stacking machine integrates the functions of tray taking, film pulling and stacking and is high in working efficiency, compact in structure, capable of improving the degree of freedom of field installation, convenient to operate and small in occupied space.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of clamps, in particular to a multifunctional clamp. BACKGROUND

[0002] After the current market products are produced (refractory brick products, etc.), further automatic packaging is needed, and the specific process is as follows:

[0003] First step, take and place the tray: the tray is grabbed from the tray library by a mechanical hand or a suction cup device and accurately placed on the designated station of the conveying line.

[0004] Second step, film pulling / tray film covering: the bottom or side of the tray is covered by a separate film covering device to achieve dustproof and fixing functions.

[0005] Third step, stacking: the refractory brick products are stacked on the tray layer by layer according to the preset rules by a stacking robot or a mechanical arm.

[0006] Fourth step, packaging: the tray goods after stacking are reinforced by a bundling machine or a winding machine (such as bundling belt, winding film packaging).

[0007] However, the above packaging process has the following disadvantages:

[0008] 1. Large floor space: each step device is independently configured (such as a tray taking machine, a film covering machine, a stacking machine, and a packaging machine), which needs linear layout connection, resulting in high workshop area occupancy rate, especially for small and medium-sized factories, which is not friendly to space utilization.

[0009] 2. High investment and maintenance cost: multiple equipment combination mode needs to purchase multiple independent control systems, transmission mechanisms and supporting facilities, which has high initial investment cost; later maintenance needs to interface with multiple suppliers, and the fault troubleshooting and spare part replacement cycle is long.

[0010] The main features of the present application are compact structure, multifunctional integration, small floor space, and the first independent research and development in China. SUMMARY

[0011] In view of the above problems, the present application provides a multifunctional clamp which integrates the functions of tray taking, film pulling and stacking in one, has compact structure and small floor space.

[0012] The technical scheme of the present application is as follows:

[0013] The utility model provides a multifunctional clamp, including frame, tray clamping mechanism, visual monitoring mechanism, film pulling mechanism and stacking mechanism, tray clamping mechanism includes a pair of tray fork arms and first clamping device, and the rear end of tray fork arm is fixed below the front end of frame, and first clamping device is installed on the frame above tray fork arm, and first clamping device is used to hold tray with tray fork arm, visual monitoring mechanism includes downward camera, and camera is located on the frame above the middle of two tray fork arms, film pulling mechanism includes a plurality of film clamping plates and second clamping device, and the rear end of film clamping plate is fixed in the front end of frame, and film clamping plate is located above tray fork arm, and the space for tray is avoided between film clamping plate and tray fork arm, and second clamping device is located above film clamping plate, and second clamping device is used to hold film with film clamping plate, and stacking mechanism includes vacuum chuck and floating buffer, and vacuum chuck is installed through floating buffer in the lower end or rear end of frame, and floating buffer is used to float up and down when vacuum chuck absorbs product, and it is used to buffer and correct deviation.

[0014] Further, the frame includes a horizontal main frame plate, the upper end of the main frame plate is fixed with a robot connecting frame for fixed connection with a robot, the front end of the main frame plate is fixed vertically with a first mounting plate fixedly connected with the rear end of the tray fork arm, the upper end of the first connecting plate is fixed with a second mounting plate horizontally extending forward, the first clamping device is installed on the second mounting plate, the second mounting plate is fixedly connected with a third mounting plate between the second mounting plates, the camera is fixedly installed on the lower end of the third mounting plate, the front end of the second mounting plate is fixed with a horizontal crossbar, the rear end of the film clamping plate is fixed on the lower end of the crossbar, the upper end of the crossbar is fixed with a fourth mounting plate horizontally extending forward, the fourth mounting plate is located above the film clamping plate, and the second clamping device is installed on the fourth mounting plate.

[0015] Further, the robot connecting frame includes a pair of side plates fixedly connected with the upper end of the main frame plate vertically, the side plates are arranged at intervals, the upper end of the side plates is fixed with an upper end plate, a middle through hole is formed in the middle of the upper end plate, and a circle of mounting holes is formed on the circumferential side of the middle through hole.

[0016] Further, the first clamping device includes a tray clamping cylinder and a tray clamping plate, the tray clamping cylinder is vertically downward, and the tray clamping plate is fixed on the push rod end of the tray clamping cylinder.

[0017] Further, the tray clamping cylinder is two or four.

[0018] Further, the second clamping device includes a film clamping cylinder and a chuck, the film clamping cylinder is vertically downward, and the chuck is fixed on the push rod end of the film clamping cylinder.

[0019] Further, the chuck is a cylindrical rubber chuck, and the film clamping cylinder is two, three or four.

[0020] Further, the floating buffer piece comprises a suction cup connecting plate, a guide column, a spring and a guide sleeve, the suction cup connecting plate is fixed on the upper end surface of the vacuum suction cup, the lower end of the guide column is fixed on the upper end surface of the suction cup connecting plate, the guide sleeve is fixed on the rack, the guide column can slide up and down in the guide sleeve, the upper end of the guide column is fixed with a limiting device which is directly larger than the inner diameter of the guide sleeve, and the spring is sleeved outside the guide column and located between the suction cup connecting plate and the guide sleeve.

[0021] Further, the limiting device is a screw or a bolt, and the guide column is two, three or four.

[0022] Further, the vacuum suction cup is a rectangular suction cup or a circular suction cup.

[0023] The present application has the advantages that the present application integrates the functions of tray taking, film pulling and stacking, has high working efficiency, compact structure, high installation freedom, convenient operation and small occupied space. BRIEF DESCRIPTION OF DRAWINGS

[0024] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description only some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained without creative labor on the basis of these drawings.

[0025] Figure 1 It is a left view of the present application;

[0026] Figure 2 It is a perspective view of the present application;

[0027] Figure 3 It is a perspective view of the second angle of the present application;

[0028] Figure 4 It is a perspective view of the third angle of the present application.

[0029] The reference signs in the drawings are:

[0030] Rack 1, main rack plate 11, mechanical hand connecting frame 12, first mounting plate 13, second mounting plate 14, third mounting plate 15, cross rod 16, fourth mounting plate 17, side plate 121, upper end plate 122, middle through hole 123, mounting hole 124;

[0031] Tray clamping mechanism 2, tray fork arm 21, tray avoiding space 22, tray clamping cylinder 23, tray clamping plate 24;

[0032] Visual monitoring mechanism 3, camera 31;

[0033] film clamping cylinder 42, clamping head 43;

[0034] stacking mechanism 5, vacuum chuck 51, chuck connecting plate 52, guide column 53, spring 54, guide sliding sleeve 55, screw 56. DETAILED DESCRIPTION

[0035] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0036] Reference Figures 1-2 A multifunctional clamp includes a rack 1, a tray clamping mechanism 2, a visual monitoring mechanism 3, a film pulling mechanism 4 and a stacking mechanism 5. The tray clamping mechanism 2 includes a pair of tray fork arms 21 and a first clamping device. The rear end of the tray fork arm 21 is fixed below the front end of the rack 1. The first clamping device is installed on the rack 1 above the tray fork arm 21. The first clamping device is used to clamp the tray together with the tray fork arm 21. The visual monitoring mechanism 3 includes a downward camera 31. The camera 31 is located on the rack 1 above the middle of the two tray fork arms. The film pulling mechanism 4 includes a plurality of film clamping plates 41 and a second clamping device. The rear end of the film clamping plate 41 is fixed to the front end of the rack 1. The film clamping plate 41 is located above the tray fork arm 21. The film clamping plate 41 and the tray fork arm 21 form a tray avoiding space 22. The second clamping device is located above the film clamping plate 41. The second clamping device is used to clamp the film together with the film clamping plate 41. The stacking mechanism 5 includes a vacuum chuck 51 and a floating buffer. The vacuum chuck 51 is installed at the lower end or the rear end of the rack 1 through the floating buffer. The floating buffer is used to float up and down when the vacuum chuck 51 sucks the product, so as to buffer and correct the deviation.

[0037] As a preferred embodiment, the rack 1 comprises a horizontal main rack plate 11, the upper end of the main rack plate 11 is fixed with a manipulator connecting frame 12 for fixed connection with the manipulator, the front end of the main rack plate 11 is vertically fixed with a first mounting plate 13 fixedly connected with the rear end of the tray fork arm, the upper end of the first connecting plate 13 is fixed with a second mounting plate 14 horizontally extending forward, the first clamping device is installed on the second mounting plate 14, the third mounting plate 15 is fixedly connected between the second mounting plates 14, the camera 31 is fixedly installed on the lower end of the third mounting plate 15, the front end of the second mounting plate 14 is fixed with a horizontal cross rod 16, the rear end of the film clamping plate 41 is fixed on the lower end of the cross rod 16, the upper end of the cross rod 16 is fixed with a fourth mounting plate 17 horizontally extending forward, the fourth mounting plate 17 is located above the film clamping plate 41, and the second clamping device is installed on the fourth mounting plate 17.

[0038] The manipulator connecting frame 12 comprises a pair of side plates 121 vertically fixed on the upper end of the main rack plate 11, the side plates 121 are arranged at intervals, the upper ends of the side plates are fixed with an upper end plate 122, the middle of the upper end plate 122 is provided with a middle through hole 123, and a circle of mounting holes 124 is formed in the circumferential side of the middle through hole 123.

[0039] As a preferred embodiment, the first clamping device comprises a tray clamping cylinder 23 and a tray clamping plate 24, the tray clamping cylinder 23 is vertically downward, and the tray clamping plate 24 is fixed on the push rod end of the tray clamping cylinder 23. The tray clamping cylinder 23 can be two or four.

[0040] As a preferred embodiment, the second clamping device comprises a film clamping cylinder 42 and a chuck 43, the film clamping cylinder 42 is vertically downward, and the chuck 43 is fixed on the push rod end of the film clamping cylinder 42. The chuck 43 is a cylindrical rubber chuck, and the film clamping cylinder 42 is two, three or four.

[0041] As a preferred embodiment, the floating buffer comprises a suction disc connecting plate 52, a guide column 53, a spring 54 and a guide sliding sleeve 55, the suction disc connecting plate 52 is fixed on the upper end face of the vacuum suction disc 51, the lower end of the guide column 53 is fixed on the upper end face of the suction disc connecting plate 52, the guide sliding sleeve 55 is fixed on the rack 1, the guide column 53 can slide up and down in the guide sliding sleeve 55, the upper end of the guide column 53 is fixed with a limiting device directly larger than the inner diameter of the guide sliding sleeve 55, the spring 54 is sleeved outside the guide column 53, and the spring 54 is located between the suction disc connecting plate 52 and the guide sliding sleeve 55. The limiting device is a screw 56 or a bolt, and the guide column 53 is two, three or four.

[0042] As a preferred embodiment, the vacuum chuck 51 is a rectangular vacuum chuck or a circular vacuum chuck.

[0043] Working principle of the present application:

[0044] Before work, the end of the manipulator is fixedly connected with the manipulator connecting frame 12 of the present application, then the manipulator drives the clamp to move to the tray position, the tray fork arm 21 is inserted into the forklift hole of the tray, the tray clamping cylinder 23 drives the tray clamping plate 24 to move downward, and the tray fork arm 21 is clamped from above and below to clamp the tray, then after the clamping is completed, the manipulator places the tray on the specified position of the conveying line (which can be the outlet end of the film covering equipment), the tray clamping cylinder 23 drives the tray clamping plate 24 to reset and loosen the tray, and then the manipulator drives the clamp to move to the specified position of the film covering equipment, so that the chuck 43 and the film clamping plate 41 are located above and below the film at the outlet end of the film covering equipment, the film clamping cylinder 42 drives the chuck 43 to move downward, and the chuck 43 and the film clamping plate 41 clamp the film, then the manipulator drives the clamp to move outward to pull out the film in the film covering equipment, after a specified length is pulled out, the film covering equipment cuts off the film, the manipulator drives the clamp to move downward, so that the film falls on the upper surface of the tray, the film clamping cylinder 42 drives the chuck 43 to reset and loosen the film, then the manipulator drives the clamp to suck the product to be stacked and places it on the tray covered with the film, and the guide column 53 cooperates with the spring 54 to play a buffering and deviation correcting role during sucking.

[0045] The present application integrates the functions of taking a tray, pulling a film, and stacking in one, has high working efficiency, compact structure, high freedom degree of on-site installation, convenient operation, and small occupied space

[0046] The above only describes preferred embodiments of the present application and is not used to limit the present application, and any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A multifunctional clamp, characterized by: include frame; The pallet clamping mechanism includes a pair of pallet fork arms and a first clamping device, wherein the rear end of the pallet fork arms is fixed below the front end of the frame, and the first clamping device is installed on the frame above the pallet fork arms, and the first clamping device is used to cooperate with the pallet fork arms to clamp the pallet; A visual monitoring mechanism including a downward-facing camera located on a frame positioned above the center of the two pallet fork arms; The film pulling mechanism includes a plurality of film clamping plates and a second clamping device. The rear end of the film clamping plates is fixed to the front end of the frame. The film clamping plates are located above the pallet fork arms. There is a pallet avoidance space between the film clamping plates and the pallet fork arms. The second clamping device is located above the film clamping plates and is used to cooperate with the film clamping plates to clamp the film. The palletizing mechanism includes a vacuum suction cup and a floating buffer. The vacuum suction cup is installed at the lower end or rear end of the frame through the floating buffer. The floating buffer is used to float up and down when the vacuum suction cup absorbs the product, thereby buffering and correcting deviations.

2. The multifunctional clamp according to claim 1, wherein: The frame includes a horizontal main frame plate, a manipulator connecting frame for being fixedly connected to the manipulator is fixed at the upper end of the main frame plate, a first mounting plate fixedly connected to the rear end of the pallet fork arm is vertically fixed at the front end of the main frame plate, a second mounting plate extending horizontally forward is fixed at the upper end of the first connecting plate, the first clamping device is mounted on the second mounting plate, a third mounting plate is fixedly connected between the second mounting plates, the camera is fixedly mounted on the lower end of the third mounting plate, a horizontal cross bar is fixed at the front end of the second mounting plate, the rear end of the film clamp is fixed to the lower end of the cross bar, the upper end of the cross bar is fixed with a fourth mounting plate extending horizontally forward, the fourth mounting plate is located above the film clamp, and the second clamping device is mounted on the fourth mounting plate.

3. The multifunctional clamp according to claim 2, wherein: The manipulator connecting frame includes a pair of side plates vertically fixed to the upper ends of the main frame plate, the side plates are arranged at intervals, an upper end plate is fixed between the upper ends of the side plates, a middle through hole is opened in the middle of the upper end plate, and a circle of mounting holes is opened around the middle through hole.

4. The multifunctional clamp according to claim 1, wherein: The first clamping device includes a pallet clamping cylinder and a pallet clamping plate. The pallet clamping cylinder is vertically downward, and the pallet clamping plate is fixed to the end of the push rod of the pallet clamping cylinder.

5. The multifunctional clamp according to claim 1, wherein: The number of the pallet clamping cylinders is two or four.

6. The multifunctional clamp according to claim 1, wherein: The second clamping device includes a film clamping cylinder and a clamping head. The film clamping cylinder is vertically downward, and the clamping head is fixed to the end of the push rod of the film clamping cylinder.

7. The multifunctional clamp according to claim 6, wherein: The clamping head is a cylindrical rubber clamping head, and the number of the film clamping cylinders is two, three or four.

8. The multifunctional clamp according to claim 1, wherein: The floating buffer includes a suction cup connecting plate, a guide column, a spring and a guide sleeve. The suction cup connecting plate is fixed to the upper end surface of the vacuum suction cup, the lower end of the guide column is fixed to the upper end surface of the suction cup connecting plate, the guide sleeve is fixed to the frame, the guide column can slide up and down in the guide sleeve, the upper end of the guide column is fixed with a limiting device that is directly larger than the inner aperture of the guide sleeve, the spring is sleeved outside the guide column, and the spring is located between the suction cup connecting plate and the guide sleeve.

9. The multifunctional clamp according to claim 8, wherein: The limiting device is a screw or a bolt, and the number of the guide columns is two, three or four.

10. The multifunctional clamp according to any one of claims 1 to 9, characterized in that: The vacuum suction cup is a rectangular suction cup or a circular suction cup.

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