CN103448068A

CN103448068A - Automatic overturning type grip device

Info

Publication number: CN103448068A
Application number: CN2013103580875A
Authority: CN
Inventors: 尹柏林; 张兆明
Original assignee: Dalian Jialin Equipment Manufacturing Co Ltd
Current assignee: Dalian Jialin Equipment Manufacturing Co Ltd
Priority date: 2013-08-16
Filing date: 2013-08-16
Publication date: 2013-12-18
Anticipated expiration: 2033-08-16
Also published as: CN103448068B

Abstract

The invention discloses an automatic overturning type grip device, which comprises rolling bearings, a spacing adapter coupling shaft, a reset torsional spring, an L-shaped actuator, a fixed clamping plate, a guide sliding seat, a grip clamping plate, a floating joint, a grip fixing mount, a pneumatic driving mechanism and a grip fixing plate, wherein the rolling bearings are installed on two tail ends of the L-shaped actuator; the L-shaped actuator is fixedly arranged on the fixed clamping plate by the spacing adapter coupling shaft; the reset torsional spring is installed on te spacing adapter coupling shaft; the fixed clamping plate is fixedly arranged on the tail end of the grip clamping plate; the grip clamping plate is fixedly arranged on the guide sliding seat; the guide sliding seat is fixedly arranged on the grip fixing mount; one end of the pneumatic driving mechanism is fixedly arranged on the grip fixing mount; the other end of the pneumatic driving mechanism is connected to the floating joint. According the automatic overturning type grip device disclosed by the invention, the problem that the electronic control can not be favorably carried out due to complicating and large volume of the grip execution mechanism is artfully solved by the engineering mechanics. According to the grip device, the reliability and the simplification of the grip can be guaranteed, the use requirement of the applicability in the special environment can be guaranteed.

Description

The automatic turnover gripper equipment

Technical field

The present invention relates to a kind of automatic turnover gripper equipment.

Background technology

At present, existing carton handgrip is all to go to carry out each action with cylinder, causes the complicated and stability decreases of handgrip, and especially the particular surroundings row, as dust atmosphere, reduce actuating equipment as far as possible, reduction risk odds.

Summary of the invention

The purpose of this invention is to provide a kind of reliability and simplification that can not only guarantee handgrip, can also guarantee the automatic turnover gripper equipment in the instructions for use of the applicability of particular surroundings.

The technical scheme that the present invention adopted for achieving the above object is: a kind of automatic turnover gripper equipment, it is characterized in that: comprise rolling bearing (1), spacing Coupling Shaft (2), reduction torsion spring (3), L-type actuator (4), strap (5), guiding slide (6), handgrip clamping plate (7), floating junction (8), handgrip fixed mount (9), pneumatic drive mechanism (10) and handgrip fixed head (11), rolling bearing (1) is arranged on two ends of L-type actuator (4), L-type actuator (4) is fixed on strap (5) by spacing Coupling Shaft (2), reduction torsion spring (3) is arranged on spacing Coupling Shaft (2), strap (5) is fixed on the end of handgrip clamping plate (7), handgrip clamping plate (7) are fixed on guiding slide (6), guiding slide (6) is fixed on handgrip fixed mount (9), pneumatic drive mechanism (10) one ends are fixed on handgrip fixed mount (9), the other end is connected on floating junction (8), handgrip fixed head (11) is fixing with handgrip fixed mount (9).

Spring attachment (12) is installed between described handgrip clamping plate (7).

A kind of automatic turnover gripper equipment of the present invention, the ingenious engineering mechanics of utilizing solves the complicated and bulky problem of handgrip executing agency, be unfavorable for the problems such as automatically controlled control, this gripper equipment can not only guarantee reliability and the simplification of handgrip, can also guarantee the instructions for use in the applicability of particular surroundings.

The accompanying drawing explanation

Fig. 1 is the perspective view of a kind of automatic turnover gripper equipment of the present invention.

Fig. 2 is the local enlarged diagram at Fig. 1 I place.

Fig. 3 is the front view of a kind of automatic turnover gripper equipment of the present invention.

Fig. 4 is the local enlarged diagram at Fig. 3 II place.

Fig. 5 is the top view of a kind of automatic turnover gripper equipment of the present invention.

Fig. 6 is the side view of a kind of automatic turnover gripper equipment of the present invention.

Fig. 7 is the handgrip action schematic diagram one of a kind of automatic turnover gripper equipment of the present invention.

Fig. 8 is the handgrip action schematic diagram two of a kind of automatic turnover gripper equipment of the present invention.

Fig. 9 is the handgrip action schematic diagram three of a kind of automatic turnover gripper equipment of the present invention.

Figure 10 is the handgrip action schematic diagram four of a kind of automatic turnover gripper equipment of the present invention.

Figure 11 is the handgrip action schematic diagram five of a kind of automatic turnover gripper equipment of the present invention.

Figure 12 is the handgrip rotary movement schematic diagram one of a kind of automatic turnover gripper equipment of the present invention.

Figure 13 is the handgrip rotary movement schematic diagram two of a kind of automatic turnover gripper equipment of the present invention.

Figure 14 is the handgrip rotary movement schematic diagram three of a kind of automatic turnover gripper equipment of the present invention.

In figure: 1, rolling bearing; 2, spacing Coupling Shaft; 3, reduction torsion spring; 4, L-type actuator; 5, strap; 6, guiding slide; 7, handgrip clamping plate; 8, floating junction; 9, handgrip fixed mount; 10, pneumatic drive mechanism; 11, handgrip fixed head; 12, spring attachment; F1, carton gravity; F2, handgrip lateral pull; The component that F3, carton and handgrip F2 relative motion produce; F4, the component produced by automatic turning mechanism F3 power; A, transit point; B, the first rotating mechanism; C, the second rotating mechanism.

The specific embodiment

As shown in Fig. 1-Fig. 6, the automatic turnover gripper equipment, comprise rolling bearing 1, spacing Coupling Shaft (2), reduction torsion spring 3, L-type actuator 4, strap 5, guiding slide 6, handgrip clamping plate 7, floating junction 8, handgrip fixed mount 9, pneumatic drive mechanism 10 and handgrip fixed head 11, rolling bearing 1 is arranged on two ends of L-type actuator 4, L-type actuator 4 is fixed on strap 5 by spacing Coupling Shaft 2, reduction torsion spring 3 is arranged on spacing Coupling Shaft 2, strap 5 is fixed on the end of handgrip clamping plate 7, handgrip clamping plate 7 are fixed on guiding slide 6, guiding slide 6 is fixed on handgrip fixed mount 9, pneumatic drive mechanism 10 1 ends are fixed on handgrip fixed mount 9, the other end is connected on floating junction 8, handgrip fixed head 11 is fixing with handgrip fixed mount 9, spring attachment 12 is installed between handgrip clamping plate 7, this automatic turning device is to be fixed to two ends of sequence number four L-type actuator by rolling bearing 1, be connected to strap 5 by spacing Coupling Shaft 2 and be fixed to assigned address, carried out again the positioning requirements that resets of Integral turnover device by reduction torsion spring 3, a whole set of turning device is looked site specific, can formulate one, two ... several etc., the design is according to monolateral two considerations, above device is arranged on handgrip clamping plate 11 ends, handgrip clamping plate 11 drive its left and right displacement, handgrip clamping plate 11 are realized horizontal left and right displacement by guiding slide 6, the guiding carriage rail directly is fixed on handgrip fixed mount 9, pneumatic drive mechanism 10 1 ends are fixed to the handgrip fixed mount, the other end connects floating junction 8, to subdue driving error, floating junction is at link handgrip clamping plate, realize that folding captures to its power, handgrip fixed head 11 is fixing with handgrip fixed mount 9, the other end links with robot, at handgrip clamping plate mid portion mounting spring hold down gag 12, handgrip clamping plate clamping when two ends, spring attachment is given crawled thrust of material, make it be unlikely to be got rid of to fly when the robot High Rotation Speed moves, guarantee to capture article position reliable, avoid the accidental injury personnel, as shown in Fig. 7-14, bionical people's action when because of robot gripper, capturing carton, must have and clamp and lift executing agency, in order to reduce a set of executing agency, utilize the engineering mechanics principle to make the automatic turning structure as shown in the figure, at handgrip main body end, automatic turning mechanism is installed, point A is transit point, utilize position-limit mechanism to make its rotational angle controlled, being unlikely to arbitrarily rotation causes unstable, the turning device main body is a L-type actuator, the visual concrete condition of angle between two stiles is set, at two ends of L-type actuator, B, the C place all forms 360 ° of rotations arbitrarily of energy by small size bearing or Other Engineering plastic sleeve, F1 is carton gravity, when the handgrip main body, under the effect of F2 power, start closed, the first rotating mechanism B point contact captures the inner component of deposits yields F3, make the L-type actuator under the effect of A point switching mechanism, under C point and crawl thing, end in contact produces the inner component of F4, cleverly the F2 clamping force is divided into to a clamping force and the F4 power of lifting, completes after whole action request handgrip and capture object and complete required movement.

Claims

1. an automatic turnover gripper equipment, it is characterized in that: comprise rolling bearing (1), spacing Coupling Shaft (2), reduction torsion spring (3), L-type actuator (4), strap (5), guiding slide (6), handgrip clamping plate (7), floating junction (8), handgrip fixed mount (9), pneumatic drive mechanism (10) and handgrip fixed head (11), rolling bearing (1) is arranged on two ends of L-type actuator (4), L-type actuator (4) is fixed on strap (5) by spacing Coupling Shaft (2), reduction torsion spring (3) is arranged on spacing Coupling Shaft (2), strap (5) is fixed on the end of handgrip clamping plate (7), handgrip clamping plate (7) are fixed on guiding slide (6), guiding slide (6) is fixed on handgrip fixed mount (9), pneumatic drive mechanism (10) one ends are fixed on handgrip fixed mount (9), the other end is connected on floating junction (8), handgrip fixed head (11) is fixing with handgrip fixed mount (9).

2. a kind of automatic turnover gripper equipment according to claim 1, is characterized in that: spring attachment (12) is installed between described handgrip clamping plate (7).