CN103448068B - Automatic turnover gripper equipment - Google Patents
Automatic turnover gripper equipment Download PDFInfo
- Publication number
- CN103448068B CN103448068B CN201310358087.5A CN201310358087A CN103448068B CN 103448068 B CN103448068 B CN 103448068B CN 201310358087 A CN201310358087 A CN 201310358087A CN 103448068 B CN103448068 B CN 103448068B
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- China
- Prior art keywords
- handgrip
- fixed
- clamping plate
- gripper equipment
- strap
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Abstract
The invention discloses a kind of automatic turnover gripper equipment, comprise rolling bearing, spacing Coupling Shaft, reduction torsion spring, L-type actuator, strap, guiding slide, handgrip clamping plate, floating junction, handgrip fixed mount, pneumatic drive mechanism and handgrip fixed head, rolling bearing is arranged on two ends of L-type actuator, L-type actuator is fixed on strap by spacing Coupling Shaft, reduction torsion spring is arranged in spacing Coupling Shaft, strap is fixed on the end of handgrip clamping plate, handgrip Boards wall is on guiding slide, guiding slide is fixed on handgrip fixed mount, pneumatic drive mechanism one end is fixed on handgrip fixed mount, the other end is connected on floating junction.Automatic turnover gripper equipment of the present invention, ingenious utilizing works mechanics 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 ensure reliability and the simplification of handgrip, can also ensure the instructions for use of the applicability in particular surroundings.
Description
Technical field
The present invention relates to a kind of automatic turnover gripper equipment.
Background technology
At present, existing carton handgrip is all go to perform each action with cylinder, causes that handgrip is complicated to decline with stability, and especially particular surroundings row are as dust atmosphere, reduce actuating equipment as far as possible, reduction risk odds.
Summary of the invention
The object of this invention is to provide a kind of reliability and the simplification that can not only ensure handgrip, the automatic turnover gripper equipment of the instructions for use of the applicability in particular surroundings can also be ensured.
The technical scheme that the present invention is 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 in spacing Coupling Shaft (2), strap (5) is fixed on the end of handgrip clamping plate (7), handgrip clamping plate (7) are fixed in guiding slide (6), guiding carriage rail is fixed on handgrip fixed mount (9), pneumatic drive mechanism (10) one end is fixed on handgrip fixed mount (9), the other end is connected on floating junction (8), handgrip fixed head (11) is fixed with handgrip fixed mount (9).
Between described handgrip clamping plate (7), spring attachment (12) is installed.
A kind of automatic turnover gripper equipment of the present invention, ingenious utilizing works mechanics 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 ensure reliability and the simplification of handgrip, can also ensure the instructions for use of the applicability in particular surroundings.
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 close-up schematic view 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 close-up schematic view 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, lead 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.
Detailed description of the invention
As shown in figs 1 to 6, 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 in 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 end is fixed on handgrip fixed mount 9, the other end is connected on floating junction 8, handgrip fixed head 11 is fixed with handgrip fixed mount 9, spring attachment 12 is installed between handgrip clamping plate 7, this automatic turning device is fixed to sequence number four L-type actuator two ends by rolling bearing 1, be connected to strap 5 by spacing Coupling Shaft 2 and be fixed to assigned address, the reset positioning requirements of Integral turnover device is carried out again by reduction torsion spring 3, site specific looked by a whole set of turning device, one can be formulated, two ... several etc., the design is according to monolateral two considerations, above device is arranged on handgrip clamping plate 7 end, handgrip clamping plate 7 drive its left and right displacement, handgrip clamping plate 7 realize horizontal left and right displacement by guiding slide 6, guiding carriage rail is directly fixed on handgrip fixed mount 9, pneumatic drive mechanism 10 one end is fixed to handgrip fixed mount, the other end connects floating junction 8, to cut down driving error, floating junction is at link handgrip clamping plate, realize folding to its power to capture, handgrip fixed head 11 is fixed 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 when two ends clamp, crawled material thrust given by spring attachment, make it be unlikely to be got rid of when robot High Rotation Speed moves to fly, ensure to capture article position reliable, avoid accidental injury personnel, as shown in figs. 7-14, because of the action of bionical people when robot gripper crawl carton, clamping must be had and lift executing agency, in order to reduce set of execution mechanism, utilizing works mechanics principle makes automatic turning structure as shown in the figure, at handgrip body ends, automatic turning mechanism is installed, point A is transit point, position-limit mechanism is utilized to make its rotational angle controlled, be unlikely to arbitrarily to rotate to cause instability, turning device main body is a L-type actuator, the visual concrete condition setting of angle between two stiles, at L-type actuator two ends, B, C place all forms energy 360 ° by small size bearing or Other Engineering plastic sleeve and rotates arbitrarily, F1 is carton gravity, when handgrip main body starts to close under the effect of F2 power, first rotating mechanism B point cantact captures the inner component of the raw F3 of produce, make L-type actuator under the effect of A point switching mechanism, C point produces the inner component of F4 with end in contact under crawl thing, cleverly F2 clamping force is divided into a clamping force and the F4 power of lifting, after completing whole action request, handgrip captures object and completes required movement.
Claims (2)
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 in spacing Coupling Shaft (2), strap (5) is fixed on the end of handgrip clamping plate (7), handgrip clamping plate (7) are fixed in guiding slide (6), guiding slide (6) is fixed on handgrip fixed mount (9), pneumatic drive mechanism (10) one end is fixed on handgrip fixed mount (9), the other end is connected on floating junction (8), floating junction (8) connects handgrip clamping plate (7) again, handgrip fixed head (11) is fixed with handgrip fixed mount (9).
2. a kind of automatic turnover gripper equipment according to claim 1, is characterized in that: be provided with spring attachment (12) between described handgrip clamping plate (7).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310358087.5A CN103448068B (en) | 2013-08-16 | 2013-08-16 | Automatic turnover gripper equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310358087.5A CN103448068B (en) | 2013-08-16 | 2013-08-16 | Automatic turnover gripper equipment |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103448068A CN103448068A (en) | 2013-12-18 |
| CN103448068B true CN103448068B (en) | 2015-12-02 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310358087.5A Expired - Fee Related CN103448068B (en) | 2013-08-16 | 2013-08-16 | Automatic turnover gripper equipment |
Country Status (1)
| Country | Link |
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| CN (1) | CN103448068B (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105150230B (en) * | 2015-07-28 | 2017-09-29 | 中国科学院自动化研究所（洛阳）机器人与智能装备创新研究院 | A kind of Novel palletizer device people's fixture |
| CN109304723B (en) * | 2018-10-17 | 2023-11-17 | 华南理工大学 | Operation method of flexible clamping mechanism |
| CN111634671A (en) * | 2020-06-09 | 2020-09-08 | 歌尔科技有限公司 | Workpiece clamping device and machining system with same |
| CN112193844B (en) * | 2020-09-16 | 2022-05-24 | 夏小英 | Pedal type oil drum separating device |
Citations (6)
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|---|---|---|---|---|
| US6412844B1 (en) * | 2000-01-14 | 2002-07-02 | Lockheed Martin Corporation | Robotic gripper mechanism |
| CN101168251A (en) * | 2007-11-06 | 2008-04-30 | 大连阿拇特科技发展有限公司 | Automatic loading and unloading mechanical arm |
| CN201842288U (en) * | 2010-10-22 | 2011-05-25 | 青岛诺力达工业装备有限公司 | High speed hand grip for bag and mechanical arm |
| CN202322240U (en) * | 2011-11-21 | 2012-07-11 | 甘肃宝龙重工有限公司 | Clamp for grasping grass |
| CN202558565U (en) * | 2012-05-10 | 2012-11-28 | 陈国钟 | Small embracing clamp for hydraulic embracing vehicle |
| CN203485204U (en) * | 2013-08-16 | 2014-03-19 | 大连佳林设备制造有限公司 | Automatic grip device capable of turning over |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH081569A (en) * | 1994-06-14 | 1996-01-09 | Sekisui Chem Co Ltd | Suction hand equipped with drop preventing mechanism |
| JP2008284654A (en) * | 2007-05-18 | 2008-11-27 | Being:Kk | Workpiece clamping device |
-
2013
- 2013-08-16 CN CN201310358087.5A patent/CN103448068B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6412844B1 (en) * | 2000-01-14 | 2002-07-02 | Lockheed Martin Corporation | Robotic gripper mechanism |
| CN101168251A (en) * | 2007-11-06 | 2008-04-30 | 大连阿拇特科技发展有限公司 | Automatic loading and unloading mechanical arm |
| CN201842288U (en) * | 2010-10-22 | 2011-05-25 | 青岛诺力达工业装备有限公司 | High speed hand grip for bag and mechanical arm |
| CN202322240U (en) * | 2011-11-21 | 2012-07-11 | 甘肃宝龙重工有限公司 | Clamp for grasping grass |
| CN202558565U (en) * | 2012-05-10 | 2012-11-28 | 陈国钟 | Small embracing clamp for hydraulic embracing vehicle |
| CN203485204U (en) * | 2013-08-16 | 2014-03-19 | 大连佳林设备制造有限公司 | Automatic grip device capable of turning over |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103448068A (en) | 2013-12-18 |
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| C14 | Grant of patent or utility model | ||
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| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20151202 Termination date: 20160816 |