CN104129524B - Robot and grasping mechanism - Google Patents
Robot and grasping mechanism Download PDFInfo
- Publication number
- CN104129524B CN104129524B CN201410339466.4A CN201410339466A CN104129524B CN 104129524 B CN104129524 B CN 104129524B CN 201410339466 A CN201410339466 A CN 201410339466A CN 104129524 B CN104129524 B CN 104129524B
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- China
- Prior art keywords
- blowing
- cylinder
- grasping mechanism
- feeding
- assembly
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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- 238000007664 blowing Methods 0.000 claims abstract description 69
- 230000000875 corresponding Effects 0.000 claims description 6
- 230000035611 feeding Effects 0.000 claims 12
- 240000008652 Tephrosia vogelii Species 0.000 abstract description 35
- 235000013527 bean curd Nutrition 0.000 abstract description 35
- 238000004519 manufacturing process Methods 0.000 abstract description 11
- 235000013305 food Nutrition 0.000 description 5
- 239000000463 material Substances 0.000 description 3
- 238000004806 packaging method and process Methods 0.000 description 3
- 238000010276 construction Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 239000000284 extract Substances 0.000 description 2
- 238000006062 fragmentation reaction Methods 0.000 description 2
- 239000000203 mixture Substances 0.000 description 2
- 241000251468 Actinopterygii Species 0.000 description 1
- 241000252254 Catostomidae Species 0.000 description 1
- 210000001847 Jaw Anatomy 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
- 235000013882 gravy Nutrition 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
Abstract
The invention discloses a kind of robot and grasping mechanism, described grasping mechanism includes cylinder block, take-off assembly, blowing assembly, described take-off assembly includes feeding cylinder, installing plate, at least two feeding pins, described feeding cylinder is fixed on cylinder block, described installing plate is arranged on the piston rod of described feeding cylinder, at least two installing hole it is provided with on described installing plate, described feeding pin is arranged in described installing hole, and the inclined shape in described feeding pin opposed vertical direction layout, described blowing assembly includes blowing cylinder, blowing plate, described blowing cylinder is fixed on cylinder block, described blowing plate is fixed on the piston rod of described blowing cylinder, described blowing plate is disposed therein between two described feeding pins, and blowing plate is positioned close to one end of installing plate.Described robot and grasping mechanism are swift and convenient to operate, it is possible to stablize, quickly fish bean curd or similar product are captured and put into packer appointment position, improve production efficiency, reduce cost.
Description
Technical field
The present invention relates to food crawl technology, particularly to a kind of robot and grasping mechanism.
Background technology
At present, when food enterprise produces fish bean curd and product that some are similar, it is typically necessary every flake products
Individually packing, this series products is many in the form of sheets, relatively soft and typically there are the liquid such as thick gravy on surface, tradition
Jaw gripping and the grabbing device drawn of sucker all cannot meet the crawl requirement of this series products, enterprise is general
Use the artificial mode that product is put into packer to produce, cause substantial amounts of artificial waste, and right
The safe and sanitary of food brings serious hidden danger.
Summary of the invention
Based on this, it is necessary to for the defect of prior art, it is provided that a kind of robot and grasping mechanism, it is possible to
Stablize, quickly fish bean curd or similar product are captured and put into appointment position, improve enterprise's production and imitate
Rate, reduction production cost.
Its technical scheme is as follows:
A kind of grasping mechanism, including cylinder block, take-off assembly, blowing assembly, described take-off assembly includes taking
Material cylinder, installing plate, at least two feeding pins, described feeding cylinder is fixed on cylinder block, described installation
Plate is arranged on the piston rod of described feeding cylinder, and described installing plate is provided with at least two installing hole, institute
State feeding pin to be arranged in described installing hole, and the inclined shape in described feeding pin opposed vertical direction is arranged, institute
State blowing assembly and include that blowing cylinder, blowing plate, described blowing cylinder are fixed on cylinder block, described blowing
Plate is fixed on the piston rod of described blowing cylinder, described blowing plate be disposed therein two described feeding pins it
Between, and blowing plate is positioned close to one end of installing plate.
Its further technical scheme is as follows:
Described installing hole is two, and two described installing holes are that diagonal angle is arranged, and two described installing holes are towards leaning on
Near or away from line center, diagonal angle direction tilts.
Described installing hole is three, three described installing hole settings triangular in shape, and three described installing hole courts
Close or away from triangle center direction tilts.
Described installing hole is four, and four described installing holes are that array is arranged, and four described installing holes are towards leaning on
Near or away from array center direction tilts.
Described grasping mechanism includes that multiple take-off assembly, multiple described take-off assembly are that array is arranged in cylinder
On seat, described blowing cylinder is arranged on the middle part of cylinder block, and described blowing plate includes the basis being connected with cylinder block
Body, the pusher portion that multiple and described take-off assembly is corresponding, described pusher portion is connected with described body, and
Pusher portion reaches between wherein two feeding pins of corresponding take-off assembly.
Described grasping mechanism includes six take-off assembly, and six take-off assembly are in two rows of three is arranged in cylinder
On seat, described blowing cylinder is arranged on the centre of cylinder block.
Described feeding pin more than 0 ° and is less than or equal to 30 ° with the angle of vertical direction.
Described feeding pin is 15 ° with the angle of vertical direction.
A kind of robot, including the grasping mechanism described in any of the above-described item, flange, connecting rod, described machine
Human arm is connected with described robot body, and described flange is connected with described robot arm, described cylinder block
By connecting rod and described Flange joint.
Advantage or principle to preceding solution illustrate below:
Above-mentioned grasping mechanism simple in construction, stable performance, feeding cylinder extends downwardly from, and pricks feeding pin into fish
In bean curd or similar product, feeding cylinder is upwards retracted, and fish bean curd or similar product are mentioned by feeding pin,
Due at least two, feeding pin, and the inclined shape in opposed vertical direction is arranged, such feeding pin to fish bean curd or
The frictional force of similar product be enough to avoid fish bean curd or the landing from feeding pin of similar product, needs to put down
When fish bean curd or similar product, blowing cylinder extends downwardly from, and drives blowing plate to move downward, due to blowing
Plate is in wherein between two described feeding pins, and blowing plate is positioned close to one end of installing plate, i.e. blowing
Plate is in fish bean curd or the top of similar product, and blowing plate moves downward can be by fish bean curd or similar product
Product push from feeding pin, swift and convenient to operate, it is possible to stable, quickly by fish bean curd or similar product
Product capture and put into packer and specify position, improve enterprises production efficiency, reduce production cost, Er Qiexiang
To prior art, human contact's fish bean curd or the step of similar product can be reduced, reduce the health peace of food
The hidden danger entirely brought, and the grasping mechanism of this structure, use feeding pin dexterously, can be to greatest extent
Ground keeps fish bean curd or the profile of similar product, it is to avoid its fragmentation.
Above-mentioned robot, drives grasping mechanism to move to feeding station by robot arm, and grasping mechanism carries
Taking fish bean curd or similar product, grasping mechanism is moved to the specific bit carrying out packing by robot arm again
Putting, grasping mechanism puts down fish bean curd or similar product, compares existing commonly used artificial blowing mode,
Improve enterprises production efficiency, reduce production cost.
Accompanying drawing explanation
Fig. 1 is the structural representation of the grasping mechanism described in the embodiment of the present invention；
Fig. 2 is the elevational schematic view of the grasping mechanism described in the embodiment of the present invention.
Description of reference numerals:
1, grasping mechanism, 2, flange, 3, connecting rod, 10, cylinder block, 20, take-off assembly, 21, take
Material cylinder, 22, installing plate, 23, feeding pin, 30, blowing assembly, 31, blowing cylinder, 32, blowing
Plate, 321, body, 322, pusher portion.
Detailed description of the invention
As shown in Figure 1 and Figure 2, a kind of grasping mechanism 1, including cylinder block 10, take-off assembly 20, blowing
Assembly 30, described take-off assembly 20 includes feeding cylinder 21,22, at least two feeding pins 23 of installing plate,
Described feeding cylinder 21 is fixed on cylinder block 10, and described installing plate 22 is arranged on described feeding cylinder 21
Piston rod on, described installing plate 22 is provided with at least two installing hole, described feeding pin 23 is arranged on
In described installing hole, and the inclined shape in described feeding pin 23 opposed vertical direction is arranged, described blowing assembly 30
Including blowing cylinder 31, blowing plate 32, described blowing cylinder 31 is fixed on cylinder block 10, described blowing
Plate 32 is fixed on the piston rod of described blowing cylinder 31, and described blowing plate 32 is disposed therein described in two
Between feeding pin 23, and blowing plate 32 is positioned close to one end of installing plate 22.
Described grasping mechanism 1 simple in construction, stable performance, feeding cylinder 21 extends downwardly from, by feeding pin
23 prick in fish bean curd or similar product, and feeding cylinder 21 is upwards retracted, feeding pin 23 by fish bean curd or
Similar product is mentioned, and due to 23 at least two, feeding pin, and the inclined shape in opposed vertical direction is arranged, this
Sample feeding pin 23 to the frictional force of fish bean curd or similar product to be enough to avoid fish bean curd or similar product from taking
Landing on material pin 23, when needing to put down fish bean curd or similar product, blowing cylinder 31 extends downwardly from, band
Dynamic blowing plate 32 moves downward, and owing to blowing plate 32 is in wherein between two described feeding pins 23, and puts
Flitch 32 is positioned close to one end of installing plate 22, i.e. blowing plate 32 and is in fish bean curd or similar product
Top, blowing plate 32 moves downward and can fish bean curd or similar product be pushed from feeding pin 23,
Swift and convenient to operate, it is possible to stablize, quickly fish bean curd or similar product are captured and put into packer
Specify position, improve enterprises production efficiency, reduce production cost, and hinge structure, people can be reduced
Work contact fish bean curd or the step of similar product, reduce the hidden danger that the safe and sanitary of food brings, and
The grasping mechanism 1 of this structure, uses feeding pin 23 dexterously, can keep fish bean curd or class to greatest extent
As the profile of product, it is to avoid its fragmentation.
Installing hole described in the present embodiment is four, and four described installing holes are that array is arranged, and four described peaces
Dress hole tilts towards close or away from array center direction, the four feeding pins 23 being i.e. arranged on installing hole
Opposed vertical plane tilts towards array center direction simultaneously, and such feeding pin 23 gives fish bean curd or similar product
Apply the power towards array center direction, make fish bean curd or similar product to be mentioned by feeding pin 23 smoothly；
Or four feeding pin 23 opposed vertical planes tilt towards away from array center direction, such feeding pin 23 simultaneously
Apply the power away from array center direction to fish bean curd or similar product, make fish bean curd or similar product energy
Mentioned by feeding pin 23 smoothly.According to the actual requirements, described installing hole can be two, two described peaces
Dress hole is that diagonal angle is arranged, and two described installing holes tilt towards close or away from line center, diagonal angle direction,
The diagonal angle of the installing plate that described diagonal angle refers to；Or described installing hole is three, three described installing holes are triangle
Shape is arranged, and three described installing holes tilt towards close or away from triangle center direction；Or it is described
The number of installing hole is more than four, the direction of feeding pin 23 inclination that the direction that installing hole tilts is the most corresponding.
Described grasping mechanism 1 includes that multiple take-off assembly 20, multiple described take-off assembly 20 are arranged in array
On cylinder block 10, described blowing cylinder 31 is arranged on the middle part of cylinder block 10, and described blowing plate 32 wraps
Include and the body 321 that cylinder block 10 connects, the pusher portion 322 that multiple and described take-off assembly 20 is corresponding,
Described pusher portion 322 is connected with described body 321, and pusher portion 322 reaches corresponding feeding group
Between wherein two feeding pins 23 of part 20.Grasping mechanism 1 described in the present embodiment includes six feeding groups
Part 20, six take-off assembly 20 are in two rows of three to be arranged on cylinder block 10, and described blowing cylinder 31 is arranged
Centre at cylinder block 10.During feeding, three take-off assembly 20 action of the first row, feeding cylinder 21 to
Under stretch out extraction fish bean curd or similar product retracting, three take-off assembly 20 of the second row reoperate to be extracted
Fish bean curd or similar product are also retracted, and during blowing, blowing air cylinder driven blowing plate moves downward, pusher portion
Fish bean curd or similar product are unloaded from feeding pin 23 and to put in blowing mould for packaging, blowing gas by 322
Cylinder piston rod is regained.
Described feeding pin 23 more than 0 ° and is less than or equal to 30 ° with the angle of vertical direction.Described in the present embodiment
Feeding pin 23 is 15 ° with the angle of vertical direction.So ensure that feeding pin 23 can stably extract fish bean
Rotten or similar product, can guarantee that again blowing plate can smoothly by fish bean curd or similar product from feeding pin
Push.
A kind of robot, including the grasping mechanism 1 described in any of the above-described item, flange 2, connecting rod 3, described
Robot arm is connected with described robot body, and described flange 2 is connected with described robot arm, described
Cylinder block 10 is connected with described flange 2 by connecting rod 3.
Robot described in the present embodiment, drives grasping mechanism 1 to move to feeding station by robot arm,
Grasping mechanism 1 extracts fish bean curd or similar product, and robot arm drives grasping mechanism 1 to move to packaging
Above the blowing mould of machine, fish bean curd or similar product are put in blowing mould for packaging by grasping mechanism 1,
Compare existing commonly used artificial blowing mode, improve enterprises production efficiency, reduce production cost.
Each technical characteristic of embodiment described above can combine arbitrarily, for making description succinct, the most right
The all possible combination of each technical characteristic in above-described embodiment is all described, but, if these skills
There is not contradiction in the combination of art feature, is all considered to be the scope that this specification is recorded.
Embodiment described above only have expressed the several embodiments of the present invention, and it describes more concrete and detailed,
But therefore can not be interpreted as the restriction to the scope of the claims of the present invention.It should be pointed out that, for this area
Those of ordinary skill for, without departing from the inventive concept of the premise, it is also possible to make some deformation and
Improving, these broadly fall into protection scope of the present invention.Therefore, the protection domain of patent of the present invention should be with appended
Claim is as the criterion.
Claims (9)
1. a grasping mechanism, it is characterised in that include cylinder block, take-off assembly, blowing assembly, described
Take-off assembly includes feeding cylinder, installing plate, at least two feeding pins, and described feeding cylinder is fixed on cylinder
On seat, described installing plate is arranged on the piston rod of described feeding cylinder, and described installing plate is provided with at least
Two installing holes, described feeding pin is arranged in described installing hole, and described feeding pin opposed vertical direction in
Skewed layout, described blowing assembly includes that blowing cylinder, blowing plate, described blowing cylinder are fixed on cylinder
On seat, described blowing plate is fixed on the piston rod of described blowing cylinder, and described blowing plate is disposed therein two
Described in root between feeding pin, and blowing plate is positioned close to one end of installing plate, and described grasping mechanism includes many
Individual take-off assembly, described blowing plate includes the body being connected with cylinder block, multiple and described take-off assembly pair
The pusher portion answered, described pusher portion is connected with described body, and pusher portion reaches corresponding feeding group
Between wherein two feeding pins of part.
2. grasping mechanism as claimed in claim 1, it is characterised in that described installing hole is two, two
Described installing hole is that diagonal angle is arranged, and two described installing holes are towards close or away from line center, diagonal angle side
To inclination.
3. grasping mechanism as claimed in claim 1, it is characterised in that described installing hole is three, three
The setting triangular in shape of described installing hole, and three described installing holes are towards close or away from triangle center side
To inclination.
4. grasping mechanism as claimed in claim 1, it is characterised in that described installing hole is four, four
Described installing hole is that array is arranged, and four described installing holes incline towards close or away from array center direction
Tiltedly.
5. the grasping mechanism as described in any one of Claims 1-4, it is characterised in that multiple described feedings
Assembly is that array is arranged on cylinder block, and described blowing cylinder is arranged on the middle part of cylinder block.
6. grasping mechanism as claimed in claim 5, it is characterised in that it includes six take-off assembly, six
Individual take-off assembly is in two rows of three to be arranged on cylinder block, and described blowing cylinder is arranged on the centre of cylinder block.
7. the grasping mechanism as described in any one of Claims 1-4, it is characterised in that described feeding pin with
The angle of vertical direction is more than 0 ° and less than or equal to 30 °.
8. grasping mechanism as claimed in claim 7, it is characterised in that described feeding pin and vertical direction
Angle is 15 °.
9. a robot, it is characterised in that include the grasping mechanism described in any one of claim 1 to 8,
Flange, connecting rod, described robot arm is connected with described robot body, described flange and described machine
Human arm connects, and described cylinder block is by connecting rod and described Flange joint.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410339466.4A CN104129524B (en) | 2014-07-16 | Robot and grasping mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410339466.4A CN104129524B (en) | 2014-07-16 | Robot and grasping mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104129524A CN104129524A (en) | 2014-11-05 |
| CN104129524B true CN104129524B (en) | 2016-11-30 |
Family
ID=
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3331093A1 (en) * | 1983-08-29 | 1985-03-14 | Mantec Gesellschaft für Automatisierungs- und Handhabungssysteme mbH, 8510 Fürth | Gripper for industrial robots |
| DE4307142C1 (en) * | 1993-03-06 | 1994-05-11 | Peguform Werke Gmbh | Grab on robot arm for flat flexible plastics items - has hollow spreader forming pressure accumulator for tools in mountings at sides |
| US6309001B1 (en) * | 1999-03-01 | 2001-10-30 | Abb Flexible Automation, Inc. | Article piercing end effector |
| CN204056380U (en) * | 2014-07-16 | 2014-12-31 | 广州达意隆包装机械股份有限公司 | Robot and grasping mechanism |
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3331093A1 (en) * | 1983-08-29 | 1985-03-14 | Mantec Gesellschaft für Automatisierungs- und Handhabungssysteme mbH, 8510 Fürth | Gripper for industrial robots |
| DE4307142C1 (en) * | 1993-03-06 | 1994-05-11 | Peguform Werke Gmbh | Grab on robot arm for flat flexible plastics items - has hollow spreader forming pressure accumulator for tools in mountings at sides |
| US6309001B1 (en) * | 1999-03-01 | 2001-10-30 | Abb Flexible Automation, Inc. | Article piercing end effector |
| CN204056380U (en) * | 2014-07-16 | 2014-12-31 | 广州达意隆包装机械股份有限公司 | Robot and grasping mechanism |
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| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant |