CN101554728A - Mechanical paw device of robot - Google Patents
Mechanical paw device of robot Download PDFInfo
- Publication number
- CN101554728A CN101554728A CNA2009100286525A CN200910028652A CN101554728A CN 101554728 A CN101554728 A CN 101554728A CN A2009100286525 A CNA2009100286525 A CN A2009100286525A CN 200910028652 A CN200910028652 A CN 200910028652A CN 101554728 A CN101554728 A CN 101554728A
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- China
- Prior art keywords
- connecting plate
- mechanical paw
- hook
- robot
- travel
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Abstract
The invention discloses the mechanical paw device of a robot, which is structurally characterized in that in addition to two symmetrical groups of paws arranged on the two sides of a connecting plate, a group of catch pawls are arranged on the inner side of each group of paws, wherein, the two groups of catch pawls are parallel and symmetrical; the catch pawls, the paws and the driving cylinders of the paws are arranged on the moveable support on the two sides of the connecting plate; the moveable support is supported on a sliding guide mechanism and connected with the driving cylinders of the catch pawls, which are fixed on the connecting plate; and the sliding guide mechanism can be composed of a linear bearing support and a supporting guide rod. The mechanical paw device is used for grabbing soft packing bags full of bulk materials, particularly, the mechanical paw device allows the packing bags to accurately fall on the specified positions without deviation under the guiding action of the catch pawls, therefore, the packing bags can be laid in order and the application effect is good.
Description
Technical field
The present invention relates to a kind of manipulator of robot, be full of the mechanical paw device of robot of the soft packaging bag of bulk material especially for extracting.
Background technology
The soft packaging bag that the mechanical paw that is extensive use of robot in occasions such as production line, warehouse, harbours will be full of bulk material grasps, and moves and puts assigned address.Be with under the soft packaging bag throwing when putting when the certain altitude of vertical range target location, because the existing machinery paw only is provided with two groups of rotatable hooks, throw following time at soft packaging bag, can be because of a variety of causes, for example soft packaging bag fill inhomogeneous, attitude is bad when entering the hook crawl position, two groups of hooks are opened asynchronous or discontinuity equalization etc., can be because of not having guiding movement in the object dropping process, often produce drop point skew, cause and put irregularly, influence the work effect.
Summary of the invention
The technical problem to be solved in the present invention is to overcome the deficiencies in the prior art part, provides a kind of and can make the mechanical paw device of robot that the soft packaging bag that is full of bulk material is put neatly, result of use is good.
Technical scheme of the present invention is: mechanical paw device of robot comprises connecting plate and is located at the two symmetrical groups hook of connecting plate both sides, two groups of hooks are installed in respectively on the rotating shaft that is connected with hook driving cylinder, improvements are that the inboard of above-mentioned every group of hook is provided with one group of catch pawl, two groups of parallel symmetries of catch pawl, described connecting plate both sides are provided with two travel(l)ing rests of symmetry, this travel(l)ing rest is bearing on the sliding guide mechanism respectively, and drive cylinder and be connected described catch pawl with catch pawl on being fixed on connecting plate, rotating shaft and hook driving cylinder that hook is installed are installed on the travel(l)ing rest.
Further scheme is: described sliding guide mechanism is made of with the support guide rod that is connected travel(l)ing rest the linear axis bearing that is fixed on the connecting plate; It is two identical synchronous operation cylinders that described catch pawl drives cylinder, and an also available cylinder adds two travel(l)ing rests of link gear driving and is synchronized with the movement.
The mechanical paw device course of work of the present invention is: when grasping soft packaging bag, allow catch pawl drive cylinder operation earlier, two groups of catch pawls are moved inward, clamp packaging bag, and make its accurate positioning, hook is driven at hook do under the air cylinder driven to draw action in the packaging bag restitope, mechanical arm drive mechanical paw and packaging bag move on to the target location then.Put when bag, hook is opened, catch pawl still clamps packaging bag, is led by catch pawl when packaging bag is fallen like this, accurately falls assigned address, can not be offset, and puts neatly, treat that hook is opened fully after, again catch pawl is opened, so repeat.
Description of drawings
Accompanying drawing is the shaft side figure of looking up of the embodiment of the invention.
The specific embodiment
Further specify the present invention below by embodiment:
Referring to accompanying drawing, two travel(l)ing rests 3 of the symmetry that is bearing on the sliding guide mechanism are established in the both sides of connecting plate 1, this sliding guide mechanism is made of with the support guide rod 6 that is connected travel(l)ing rest 3 the linear axis bearing 7 that is fixed on the connecting plate 1, each travel(l)ing rest 3 is provided with the one group of hook 4 that is installed on the rotating shaft 9 and is installed in the one group of catch pawl 5 that is positioned at the hook inboard on the travel(l)ing rest, two groups of parallel symmetries of catch pawl, rotating shaft 9 drives cylinder 8 with hook and is connected, each travel(l)ing rest 3 drives cylinder 2 with a catch pawl that is fixed on the connecting plate respectively and is connected, two catch pawls drive cylinder specification unanimity, synchronous operation.Two travel(l)ing rests also can be connected with a catch pawl driving cylinder and link gear, realize synchronous operation.
Claims (3)
1, a kind of mechanical paw device of robot, comprise connecting plate and the two symmetrical groups hook that is located at the connecting plate both sides, two groups of hooks are installed in respectively on the rotating shaft that is connected with hook driving cylinder, the inboard that it is characterized in that above-mentioned every group of hook is provided with one group of catch pawl, two groups of parallel symmetries of catch pawl, described connecting plate both sides are provided with two travel(l)ing rests of symmetry, this travel(l)ing rest is bearing on the sliding guide mechanism respectively, and drive cylinder and be connected described catch pawl with catch pawl on being fixed on connecting plate, rotating shaft and hook driving cylinder that hook is installed are installed on the travel(l)ing rest.
2, by the described mechanical paw device of robot of claim 1, it is characterized in that: described sliding guide mechanism is made of with the support guide rod that is connected travel(l)ing rest the linear axis bearing that is fixed on the connecting plate.
3, by the described mechanical paw device of robot of claim 1, it is characterized in that: it is two identical synchronous operation cylinders that described catch pawl drives cylinder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNA2009100286525A CN101554728A (en) | 2009-01-08 | 2009-01-08 | Mechanical paw device of robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNA2009100286525A CN101554728A (en) | 2009-01-08 | 2009-01-08 | Mechanical paw device of robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN101554728A true CN101554728A (en) | 2009-10-14 |
Family
ID=41173085
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNA2009100286525A Pending CN101554728A (en) | 2009-01-08 | 2009-01-08 | Mechanical paw device of robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN101554728A (en) |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102249093A (en) * | 2011-07-11 | 2011-11-23 | 武汉人天包装技术有限公司 | Big bag gripper device |
| CN102716885A (en) * | 2012-06-22 | 2012-10-10 | 江苏港星方能超声洗净科技有限公司 | Mechanical arm cleaning device |
| CN102717382A (en) * | 2012-06-08 | 2012-10-10 | 北京工业大学 | Synchronous clawing mechanism with multiple manipulators |
| CN102716884A (en) * | 2012-06-22 | 2012-10-10 | 江苏港星方能超声洗净科技有限公司 | Double-span suspension arm device |
| CN103240754A (en) * | 2012-02-07 | 2013-08-14 | 精工爱普生株式会社 | Robot hand, robot, and control method for the robot hand |
| CN103331751A (en) * | 2013-06-26 | 2013-10-02 | 武汉人天包装技术有限公司 | Adjustable large package bag-type robot gripper |
| CN103978492A (en) * | 2011-01-12 | 2014-08-13 | 精工爱普生株式会社 | Robot hand |
| CN104355112A (en) * | 2014-11-25 | 2015-02-18 | 青岛恒基泰机电科技有限公司 | Air-conditioner heat exchanger transfer machine |
| CN104400790A (en) * | 2013-11-26 | 2015-03-11 | 佛山市科信达机器人技术与装备有限公司 | Mechanical clamping arm for carrying ceramic tiles |
| CN114313975A (en) * | 2022-01-13 | 2022-04-12 | 上海柠喆机械科技有限公司 | Clamping arm for clamping tray containing approximately circular or oval products |
| CN114394280A (en) * | 2022-01-13 | 2022-04-26 | 上海柠喆机械科技有限公司 | Device for rapidly carrying tray |
-
2009
- 2009-01-08 CN CNA2009100286525A patent/CN101554728A/en active Pending
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103991080A (en) * | 2011-01-12 | 2014-08-20 | 精工爱普生株式会社 | Robot hand |
| CN103978492A (en) * | 2011-01-12 | 2014-08-13 | 精工爱普生株式会社 | Robot hand |
| CN102249093A (en) * | 2011-07-11 | 2011-11-23 | 武汉人天包装技术有限公司 | Big bag gripper device |
| CN103240754B (en) * | 2012-02-07 | 2016-06-29 | 精工爱普生株式会社 | The control method of mechanical hand, robot and mechanical hand |
| CN103240754A (en) * | 2012-02-07 | 2013-08-14 | 精工爱普生株式会社 | Robot hand, robot, and control method for the robot hand |
| CN102717382A (en) * | 2012-06-08 | 2012-10-10 | 北京工业大学 | Synchronous clawing mechanism with multiple manipulators |
| CN102717382B (en) * | 2012-06-08 | 2015-05-20 | 北京工业大学 | Synchronous clawing mechanism with multiple manipulators |
| CN102716884A (en) * | 2012-06-22 | 2012-10-10 | 江苏港星方能超声洗净科技有限公司 | Double-span suspension arm device |
| CN102716885A (en) * | 2012-06-22 | 2012-10-10 | 江苏港星方能超声洗净科技有限公司 | Mechanical arm cleaning device |
| CN103331751A (en) * | 2013-06-26 | 2013-10-02 | 武汉人天包装技术有限公司 | Adjustable large package bag-type robot gripper |
| CN104400790A (en) * | 2013-11-26 | 2015-03-11 | 佛山市科信达机器人技术与装备有限公司 | Mechanical clamping arm for carrying ceramic tiles |
| CN104355112A (en) * | 2014-11-25 | 2015-02-18 | 青岛恒基泰机电科技有限公司 | Air-conditioner heat exchanger transfer machine |
| CN114313975A (en) * | 2022-01-13 | 2022-04-12 | 上海柠喆机械科技有限公司 | Clamping arm for clamping tray containing approximately circular or oval products |
| CN114394280A (en) * | 2022-01-13 | 2022-04-26 | 上海柠喆机械科技有限公司 | Device for rapidly carrying tray |
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| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C12 | Rejection of a patent application after its publication | ||
| RJ01 | Rejection of invention patent application after publication |
Open date: 20091014 |