Manipulator stacking clamp

Abstract

The utility model belongs to the field of automatic carrying, and provides a manipulator stacking clamp which is particularly suitable for stacking printed matters. The clamp adopts an L-shaped arm frame structure, and a built-in magnetic coupling rodless cylinder drives a lower clamp to move and is matched with an upper clamp driven by the cylinder to realize clamping. A spring is arranged in the upper clamp to provide self-adaptive clamping force. The hanging scaffold and the connecting column are designed to enhance the stability, and the double-magnetic-coupling rodless air cylinder is selected to enhance the clamping force. The clamp has the advantages that paper deformation and falling are effectively reduced, stacking efficiency and quality are improved, labor intensity and human errors are reduced, and the clamp is an ideal choice for printing industry automation.

Description

Technical Field

[0001] The utility model relates to the technical field of automatic handling, in particular to a manipulator palletizing fixture. Background Art

[0002] In the traditional printing industry, the production of printed materials often relies on extensive manual labor, including palletizing and handling. As printing speeds and outputs increase, manual palletizing becomes not only labor-intensive but also inefficient and prone to human error, leading to damage and quality issues in printed materials. To improve production efficiency and ensure product quality, automated palletizing technology is increasingly being adopted in the printing industry.

[0003] However, most of the current automatic palletizing equipment uses a grabbing structure. Due to the characteristics of printed paper, it is very easy to deform during the grabbing process, resulting in falling off, which affects the palletizing process.

[0004] Therefore, it is of great significance to design a robotic palletizing fixture that can solve the above problems. Utility Model Content

[0005] In order to solve the problems existing in the background technology, the utility model provides a manipulator palletizing fixture, which includes:

[0006] An L-shaped arm frame, the L-shaped arm frame comprising a horizontal arm and a vertical arm;

[0007] A magnetic rodless cylinder, the magnetic rodless cylinder being installed in a horizontal arm, the magnetic rodless cylinder comprising a cylinder barrel and a slider that can slide along the cylinder barrel;

[0008] a bracket mounted on the top of the vertical arm of the L-shaped arm frame;

[0009] A lower clamp connected to the bottom of the slider;

[0010] The cylinder is vertically connected to the bracket, and the cylinder is provided with a telescopic shaft, and the bottom of the telescopic shaft is connected to the upper clamp.

[0011] In a preferred solution, the upper fixture includes a top seat and a base, and the top seat and the base are connected by a plurality of guide pillars.

[0012] In a preferred solution, a spring is installed on the outside of the guide column, and the upper end and lower end of the spring are respectively connected to the top seat and the base.

[0013] In a preferred solution, a hanging tray is installed on the bracket, and the hanging tray is connected to the bracket through a plurality of connecting columns.

[0014] In a preferred solution, a spring is installed on the outside of the connecting column.

[0015] In a preferred solution, two magnetic rodless cylinders are provided, and the sliders of the two magnetic rodless cylinders are both connected to the lower clamp.

[0016] The beneficial effects achieved by the utility model are:

[0017] First, this utility model features a telescopic lower clamp and a vertically movable upper clamp. The telescopic lower clamp is extended and retracted by a magnetic rodless cylinder installed in the horizontal arm of an L-shaped arm frame. A slider slides along the cylinder, driving the lower clamp for horizontal movement. The stable clamping design ensures the safety of objects during lifting and handling, reduces the risk of objects falling due to shaking or vibration, and improves the reliability of automated palletizing.

[0018] Second, the utility model achieves adaptive clamping of the upper and lower clamps through the combined action of the cylinder's telescopic shaft and spring. When clamping an object, the clamping force can be adjusted according to the actual situation of the object, avoiding damage or falling of the object due to over-tightening or over-loosening, thereby improving the accuracy and efficiency of palletizing.

[0019] Third, the utility model provides a hanging plate installed on the bracket, which is connected to the bracket through a connecting column. A spring is also installed on the outside of the connecting column. The structure of the hanging plate and the connecting column enhances the stability of the overall structure. The spring further provides balance support, reducing the risk of objects falling off due to vibration during transportation. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is a schematic diagram of the overall structure of the utility model Figure 1 ;

[0021] Figure 2 This is a schematic diagram of the overall structure of the utility model Figure 2 ;

[0022] Figure 3 This is a schematic diagram of the overall structure of the utility model Figure 3 ;

[0023] Figure 4 This is a schematic diagram of the overall structure of the utility model Figure 4 ;

[0024] Figure 5 This is a schematic diagram of the overall structure of the utility model Figure 5 ;

[0025] Figure 6 It is a structural diagram of the upper fixture.

[0026] Numbers in the figure:

[0027] 1. L-shaped arm; 2. Bracket; 3. Lifting plate; 4. Cylinder; 5. Upper clamp; 51. Top seat; 52. Base; 53. Spring; 6. Magnetic rodless cylinder; 61. Slider; 62. Cylinder barrel; 7. Lower clamp. DETAILED DESCRIPTION

[0028] The following will clearly and completely describe the technical solutions of the present invention in conjunction with the drawings in the present invention. In addition, the forms of the various structures recorded in the following embodiments are merely examples. The present invention is not limited to the various structures recorded in the following embodiments. All other implementations obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0029] Reference Figure 1-Figure 5 The present invention provides a manipulator palletizing fixture comprising an L-shaped arm frame 1, which includes a horizontal arm and a vertical arm to form an L-shaped structure. The horizontal arm is used to mount a magnetic rodless cylinder 6. A bracket 2 is mounted on the top of the vertical arm.

[0030] Magnetic rodless cylinder 6: Installed within the horizontal arm of the L-shaped arm frame 1. It comprises a cylinder 62 and a slider 61 that slides along the cylinder 62. The bottom of slider 61 is connected to the lower clamp 7. The document mentions that two magnetic rodless cylinders 6 can be installed to enhance clamping force.

[0031] Bracket 2: Mounted on top of the vertical arm of L-shaped arm 1. Vertically connected to cylinder 4. An optional top-mounted hanging plate 3 is connected to bracket 2 via several connecting columns. Springs 53 can be installed on the outside of the connecting columns to provide stability.

[0032] Cylinder 4: vertically connected to bracket 2. Cylinder 4 is provided with a telescopic shaft, and the bottom of the telescopic shaft is connected to the clamp 5.

[0033] The upper clamp 5 includes a top seat 51 and a base 52. The top seat 51 and the base 52 are connected by a plurality of guide posts. A spring 53 is installed on the outside of the guide posts. The upper and lower ends of the spring 53 are connected to the top seat 51 and the base 52 respectively, providing an adaptive clamping force.

[0034] Lower clamp 7: Connected to the bottom of slider 61 of magnetic rodless cylinder 6. Cooperates with upper clamp 5 to clamp objects. Suspension plate 3 and connecting columns: Suspension plate 3 is connected to bracket 2 via several connecting columns for connection to a robotic arm or other lifting device. Springs 53 can be installed on the outside of the connecting columns to provide additional balancing support. Connection relationship: A magnetic rodless cylinder 6 is installed in the horizontal arm of the L-shaped arm 1, and its slider 61 is connected to the lower clamp 7.

[0035] A bracket 2 is mounted on the top of the vertical arm of the L-shaped arm frame 1, and the bracket 2 is vertically connected to a cylinder 4. The bottom of the telescopic shaft of the cylinder 4 is connected to an upper fixture 5. The upper fixture 5 includes a top seat 51 and a base 52, which are connected by a guide column, and a spring 53 is mounted on the outside of the guide column. A hanging plate 3 can be optionally mounted on the top of the bracket 2, and the hanging plate 3 is connected to the bracket 2 via a connecting column, and a spring 53 can be optionally mounted on the outside of the connecting column.

[0036] The working process of this utility model is as follows:

[0037] Initial state:

[0038] The horizontal arm and the vertical arm of the L-shaped arm frame 1 are in preset positions, and the bracket 2 is installed on the top of the vertical arm.

[0039] The magnetic rodless cylinder 6 is installed in the horizontal arm, with its slider 61 located at the initial position, and the lower clamp 7 is connected to the bottom of the slider 61.

[0040] The cylinder 4 is vertically connected to the bracket 2, the telescopic shaft is in a retracted state, and the upper clamp 5, including the top seat 51 and the base 52 connected by the guide column, is located at a higher position.

[0041] Approaching the target object:

[0042] The hanging plate 3 is connected to the robot arm, and the L-shaped arm frame 1 is moved close to the objects to be stacked through the movement of the robot arm.

[0043] Gripping objects:

[0044] The magnetic rodless cylinder 6 is started, and the slider 61 slides along the cylinder barrel 62, driving the lower clamp 7 to move downward to the bottom of the object being transported.

[0045] The telescopic shaft of the cylinder 4 then extends, pushing the lower clamp 7 and the upper clamp 5 together to clamp the object. The upper and lower clamps 5 and 7 work together to firmly clamp the object, and the presence of the spring 53 provides a certain cushioning and adaptive clamping force to accommodate objects of different sizes and shapes.

[0046] Lifting and handling:

[0047] After ensuring that the object is firmly clamped, the entire robot arm, including the L-shaped arm 1 and the clamped object, can be lifted or moved to the target location.

[0048] Release the object:

[0049] After reaching the target position, the telescopic shaft of the cylinder 4 contracts, the upper clamp 5 moves upward, separates from the lower clamp 7, and releases the object.

[0050] The slider 61 of the magnetic rodless cylinder 6 may move upward simultaneously or subsequently to bring the lower clamp 7 back to the initial position.

[0051] Reset and wait for next operation:

[0052] After the release is completed, the robot palletizing fixture returns to its initial state and waits for the next gripping and handling operation.

[0053] The utility model has a hanging plate 3 and a connecting column, and a spring 53 is installed on the outside of the connecting column to further stabilize the clamping process or provide additional balance support.

[0054] The design of the double-magnetic rodless cylinder 6 is a bottom-supporting design, which can enhance the stability and strength of clamping, ensuring effective clamping even when facing heavy objects.

[0055] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A manipulator palletizing fixture, characterized in that: It includes: An L-shaped arm frame (1), the L-shaped arm frame (1) comprising a horizontal arm and a vertical arm; A magnetic rodless cylinder (6), wherein the magnetic rodless cylinder (6) is installed in a horizontal arm, and the magnetic rodless cylinder (6) comprises a cylinder barrel (62) and a slider (61) that can slide along the cylinder barrel (62); A bracket (2), the bracket (2) being mounted on the top of the vertical arm of the L-shaped arm frame (1); A lower clamp (7), the lower clamp (7) being connected to the bottom of the slider (61); The cylinder (4) is vertically connected to the bracket (2). The cylinder (4) is provided with a telescopic shaft, and the bottom of the telescopic shaft is connected to an upper clamp (5).

2. The manipulator palletizing fixture according to claim 1, characterized in that: The upper fixture (5) comprises a top seat (51) and a base seat (52), and the top seat (51) and the base seat (52) are connected via a plurality of guide pillars.

3. The manipulator palletizing fixture according to claim 2, characterized in that: A spring (53) is installed on the outside of the guide column, and the upper end and the lower end of the spring (53) are respectively connected to the top seat (51) and the base (52).

4. The manipulator palletizing fixture according to claim 1, characterized in that: A hanging plate (3) is installed on the bracket (2), and the hanging plate (3) is connected to the bracket (2) via a plurality of connecting columns.

5. The manipulator palletizing fixture according to claim 1, characterized in that: A spring (53) is installed on the outside of the connecting column.

6. The manipulator palletizing fixture according to claim 1, characterized in that: Two magnetic rodless cylinders (6) are provided, and the sliders (61) of the two magnetic rodless cylinders (6) are both connected to the lower clamp (7).

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