CN104309077A - Multi-sucking disc grasper capable of compactly collecting products - Google Patents
Multi-sucking disc grasper capable of compactly collecting products Download PDFInfo
- Publication number
- CN104309077A CN104309077A CN201410537552.6A CN201410537552A CN104309077A CN 104309077 A CN104309077 A CN 104309077A CN 201410537552 A CN201410537552 A CN 201410537552A CN 104309077 A CN104309077 A CN 104309077A
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- China
- Prior art keywords
- hole
- connecting rod
- chain block
- dynamic
- plate
- Prior art date
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C45/00—Injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould; Apparatus therefor
- B29C45/17—Component parts, details or accessories; Auxiliary operations
- B29C45/40—Removing or ejecting moulded articles
- B29C45/42—Removing or ejecting moulded articles using means movable from outside the mould between mould parts, e.g. robots
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
- B25J15/0683—Details of suction cup structure, e.g. grooves or ridges
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C45/00—Injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould; Apparatus therefor
- B29C45/17—Component parts, details or accessories; Auxiliary operations
- B29C45/1769—Handling of moulded articles or runners, e.g. sorting, stacking, grinding of runners
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C45/00—Injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould; Apparatus therefor
- B29C45/17—Component parts, details or accessories; Auxiliary operations
- B29C45/40—Removing or ejecting moulded articles
- B29C45/42—Removing or ejecting moulded articles using means movable from outside the mould between mould parts, e.g. robots
- B29C45/4225—Take-off members or carriers for the moulded articles, e.g. grippers
Abstract
The invention discloses a multi-sucking disc grasper capable of compactly collecting products. The multi-sucking disc grasper comprises an upper fixed plate (1), a lower fixed plate (2), an inner chain block (3), a movable plate (4), an outer chain block (5), an upper connecting rod (6), a lower connecting rod (7), a movable connecting rod (8), a disc connecting rod (9), a fulcrum shaft (10), an air cylinder (11) and sucking discs (12). According to the multi-sucking disc grasper, the upper fixed plate and the lower fixed plate are connected into a whole by using the inner chain block, the movable plate is positioned below the lower fixed plate, a cylinder body of the air cylinder is connected with the lower fixed plate, a piston rod is connected with the movable plate; the upper connecting rod, the lower connecting rod, the inner chain block and the outer chain block are connected into a deformable quadrangle structure; the upper end of the movable connecting rod is rotatably connected with a fulcrum hole of the lower connecting rod, the lower end of the movable connecting rod is rotatably connected with the movable plate, the lower end of the outer chain block is connected with the sucking discs through the disc connecting rod; according to a technical scheme that during working, the four sucking discs respectively suck four dispersed products, the air cylinder drives the movable plate to move downwards and drives the quadrangle structure by means of the movable connecting rod to make a deformation movement so that the products are collected towards the center, the multi-sucking disc grasper works to achieve the purposes of lowering the cost, improving the efficiency and being suitable for human-machine isolation automatic production requirements.
Description
Technical field
The present invention relates to tongs device, specifically refer to and to produce for injection machine, the injection mold that goods have more from a mould is taken off, and can by compact for multiple goods draw load in Turnover Box a kind of in can the multi-sucker handgrip of compact gathering goods.
Background technology
Manipulator for automatically taking off injection-molded item from injection machine mould is called for short manipulator, manipulator is made up of mechanical elbow and handgrip, handgrip is for capturing goods from injection machine mould, based on the frame mode capturing goods, the handgrip of goods under mechanical gripping is adopted to be called mechanical gripper, the handgrip adopting negative pressure sucker to take off goods is called sucker gripper, common sucker gripper is provided with multiple sucker, once take off multiple goods in the mould that has more from a mould simultaneously, be thus called multi-sucker handgrip; Relate to multi-sucker handgrip herein and be called for short polydisc handgrip.After prior art polydisc handgrip takes off multiple goods, be shelved on the temporary horizontalization platform on injection machine side by temporarily at random for goods, by artificial, goods at random are put in order neatly, compacter piling up transported to Turnover Box; Manually put in order vanning, the many expenses of recruitment are large, and cost is high, efficiency is low, in addition, the full-automatic production requirement in man-machine isolation or unmanned workshop is not suitable for, therefore, prior art exists that cost is high, efficiency is low, is not suitable for man-machine isolation, problems and shortcomings that unmanned Workshop Production requires.
Summary of the invention
For above-mentioned prior art Problems existing with not enough, the present invention adopts by above determine plate, Xia Dingban, interior chain block, dynamic plate, outer chain block, upper connecting rod, lower link, dynamic connecting rod, coils connecting rod, device that cylinder, sucker are formed, this device is line centered by the axis of cylinder, is divided into the interlock part that four are symmetrical, overlooks in cross radial configuration, and with main depending on right part carry out structure representation, interior chain block is determined plate determine upper plate and be connected for overall with lower, and dynamic plate is positioned at lower below of determining plate, and the cylinder body of cylinder is determined plate be fixedly connected with lower, and the piston rod of cylinder is fixedly connected with dynamic plate, press position up and down, upper connecting rod, lower link, interior chain block and outer chain block are connected for mutual rotating quadrilateral structure, the dynamic upper end of connecting rod and the fulcrum hole of lower link are rotatably connected, and lower end and the dynamic plate of dynamic connecting rod are rotatably connected, and the lower end of outer chain block is fixedly connected with the left end of dish connecting rod, and the dish right-hand member of connecting rod is fixedly connected with the upper end of sucker, during work, four goods break away from moulds mutually disperseed drawn respectively by four suckers, air cylinder driven is moved plate and is moved down, dynamic plate drives outer chain block through dynamic connecting rod, upper connecting rod, within lower link work, chain block is the quadrilateral area motion of fixed edge, make outer chain block band Moving plate connecting rod, sucker and goods do centripetal gathering campaign downwards, four compact gatherings of goods are loaded afterwards the technical scheme of Turnover Box, there is provided a kind of can the multi-sucker handgrip of compact gathering goods, be intended to the work making multi-sucker handgrip, reach and reduce costs, raise the efficiency, be applicable to man-machine isolation, the object that unmanned Workshop Production requires.
The object of the present invention is achieved like this: a kind of can the multi-sucker handgrip of compact gathering goods, comprise Shang Dingban, Xia Dingban, interior chain block, dynamic plate, outer chain block, upper connecting rod, lower link, dynamic connecting rod, dish connecting rod, fulcrum shaft, cylinder, sucker, this device is line centered by the axis of cylinder, be divided into the interlock part that four symmetrical, overlook in cross radial configuration, wherein: described interior chain block, outer chain block, upper connecting rod, lower link, dynamic connecting rod, dish connecting rod, fulcrum shaft, sucker carry out structure representation with main depending on right part;
Described above determine the steel components that plate is rectangular plate-like, upper center of determining plate is provided with manhole and is called emptiness avoiding hole; Upper determine plate and be called at the through hole be respectively equipped with for connecting of position all around of described emptiness avoiding hole periphery and surely connect hole;
Described determine the steel components that plate is bar shaped tabular down, the through hole of the circle that lower center of determining plate is provided with for connecting is called determines hole down;
Described interior chain block is the steel components of rectangular block shape, and the right part center of interior chain block is provided with above-below direction, opening groove to the right and is called link slot; The upper right quarter of interior chain block is provided with fore-and-aft direction and is called interior upper hole through the manhole of described link slot, and the right lower quadrant of interior chain block is provided with fore-and-aft direction and is called interior lower opening through the manhole of described link slot;
Described dynamic plate is the steel components of bar shaped tabular, and the through hole of the circle that the center moving plate is provided with for connecting is called dynamic mesopore; The manhole that left and right two end of dynamic plate is provided with fore-and-aft direction is called and dynamicly turns hole;
Described outer chain block is the steel components of rectangular block shape, and the manhole that the upper end of outer chain block is provided with fore-and-aft direction is called outside upper hole; The manhole that the middle part of outer chain block is provided with fore-and-aft direction is called outer mesopore; The lower surface of outer chain block is provided with the inner bolt hole for connecting;
Described upper connecting rod is the steel components of Π font bulk, and left and right two end of upper connecting rod is respectively equipped with the manhole of fore-and-aft direction and the company's of being called left hole and above connect right hole;
Described lower link is the steel components of the font of falling Π bulk, left and right two end of lower link is respectively equipped with the manhole of fore-and-aft direction and is called lower even left hole and lower even right hole, and lower link is also provided with one and is called fulcrum hole with the described lower manhole connecting left hole parallel in the described lower right connecting left hole;
Described dynamic connecting rod is the steel components of the middle part upwards bar shaped bulk at bending 135 ° of angles, and left and right two end of dynamic connecting rod is respectively equipped with the manhole of fore-and-aft direction and is called dynamic left hole and dynamic right hole;
Described dish connecting rod is the steel components of rectangular plate-like, and the manhole that the left end of dish connecting rod is provided with above-below direction is called dish bar left hole, and middle part to the right-hand member of dish connecting rod is provided with above-below direction, oblong through hole is called dish bar right hole;
Described fulcrum shaft is the cylinder step steel components that front end is provided with flange;
Described cylinder is the Pneumatic extension executive component be made up of cylinder body, piston rod;
Described sucker is the vacuum suction executive component that top is provided with connecting thread, middle part is provided with vacuum passage, bottom is provided with rubber mass sucker;
Determine plate under two and superpose that cross is orthogonal is positioned at the below of determining plate up and down, four interior chain blocks lay respectively at determines plate and the lower centrifugal end determined between plate, determines upper plate through the described upper hole that surely connects and determines plate be connected for overall with lower; Two dynamic plates superpose that cross is orthogonal is positioned at lower below of determining plate up and down; The cylinder body of cylinder is passed down through the described emptiness avoiding hole determining plate, determines hole through what coincide with the upper and lower and mutually orthogonal with two determine plate and be fixedly connected with down described down; The piston rod of the cylinder described dynamic mesopore through coinciding with the upper and lower is fixedly connected with two mutually orthogonal dynamic plates;
For this device master depending on the position up and down of right part state the annexation of upper connecting rod, lower link, interior chain block and outer chain block; Upper connecting rod, lower link, interior chain block and outer chain block are connected for mutual rotating quadrilateral structure, and wherein, the left end of upper connecting rod slides and is embedded in the described link slot of interior chain block, and the described upper described interior upper hole connecting left hole and interior chain block of upper connecting rod is rotatably connected; The described upper described outside upper hole connecting right hole and outer chain block of upper connecting rod is rotatably connected; The left end of lower link slides and is embedded in the described link slot of interior chain block, and the described lower described interior lower opening connecting left hole and interior chain block of lower link is rotatably connected; The described lower described outer mesopore connecting right hole and outer chain block of lower link is rotatably connected; The described dynamic left hole of dynamic connecting rod and the described dynamic of dynamic plate turn hole and are rotatably connected; The described dynamic right hole of dynamic connecting rod is rotatably connected through the described fulcrum hole of described fulcrum shaft and lower link; The lower end of outer chain block is fixedly connected with the described dish bar left hole of dish connecting rod; The described dish bar right hole of dish connecting rod is fixedly connected with the top of sucker.
The face, direction of said structure statement is divided into up, down, left, right, front, rear side, wherein, before be face in the face of device front view, after be and described before relative face; Centripetal direction is the direction of the axis of orthogonal sensing cylinder, described centrifugal be the direction relative with described centripetal direction.
Operation principle and beneficial effect
During work, four goods break away from moulds mutually disperseed drawn respectively by four suckers, air cylinder driven is moved plate and is moved down, dynamic plate chain block within dynamic connecting rod drives outer chain block, upper connecting rod, lower link to do is the quadrilateral area motion of fixed edge, make outer chain block band Moving plate connecting rod, sucker and goods do centripetal gathering campaign downwards, load Turnover Box by after four compact gatherings of goods.
This apparatus structure is simple, and reliable operation, makes the work of multi-sucker handgrip, reduces cost, improves efficiency, meets the requirement for man-machine isolation, unmanned Workshop Production.
Above-mentioned, the present invention adopts by above determine plate, Xia Dingban, interior chain block, dynamic plate, outer chain block, upper connecting rod, lower link, dynamic connecting rod, coils connecting rod, device that cylinder, sucker are formed, this device is line centered by the axis of cylinder, is divided into the interlock part that four are symmetrical, overlooks in cross radial configuration, and with main depending on right part carry out structure representation, interior chain block is determined plate determine upper plate and be connected for overall with lower, and dynamic plate is positioned at lower below of determining plate, and the cylinder body of cylinder is determined plate be fixedly connected with lower, and the piston rod of cylinder is fixedly connected with dynamic plate, press position up and down, upper connecting rod, lower link, interior chain block and outer chain block are connected for mutual rotating quadrilateral structure, the dynamic upper end of connecting rod and the fulcrum hole of lower link are rotatably connected, and lower end and the dynamic plate of dynamic connecting rod are rotatably connected, and the lower end of outer chain block is fixedly connected with the left end of dish connecting rod, and the dish right-hand member of connecting rod is fixedly connected with the upper end of sucker, during work, four goods break away from moulds mutually disperseed drawn respectively by four suckers, air cylinder driven is moved plate and is moved down, dynamic plate drives outer chain block through dynamic connecting rod, upper connecting rod, within lower link work, chain block is the quadrilateral area motion of fixed edge, make outer chain block band Moving plate connecting rod, sucker and goods do centripetal gathering campaign downwards, four compact gatherings of goods are loaded afterwards the technical scheme of Turnover Box, overcoming prior art, to there is cost high, efficiency is low, be not suitable for man-machine isolation, the problems and shortcomings that unmanned Workshop Production requires, thered is provided a kind of can the multi-sucker handgrip of compact gathering goods, make the work of multi-sucker handgrip, reach and reduce costs, raise the efficiency, be applicable to man-machine isolation, the object that unmanned Workshop Production requires.
Accompanying drawing explanation
Fig. 1 of the present inventionly a kind ofly the master of multi-sucker handgrip of compact gathering goods can look sectional structure schematic diagram;
Fig. 2 is the extraction enlarged drawing in A portion in Fig. 1;
Fig. 3 be of the present invention a kind of can the axle geodesic structure schematic diagram of multi-sucker handgrip of compact gathering goods;
Fig. 4 be of the present invention a kind of can the multi-sucker handgrip of compact gathering goods, be operated in the principle schematic of four compact gathering tenses of goods 01;
Fig. 5 be of the present invention a kind of can compact gathering goods multi-sucker handgrip axle survey decomposing schematic representation.
Below in conjunction with the embodiment in accompanying drawing, the present invention is described in further detail, but should not be construed as any limitation of the invention.
In figure: above determine plate 1, determine plate 2, interior chain block 3, dynamic plate 4, outer chain block 5, upper connecting rod 6, lower link 7, dynamic connecting rod 8, dish connecting rod 9, fulcrum shaft 10, cylinder 11, sucker 12, goods 01 down.
Detailed description of the invention
Consult Fig. 1 ~ Fig. 5, of the present invention a kind of can the multi-sucker handgrip of compact gathering goods, comprise and determine plate 1, determine plate 2, interior chain block 3, dynamic plate 4, outer chain block 5, upper connecting rod 6, lower link 7, dynamic connecting rod 8, dish connecting rod 9, fulcrum shaft 10, cylinder 11, sucker 12 down, this device is line centered by the axis of cylinder 11, be divided into the interlock part that four symmetrical, overlook in cross radial configuration, wherein: described interior chain block 3, outer chain block 5, upper connecting rod 6, lower link 7, dynamic connecting rod 8, dish connecting rod 9, fulcrum shaft 10, sucker 12 carry out structure representation with main depending on right part;
Described above determine the steel components that plate 1 is rectangular plate-like, upper center of determining plate 1 is provided with manhole and is called emptiness avoiding hole; Upper determine plate 1 and be called at the through hole be respectively equipped with for connecting of position all around of described emptiness avoiding hole periphery and surely connect hole;
Described determine the steel components that plate 2 is bar shaped tabular down, the through hole of the circle that lower center of determining plate 2 is provided with for connecting is called determines hole down;
Described interior chain block 3 is the steel components of rectangular block shape, and the right part center of interior chain block 3 is provided with above-below direction, opening groove to the right and is called link slot; The upper right quarter of interior chain block 3 is provided with fore-and-aft direction and is called interior upper hole through the manhole of described link slot, and the right lower quadrant of interior chain block 3 is provided with fore-and-aft direction and is called interior lower opening through the manhole of described link slot;
Described dynamic plate 4 is the steel components of bar shaped tabular, and the through hole of the circle that the center moving plate 4 is provided with for connecting is called dynamic mesopore; The manhole that left and right two end of dynamic plate 4 is provided with fore-and-aft direction is called and dynamicly turns hole;
Described outer chain block 5 is the steel components of rectangular block shape, and the manhole that the upper end of outer chain block 5 is provided with fore-and-aft direction is called outside upper hole; The manhole that the middle part of outer chain block 5 is provided with fore-and-aft direction is called outer mesopore; The lower surface of outer chain block 5 is provided with the inner bolt hole for connecting;
Described upper connecting rod 6 is the steel components of ∏ font bulk, and left and right two end of upper connecting rod 6 is respectively equipped with the manhole of fore-and-aft direction and the company's of being called left hole and above connect right hole;
Described lower link 7 is the steel components of the font of falling ∏ bulk, left and right two end of lower link 7 is respectively equipped with the manhole of fore-and-aft direction and is called lower even left hole and lower even right hole, and lower link 7 is also provided with one and is called fulcrum hole with the described lower manhole connecting left hole parallel in the described lower right connecting left hole;
Described dynamic connecting rod 8 is the steel components of the middle part upwards bar shaped bulk at bending 135 ° of angles, and left and right two end of dynamic connecting rod 8 is respectively equipped with the manhole of fore-and-aft direction and is called dynamic left hole and dynamic right hole;
Described dish connecting rod 9 is the steel components of rectangular plate-like, and the manhole that the left end of dish connecting rod 9 is provided with above-below direction is called dish bar left hole, and middle part to the right-hand member of dish connecting rod 9 is provided with above-below direction, oblong through hole is called dish bar right hole;
Described fulcrum shaft 10 is provided with the cylinder step steel components of flange for front end;
Described cylinder 11 is the Pneumatic extension executive component be made up of cylinder body, piston rod;
Described sucker 12 is top is provided with connecting thread, middle part is provided with vacuum passage, bottom is provided with rubber mass sucker vacuum suction executive component;
Determine plate about 2 under two and superpose that cross is orthogonal is positioned at the below of determining plate 1, four interior chain blocks 3 lay respectively at determines plate 1 and the lower centrifugal end determined between plate 2, determines upper plate 1 through the described upper hole that surely connects and determines plate 2 be connected for entirety with lower; Two dynamic plates about 4 superpose that cross is orthogonal is positioned at lower below of determining plate 2; The cylinder body of cylinder 11 is passed down through the described emptiness avoiding hole determining plate 1, determines hole through what coincide with the upper and lower and mutually orthogonal with two determine plate 2 and be fixedly connected with down described down; The piston rod of the cylinder 11 described dynamic mesopore through coinciding with the upper and lower is fixedly connected with two mutually orthogonal dynamic plates 4;
For this device master depending on the position up and down of right part state the annexation of upper connecting rod 6, lower link 7, interior chain block 3 and outer chain block 5; Upper connecting rod 6, lower link 7, interior chain block 3 and outer chain block 5 are connected for mutual rotating quadrilateral structure, wherein, the left end of upper connecting rod 6 slides and is embedded in the described link slot of interior chain block 3, and the described upper described interior upper hole connecting left hole and interior chain block 3 of upper connecting rod 6 is rotatably connected; The described upper described outside upper hole connecting right hole and outer chain block 5 of upper connecting rod 6 is rotatably connected; The left end of lower link 7 slides and is embedded in the described link slot of interior chain block 3, and the described lower described interior lower opening connecting left hole and interior chain block 3 of lower link 7 is rotatably connected; The described lower described outer mesopore connecting right hole and outer chain block 5 of lower link 7 is rotatably connected; The described dynamic left hole of dynamic connecting rod 8 and the described dynamic of dynamic plate 4 turn hole and are rotatably connected; The described dynamic right hole of dynamic connecting rod 8 is rotatably connected with the described fulcrum hole of lower link 7 through described fulcrum shaft 10; The lower end of outer chain block 5 is fixedly connected with the described dish bar left hole of dish connecting rod 9; The described dish bar right hole of dish connecting rod 9 is fixedly connected with the top of sucker 12.
The face, direction of said structure statement is divided into up, down, left, right, front, rear side, wherein, before be face in the face of device front view, after be and described before relative face; Centripetal direction is the direction of the axis of orthogonal sensing cylinder 11, described centrifugal be the direction relative with described centripetal direction.
Operation principle and beneficial effect
During work, four goods 01 break away from moulds mutually disperseed drawn respectively by four suckers 12, cylinder 11 drives dynamic plate 4 to move down, dynamic plate 4 chain block 3 within dynamic connecting rod 8 drives outer chain block 5, upper connecting rod 6, lower link 7 to do is that the quadrilateral area of fixed edge moves, make outer chain block 5 do centripetal gathering campaign downwards with Moving plate connecting rod 9, sucker 12 and goods 01, load Turnover Box by after four compact gatherings of goods 01.
This apparatus structure is simple, and reliable operation, makes the work of multi-sucker handgrip, reduces cost, improves efficiency, meets the requirement for man-machine isolation, unmanned Workshop Production.
Claims (1)
1. one kind can the multi-sucker handgrip of compact gathering goods, comprise Shang Dingban (1), determine down plate (2), interior chain block (3), dynamic plate (4), outer chain block (5), upper connecting rod (6), lower link (7), dynamic connecting rod (8), dish connecting rod (9), fulcrum shaft (10), cylinder (11), sucker (12), this device is line centered by the axis of cylinder (11), be divided into the interlock part that four symmetrical, overlook in cross radial configuration, described interior chain block (3), outer chain block (5), upper connecting rod (6), lower link (7), dynamic connecting rod (8), dish connecting rod (9), fulcrum shaft (10), sucker (12) carries out structure representation with main depending on right part, it is characterized in that: described above determine the steel components that plate (1) is rectangular plate-like, the center of Shang Dingban (1) is provided with manhole and is called emptiness avoiding hole, upper determine plate (1) and be called at the through hole be respectively equipped with for connecting of position all around of described emptiness avoiding hole periphery and surely connect hole,
The described lower steel components determined plate (2) and be bar shaped tabular, the through hole of the circle that the center of Xia Dingban (2) is provided with for connecting is called determines hole down;
The steel components that described interior chain block (3) is rectangular block shape, the right part center of interior chain block (3) is provided with above-below direction, opening groove to the right and is called link slot; The upper right quarter of interior chain block (3) is provided with fore-and-aft direction and is called interior upper hole through the manhole of described link slot, and the right lower quadrant of interior chain block (3) is provided with fore-and-aft direction and is called interior lower opening through the manhole of described link slot;
The steel components that described dynamic plate (4) is bar shaped tabular, the through hole of the circle that the center moving plate (4) is provided with for connecting is called dynamic mesopore; The manhole that left and right two end of dynamic plate (4) is provided with fore-and-aft direction is called and dynamicly turns hole;
The steel components that described outer chain block (5) is rectangular block shape, the manhole that the upper end of outer chain block (5) is provided with fore-and-aft direction is called outside upper hole; The manhole that the middle part of outer chain block (5) is provided with fore-and-aft direction is called outer mesopore; The lower surface of outer chain block (5) is provided with the inner bolt hole for connecting;
The steel components that described upper connecting rod (6) is ∏ font bulk, left and right two end of upper connecting rod (6) is respectively equipped with the manhole of fore-and-aft direction and the company's of being called left hole and above connect right hole;
Described lower link (7) is the steel components of the font of falling ∏ bulk, left and right two end of lower link (7) is respectively equipped with the manhole of fore-and-aft direction and is called lower even left hole and lower even right hole, and lower link (7) is also provided with one and is called fulcrum hole with the described lower manhole connecting left hole parallel in the described lower right connecting left hole;
Described dynamic connecting rod (8) is the steel components of the middle part upwards bar shaped bulk at bending 135 ° of angles, and left and right two end of dynamic connecting rod (8) is respectively equipped with the manhole of fore-and-aft direction and is called dynamic left hole and dynamic right hole;
The steel components that described dish connecting rod (9) is rectangular plate-like, the manhole that the left end of dish connecting rod (9) is provided with above-below direction is called dish bar left hole, and middle part to the right-hand member of dish connecting rod (9) is provided with above-below direction, oblong through hole is called dish bar right hole;
Described fulcrum shaft (10) is provided with the cylinder step steel components of flange for front end;
Described cylinder (11) is the Pneumatic extension executive component be made up of cylinder body, piston rod;
Described sucker (12) is top is provided with connecting thread, middle part is provided with vacuum passage, bottom is provided with rubber mass sucker vacuum suction executive component;
Determine plate (2) under two and superpose the orthogonal below being positioned at Shang Dingban (1) of cross up and down, four interior chain blocks (3) lay respectively at Shang Dingban (1) and the lower centrifugal end determined between plate (2), determine upper plate (1) through the described upper hole that surely connects and determine plate (2) be connected for overall with lower; Two dynamic plates (4) superpose the orthogonal below being positioned at Xia Dingban (2) of cross up and down; The cylinder body of cylinder (11) is passed down through the described emptiness avoiding hole of Shang Dingban (1), determines hole through what coincide with the upper and lower and mutually orthogonal with two determine plate (2) and be fixedly connected with down described down; The piston rod of cylinder (11) the described dynamic mesopore through coinciding with the upper and lower is fixedly connected with two mutually orthogonal dynamic plates (4);
For this device master depending on the position up and down of right part state the annexation of upper connecting rod (6), lower link (7), interior chain block (3) and outer chain block (5); Upper connecting rod (6), lower link (7), interior chain block (3) are connected for mutual rotating quadrilateral structure with outer chain block (5), wherein, the left end of upper connecting rod (6) slides and is embedded in the described link slot of interior chain block (3), and the described upper described interior upper hole connecting left hole and interior chain block (3) of upper connecting rod (6) is rotatably connected; The described upper described outside upper hole connecting right hole and outer chain block (5) of upper connecting rod (6) is rotatably connected; The left end of lower link (7) slides and is embedded in the described link slot of interior chain block (3), and the described lower described interior lower opening connecting left hole and interior chain block (3) of lower link (7) is rotatably connected; The described lower described outer mesopore connecting right hole and outer chain block (5) of lower link (7) is rotatably connected; The described dynamic left hole of dynamic connecting rod (8) and the described dynamic of dynamic plate (4) turn hole and are rotatably connected; The described dynamic right hole of dynamic connecting rod (8) is rotatably connected through the described fulcrum hole of described fulcrum shaft (10) with lower link (7); The lower end of outer chain block (5) is fixedly connected with the described dish bar left hole of dish connecting rod (9); The described dish bar right hole of dish connecting rod (9) is fixedly connected with the top of sucker (12).
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| CN201410537552.6A CN104309077B (en) | 2014-09-24 | 2014-09-24 | A kind of can the multi-sucker handgrip of compact gathering goods |
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| CN201410537552.6A CN104309077B (en) | 2014-09-24 | 2014-09-24 | A kind of can the multi-sucker handgrip of compact gathering goods |
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| CN104309077A true CN104309077A (en) | 2015-01-28 |
| CN104309077B CN104309077B (en) | 2016-09-07 |
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| CN201410537552.6A Expired - Fee Related CN104309077B (en) | 2014-09-24 | 2014-09-24 | A kind of can the multi-sucker handgrip of compact gathering goods |
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| CN106273285A (en) * | 2016-08-31 | 2017-01-04 | 英力电子科技（重庆）有限公司 | Clamp device for mechanical hand gripping working of plastics |
| CN108165776A (en) * | 2017-12-18 | 2018-06-15 | 重庆中色新材料有限公司 | A kind of rare earth processing water logging slot |
| CN109037127A (en) * | 2018-07-06 | 2018-12-18 | 天长市百盛半导体科技有限公司 | A kind of solar battery crystalline silicon inserting piece device |
| CN109383976A (en) * | 2017-08-03 | 2019-02-26 | 通用电气公司 | The multi-panel equipment and system of automated handling for component |
| CN110883784A (en) * | 2019-12-03 | 2020-03-17 | 天津市天锻压力机有限公司 | Robot feeding and discharging gripper applied to double-mold tubular liquid-filling forming part |
| CN111590828A (en) * | 2020-05-29 | 2020-08-28 | 杭州蒙图机械设计有限公司 | Injection mold facilitating discharging |
| CN113211486A (en) * | 2021-05-20 | 2021-08-06 | 张美洁 | Medicine taking paw for medicine packaging |
| CN116619432A (en) * | 2023-07-20 | 2023-08-22 | 广东宏兴机械有限公司 | Feeding manipulator for high-speed stamping |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106273285B (en) * | 2016-08-31 | 2018-08-17 | 英力电子科技（重庆）有限公司 | The clamp device of plastic part is gripped for manipulator |
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| CN109383976A (en) * | 2017-08-03 | 2019-02-26 | 通用电气公司 | The multi-panel equipment and system of automated handling for component |
| CN109383976B (en) * | 2017-08-03 | 2020-10-30 | 通用电气公司 | End-effectors, end-effector systems, and methods of using end-effectors |
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| CN108165776A (en) * | 2017-12-18 | 2018-06-15 | 重庆中色新材料有限公司 | A kind of rare earth processing water logging slot |
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| CN109037127B (en) * | 2018-07-06 | 2024-03-22 | 天长市百盛半导体科技有限公司 | Inserting sheet device for crystalline silicon of solar cell |
| CN110883784A (en) * | 2019-12-03 | 2020-03-17 | 天津市天锻压力机有限公司 | Robot feeding and discharging gripper applied to double-mold tubular liquid-filling forming part |
| CN111590828A (en) * | 2020-05-29 | 2020-08-28 | 杭州蒙图机械设计有限公司 | Injection mold facilitating discharging |
| CN113211486A (en) * | 2021-05-20 | 2021-08-06 | 张美洁 | Medicine taking paw for medicine packaging |
| CN116619432B (en) * | 2023-07-20 | 2023-09-26 | 广东宏兴机械有限公司 | Feeding manipulator for high-speed stamping |
| CN116619432A (en) * | 2023-07-20 | 2023-08-22 | 广东宏兴机械有限公司 | Feeding manipulator for high-speed stamping |
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| CN104309077B (en) | 2016-09-07 |
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