Full-automatic stacking mechanical arm clamp
By introducing components such as guide grooves, slide bars, and auxiliary clamps into the fully automated palletizing robot arm fixture, the problem of book slippage caused by insufficient clamping force was solved, and stable vertical clamping and equidistant palletizing of printed books were achieved.
Patent Information
- Application Number
- CN202423306446.5
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-31
- Publication Date
- 2025-11-25
- Estimated Expiration
- 2034-12-31
AI Technical Summary
When gripping printed books, the existing fully automatic palletizing machine fixtures cause the gripping blades to press against the sides of the books, resulting in limited gripping force and easy slippage of the books, which affects the palletizing accuracy.
Design a fully automatic palletizing robotic arm gripper. Through components such as guide grooves, slide bars, auxiliary grippers, fixed seats, synchronization seats, and electro-hydraulic push rods, it can achieve vertical movement clamping and limiting of printed books, avoid relative vertical movement, and can store auxiliary components to avoid interfering with subsequent palletizing.
This effectively prevents relative vertical sliding between the clamping components and the books during the stacking process, ensuring that the books are stacked at equal intervals.
Smart Images
Figure CN223589429U_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The utility model relates to book stacking technical field, concretely is a kind of full-automatic stacking mechanical arm clamp. BACKGROUND
[0002] Book refers to the book and text bound into volumes, and in the narrow sense, it is the collection of paper with text and images. Books are usually produced in a printing plant, and the produced books are stacked by a full-automatic stacking machine. During the use of the full-automatic stacking machine, the clamp is used to move the stacking position of printed books. Some clamps are connected with two groups of clamping pieces on the clamping seat. The two groups of clamping pieces are driven by air cylinders. When in use, the two groups of clamping pieces of the full-automatic stacking machine mechanical arm driving device are moved to the outside of printed books. Then, the extension end of the air cylinder is moved by air pump, so that the two groups of clamping pieces are moved towards each other to clamp the printed books. However, during the clamping and transferring process of the device, the clamping pieces are in extrusion contact with the side surface of the printed books. In order to avoid damage to the printed books due to extrusion, the clamping force of the clamping pieces is limited. The printed books are easily overcome the extrusion resistance generated by the clamping pieces due to their own gravity or external stacking environment interference, so that the clamping pieces and the printed books are relatively vertically sliding. Therefore, we propose a full-automatic stacking mechanical arm clamp. UTILITY MODEL CONTENT
[0003] The technical problem to be solved by the utility model is to overcome the defects of the prior art and provide a full-automatic stacking mechanical arm clamp. The device is provided with an auxiliary element to vertically move and clamp the printed books, avoid relative vertical movement between the clamping element and the printed books during the stacking process of the printed books, and the auxiliary element can be stored in the clamping element to avoid interference with the subsequent printed books and other interval stacking placement. The problem in the background art can be effectively solved.
[0004] To achieve the above-mentioned purpose, the utility model provides the following technical scheme: a full-automatic stacking mechanical arm clamp, comprising a connecting seat, a dovetail groove is formed on the lower side of the connecting seat, two symmetrical clamping seats are slidably connected between the two dovetail grooves, and an auxiliary clamping mechanism is further included.
[0005] The auxiliary clamping mechanism comprises guide grooves, slide rods, auxiliary clamping seats, fixing seats, synchronous seats and electro-hydraulic push rods, the slide rods are slidably connected into the guide grooves respectively opened in the inner lower ends of the clamping seats, the outer sides of the slide rods are respectively provided with five auxiliary clamping seats, the upper ends of the opposite faces of the two clamping seats are respectively provided with fixing seats, the middle portions of the slide rods are respectively rotatably connected with the synchronous seats through bearings, and the synchronous seats are respectively provided with the electro-hydraulic push rods between the vertically adjacent fixing seats, the auxiliary elements are arranged, the printed books are clamped and limited in the vertical direction, the relative vertical movement between the clamping elements and the printed books during the stacking of the printed books is avoided, and the auxiliary elements can be accommodated into the clamping elements, so that the interference of the auxiliary elements on the later stacking of the printed books is avoided.
[0006] Further, a single-chip microcomputer is arranged outside the connecting seat, the input end of the single-chip microcomputer is electrically connected with an external power supply, the input ends of the electro-hydraulic push rods are electrically connected with the output end of the single-chip microcomputer, and the control of the electrical elements is facilitated.
[0007] Further, the auxiliary clamping mechanism further comprises vertical guide rods and anti-external-deflection guide rods, the anti-external-deflection guide rods are respectively arranged at the inner front lower sides of the clamping seats, the inner front ends of the clamping seats are respectively provided with two vertical guide rods, and the vertical guide rods and the anti-external-deflection guide rods are arranged in cooperation with the auxiliary clamping seats to limit the positions and movement tracks of the auxiliary clamping seats in the full-automatic stacking mechanical arm clamp at different moments.
[0008] Further, the auxiliary clamping mechanism further comprises turnover guide rods, the turnover guide rods are respectively arranged at the inner bottom ends of the clamping seats, and the turnover guide rods are arranged in cooperation with the auxiliary clamping seats to guide the turnover of the auxiliary clamping seats around the centers of the corresponding slide rods to the center of the device.
[0009] Further, the upper sides of the clamping seats are respectively provided with auxiliary pressing seats through the telescopic ends of electro-hydraulic push rods two, and the input ends of the electro-hydraulic push rods two are electrically connected with the output end of the single-chip microcomputer to press and limit the upper sides of the clamped printed books.
[0010] Further, a brake motor is arranged at the right rear end of the connecting seat, the input end of the brake motor is electrically connected with the output end of the single-chip microcomputer, the inner sides of the dovetail grooves at the rear side are respectively rotatably connected with bidirectional lead screws two through bearings two, the left and right ends of the bidirectional lead screws two are respectively threadedly connected with the adjacent clamping seats, and the output shaft of the brake motor is fixedly connected with the right end of the bidirectional lead screw two, so that the device is provided with power for clamping and fixing the printed books.
[0011] Further, three pressure sensors are arranged at the sides of the clamping seats close to the center of the connecting seat, and the pressure sensors are bidirectionally electrically connected with the single-chip microcomputer to detect and upload the extrusion force applied by the clamping parts of the full-automatic stacking mechanical arm clamp to the printed books.
[0012] Compared with the prior art, the full-automatic stacking mechanical arm clamp has the following advantages:
[0013] When the full-automatic stacking mechanical arm clamp is used, the guiding groove, the sliding rod, the auxiliary clamping seat, the fixed seat, the synchronous seat, the electro-hydraulic push rod one, the vertical guide rod, the anti-external deviation guide rod and the overturning guide rod are used to vertically move and clamp the printed books, so that relative vertical movement between the clamping elements and the printed books during the stacking of the printed books is avoided, and the auxiliary elements can be stored in the clamping elements, so that interference with the later stacking and placement of the printed books at equal intervals is avoided. BRIEF DESCRIPTION OF DRAWINGS
[0014] Figure 1 It is a structural schematic diagram of the utility model;
[0015] Figure 2 It is an internal structural schematic diagram of the utility model;
[0016] Figure 3 It is a clamping seat sectional view structural schematic diagram of the utility model;
[0017] Figure 4 It is an enlarged structural schematic diagram of A of the utility model.
[0018] In the figure: 1 connecting seat, 2 single-chip microcomputer, 3 clamping seat, 4 auxiliary clamping mechanism, 41 guiding groove, 42 sliding rod, 43 auxiliary clamping seat, 44 fixed seat, 45 synchronous seat, 46 electro-hydraulic push rod one, 47 vertical guide rod, 48 anti-external deviation guide rod, 49 overturning guide rod, 5 electro-hydraulic push rod two, 6 auxiliary pressing seat, 7 bidirectional screw, 8 brake motor, 9 pressure sensor. DETAILED DESCRIPTION
[0019] The technical solutions in the embodiments of the utility model will be clearly and completely described below with reference to the drawings in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, rather than all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by those skilled in the art without creative labor fall within the protection scope of the utility model.
[0020] Please refer to Figures 1-4The embodiment provides a technical scheme: a full-automatic stacking mechanical arm clamp, which comprises a connecting seat 1, dovetail grooves are formed in the lower side of the connecting seat 1, two symmetrical clamping seats 3 are slidably connected between the two dovetail grooves, a single-chip microcomputer 2 is arranged outside the connecting seat 1, the input end of the single-chip microcomputer 2 is electrically connected with an external power supply, a brake motor 8 is arranged at the right rear end of the connecting seat 1, the input end of the brake motor 8 is electrically connected with the output end of the single-chip microcomputer 2, a double-threaded screw 7 is rotationally connected with the inside of the rear dovetail groove through a bearing two, the left and right ends of the double-threaded screw 7 are threadedly connected with the adjacent clamping seat 3, the output shaft of the brake motor 8 is fixedly connected with the right end of the double-threaded screw 7, three pressure sensors 9 are arranged on the side of the clamping seat 3 close to the center of the connecting seat 1, the pressure sensors 9 are bidirectionally electrically connected with the single-chip microcomputer 2, the device is fixed to the end of the stacking mechanical arm through the connecting seat 1 by means of bolts, when the printed books are stacked, the two clamping seats 3 of the device are moved to the left and right ends outside the printed books through the stacking mechanical arm, then the single-chip microcomputer 2 starts the brake motor 8 to drive the output shaft of the brake motor 8 to rotate the double-threaded screw 7, in the rotating process of the double-threaded screw 7, the two clamping seats 3 are caused to move close to each other along the dovetail grooves through the threaded connection, so that the printed books outside are stacked and clamped, meanwhile, the single-chip microcomputer 2 starts the pressure sensors 9, the internal sensitive elements of the pressure sensors 9 are deformed under external force, the resistance value of the strain gauge changes, so that the stacking and clamping force of the clamping seat 3 on the printed books is measured, and the measurement result is transmitted to the single-chip microcomputer 2 in the form of an electric signal, when the stacking and clamping force of the clamping seat 3 on the printed books obtained by the single-chip microcomputer 2 reaches a certain value, the single-chip microcomputer 2 stops the brake motor 8, so that the printed books are stacked and clamped and fixed, then the fixed printed books are moved in position through the external stacking mechanical arm, and the auxiliary clamping mechanism 4 is further included.
[0021] The auxiliary clamping mechanism 4 comprises a guide groove 41, a sliding rod 42, an auxiliary clamping seat 43, a fixed seat 44, a synchronous seat 45 and an electro-hydraulic push rod 46. The sliding rod 42 is slidingly connected in the guide groove 41 at the lower end of the clamping seat 3. The outer side of the sliding rod 42 is provided with five auxiliary clamping seats 43 which are uniformly distributed. The upper end of the opposite faces of the two clamping seats 3 is provided with a fixed seat 44. The middle part of the sliding rod 42 is rotatably connected with the synchronous seat 45 through a bearing. The synchronous seat 45 is provided between the vertically adjacent fixed seat 44 and the electro-hydraulic push rod 46. The input end of the electro-hydraulic push rod 46 is electrically connected with the output end of the single-chip microcomputer 2. The auxiliary clamping mechanism 4 further comprises a vertical guide rod 47 and an anti-external-deviation guide rod 48. The anti-external-deviation guide rod 48 is arranged at the lower side of the front end of the clamping seat 3. The front end of the clamping seat 3 is provided with two vertical guide rods 47. The vertical guide rod 47 and the anti-external-deviation guide rod 48 are cooperatively arranged with the auxiliary clamping seat 43. The auxiliary clamping mechanism 4 further comprises a turnover guide rod 49. The turnover guide rod 49 is arranged at the bottom end of the clamping seat 3. The turnover guide rod 49 is cooperatively arranged with the auxiliary clamping seat 43. The upper side of the clamping seat 3 is provided with an auxiliary pressing seat 6 through the telescopic end of an electro-hydraulic push rod 5. The input end of the electro-hydraulic push rod 5 is electrically connected with the output end of the single-chip microcomputer 2. When the external stacking mechanical arm drives the fixed printed books to move, the single-chip microcomputer 2 drives the electro-hydraulic push rod 46 to extend the telescopic end, so as to drive the sliding rod 42 to vertically slide along the guide groove 41. The sliding rod 42 drives the auxiliary clamping seat 43 to synchronously move downward. When the sliding rod 42 drives the auxiliary clamping seat 43 to move downward to be not in contact with the vertical guide rod 47, the auxiliary clamping seat 43 continues to move downward along with the sliding rod 42. At this time, the lower end of the auxiliary clamping seat 43 is in contact with the upper end of the outer side of the turnover guide rod 49. The auxiliary clamping seat 43 is turned around the corresponding rod core of the sliding rod 42 to the center of the device through the contact of the inclined surface. When the sliding rod 42 slides to the lowermost end of the guide groove 41, the angle between the auxiliary clamping seat 43 and the guide groove 41 is 90 degrees. The upper side of the auxiliary clamping seat 43 is in contact with the bottom of the printed books. The lower side of the auxiliary clamping seat 43 is in contact with the upper end of the outer side of the turnover guide rod 49, so as to assist the movement and limiting of the bottom of the printed books during the stacking and clamping movement. The single-chip microcomputer 2 drives the electro-hydraulic push rod 5 to drive the auxiliary pressing seat 6 to move downward, so as to clamp and fix the upper side of the printed books, thereby avoiding the relative vertical sliding phenomenon between the printed books and the clamping seat 3. During the vertical sliding of the sliding rod 42 along the guide groove 41, the anti-external-deviation guide rod 48 limits the turning movement direction of the auxiliary clamping seat 43 around the rod core of the sliding rod 42, thereby avoiding the turning of the auxiliary clamping seat 43 along the rod core of the sliding rod 42 away from the center of the device. When the printed books are placed, the single-chip microcomputer 2 controls the electro-hydraulic push rod 46 to reset the telescopic end. The sliding rod 42 drives the auxiliary clamping seat 43 to move upward through the same principle. The auxiliary clamping seat 43 is vertically guided to move upward through the vertical guide rod 47, so as to be completely accommodated in the clamping seat 3.The device avoids the interference of subsequent equidistant stacking of printed books by setting an auxiliary element to vertically limit the clamping of the printed books, avoiding the relative vertical movement between the clamping element and the printed books during the stacking of the printed books, and the auxiliary element can be stored in the clamping element to avoid interference with the subsequent equidistant stacking of printed books.
[0022] The working principle of the full-automatic stacking mechanical arm clamp is as follows: the device is fixed to the end of the stacking mechanical arm through the connecting seat 1 by bolts, when the printed books are stacked, the two clamping seats 3 of the device are moved to the left and right ends outside the printed books through the stacking mechanical arm, then the single-chip microcomputer 2 starts the brake motor 8 to drive the output shaft to rotate the bidirectional screw 7, in the rotating process of the bidirectional screw 7, the two clamping seats 3 are moved to each other along the dovetail groove through thread connection, so that the printed books outside are clamped and stacked, at the same time, the single-chip microcomputer 2 starts the pressure sensor 9, the pressure sensor 9 is subjected to external force, the internal sensitive element is deformed, the resistance value of the strain gauge changes, so that the clamping and stacking force of the clamping seat 3 on the printed books is measured, and the measurement result is transmitted to the single-chip microcomputer 2 in the form of an electric signal, when the clamping and stacking force of the clamping seat 3 on the printed books reaches a certain value, the single-chip microcomputer 2 closes the brake motor 8, so that the clamping and stacking of the printed books are fixed, then the fixed printed books are moved in position through the external stacking mechanical arm, at this time, the single-chip microcomputer 2 starts the electro-hydraulic push rod one 46 to make the telescopic end extend, so that the sliding rod 42 slides vertically along the guide groove 41, the sliding rod 42 drives the auxiliary clamping seat 43 to move downward synchronously, when the sliding rod 42 drives the auxiliary clamping seat 43 to move downward to not contact the vertical guide rod 47, the auxiliary clamping seat 43 continues to move downward along with the sliding rod 42, at this time, the lower end of the auxiliary clamping seat 43 is in contact with the upper end of the outer side of the turnover guide rod 49, through the contact guide of the inclined surface, the auxiliary clamping seat 43 is turned around the corresponding rod core of the sliding rod 42 to the center of the device, when the sliding rod 42 slides to the lowermost end of the guide groove 41, at this time, the included angle between the auxiliary clamping seat 43 and the guide groove 41 is 90 degrees, the upper side of the auxiliary clamping seat 43 is in contact with the bottom of the printed books, and the lower side of the auxiliary clamping seat 43 is in contact with the upper end of the outer side of the turnover guide rod 49, so that the bottom of the printed books is moved and limited during the clamping and stacking movement of the printed books, the single-chip microcomputer 2 starts the electro-hydraulic push rod two 5 to drive the auxiliary pressing seat 6 to move downward, so that the upper side of the printed books is clamped and stacked, the relative vertical sliding phenomenon between the printed books and the clamping seat 3 is avoided, in the process that the sliding rod 42 drives the auxiliary clamping seat 43 to slide vertically along the guide groove 41, the turnover movement direction of the auxiliary clamping seat 43 around the rod core of the sliding rod 42 is limited through the anti-outer-bias guide rod 48, the auxiliary clamping seat 43 is prevented from turning around the rod core of the sliding rod 42 to the end away from the center of the device, when the clamped printed books are placed, the single-chip microcomputer 2 controls the electro-hydraulic push rod one 46 to reset the telescopic end, the sliding rod 42 drives the auxiliary clamping seat 43 to move upward and reset through the same principle, the auxiliary clamping seat 43 is moved upward and reset through the vertical guide rod 47, so that the auxiliary clamping seat 43 is completely stored in the inside of the clamping seat 3, and interference on subsequent equidistant stacking and placing of the printed books is avoided due to the fact that the auxiliary clamping seat 43 is exposed to the outside of the clamping seat 3.
[0023] It is worth noting that the single-chip microcomputer 2 disclosed in the above embodiment can adopt COP8CBE9, the electro-hydraulic push rod one 46 and the electro-hydraulic push rod two 5 can both adopt DYZW integral straight micro electro-hydraulic push rod, the brake motor 8 can adopt YEJ6324, and the pressure sensor 9 can adopt CY-YB-200 strain pressure sensor. The single-chip microcomputer 2 controls the electro-hydraulic push rod one 46, the electro-hydraulic push rod two 5, the brake motor 8 and the pressure sensor 9 to work, which all adopt the method commonly used in the prior art.
[0024] The above only describes the embodiments of the present application, and does not limit the patent range of the present application. Any equivalent structure or equivalent process conversion, or direct or indirect application in other related technical fields, which is made by using the content of the present application specification and drawings, is also included in the patent protection range of the present application.
Claims
1. A full-automatic palletizing mechanical arm clamp, comprising a connecting seat (1), dovetail grooves are formed at the lower sides of the front and rear ends of the connecting seat (1), two symmetrical clamping seats (3) are slidably connected between the two dovetail grooves, characterized in that: Also include auxiliary clamping mechanism (4); Auxiliary clamping mechanism (4): it includes guide slot (41), slide bar (42), auxiliary clamp seat (43), fixed seat (44), synchronous seat (45) and electro hydraulic push rod one (46), the slide bar (42) is respectively slidingly connected in the guide slot (41) opened in the lower end of the inside of the clamping seat (3), the outside of the slide bar (42) is equipped with five auxiliary clamp seats (43) that are evenly distributed, the upper end of the facing away surface of the two clamping seats (3) is equipped with fixed seat (44), the middle part of the slide bar (42) is rotatably connected with synchronous seat (45) through bearing one, and electro hydraulic push rod one (46) is arranged between synchronous seat (45) and vertically adjacent fixed seat (44).
2. The full-automatic palletizing robot gripper according to claim 1, characterized in that: It also includes a single-chip microcomputer (2), which is located outside the connecting seat (1), the input end of the single-chip microcomputer (2) is electrically connected with the external power supply, and the input end of the electro hydraulic push rod one (46) is electrically connected with the output end of the single-chip microcomputer (2).
3. The fully automatic palletizing robot gripper according to claim 2, characterized in that: The auxiliary clamping mechanism (4) further comprises a vertical guide rod (47) and an anti-external deviation guide rod (48), the anti-external deviation guide rod (48) is respectively arranged at the lower side of the front end of the inside of the clamping seat (3), the front end of the inside of the clamping seat (3) is equipped with two vertical guide rods (47), and the vertical guide rod (47) and the anti-external deviation guide rod (48) are cooperatively installed with the auxiliary clamp seat (43).
4. The fully automatic palletizing robot gripper according to claim 1, characterized in that: The auxiliary clamping mechanism (4) further comprises a turnover guide rod (49), the turnover guide rod (49) is respectively arranged at the bottom end of the inside of the clamping seat (3), and the turnover guide rod (49) is cooperatively installed with the auxiliary clamp seat (43).
5. The fully automatic palletizing robot gripper according to claim 2, characterized in that: The upper side of the clamping seat (3) is provided with an auxiliary pressing seat (6) through the telescopic end of the electro hydraulic push rod two (5), and the input end of the electro hydraulic push rod two (5) is electrically connected with the output end of the single-chip microcomputer (2).
6. The fully automatic palletizing robot gripper according to claim 2, characterized in that: The right rear end of the connecting seat (1) is provided with a brake motor (8), the input end of the brake motor (8) is electrically connected with the output end of the single-chip microcomputer (2), the inside of the dovetail groove at the rear side is rotatably connected with a bidirectional screw (7) through a bearing two, the left and right ends of the bidirectional screw (7) are threadedly connected with the adjacent clamping seat (3), and the output shaft of the brake motor (8) is fixedly connected with the right end of the bidirectional screw (7).
7. The fully automatic palletizing robot gripper according to claim 2, characterized in that: The side of the clamping seat (3) close to the center of the connecting seat (1) is provided with three pressure sensors (9), and the pressure sensors (9) are bidirectionally electrically connected with the single-chip microcomputer (2).