CN104802176B - Gripping device and mechanical hand applying gripping device - Google Patents
Gripping device and mechanical hand applying gripping device Download PDFInfo
- Publication number
- CN104802176B CN104802176B CN201510196634.3A CN201510196634A CN104802176B CN 104802176 B CN104802176 B CN 104802176B CN 201510196634 A CN201510196634 A CN 201510196634A CN 104802176 B CN104802176 B CN 104802176B
- Authority
- CN
- China
- Prior art keywords
- handgrip
- gripping device
- fixed
- grabbing device
- gripper
- Prior art date
- 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.)
- Expired - Fee Related
Links
Landscapes
- Manipulator (AREA)
Abstract
The invention discloses a gripping device and a mechanical hand applying the gripping device. The gripping device comprises grippers, and a fixing plate which is used for fixing the grippers, wherein two or more than two grippers are arranged; each gripper is composed of two parallel fingers; one end of each gripper is open; the other end of each gripper is fixed on the fixing plate; each gripper is provided with two or more than two clamping openings; a liftable pressing plate is arranged above the grippers; the inner side face of each finger of each gripper is provided with a rubber sheet; the end face of each finger at the open end of each gripper is an inclined plane. The mechanical hand comprises the gripping device and a supporting truss, wherein the gripping device is connected with a lifting cylinder; the lifting cylinder is fixed on a transverse movement sliding block for controlling the ascending and descending of the gripping device. The transverse movement sliding block moves on a transverse guide rail; the transverse guide rail is fixedly connected with a longitudinal movement sliding block; the longitudinal movement sliding block moves on a longitudinal guide rail; the longitudinal movement guide rail is fixed on the supporting truss. The gripping device and the mechanical hand applying the gripping device have the advantages that the gripping device can grip a plurality of goblets every time, the structure is simple, the gripping effect is reliable, and the production efficiency can be effectively improved.
Description
Technical field
The present invention relates to glassware production equipment technical field, specially a kind of grabbing device and apply this grabbing device
Manipulator.
Background technology
During producing goblet, need to be transported to conveyer belt glassware from annealing kiln, and by transmission
Band is transported to down one manufacturing procedure.Shape due to existing grabbing device and goblet mismatches it is impossible to be applied to high pin
In the operation carrying of cup production line.At present, goblet semi-finished product mainly to be completed by artificial operation in the carrying of inter process, this kind of
Mode low production efficiency, labor cost are high and working strength is big, thus increased the production cost of enterprise.
Content of the invention
It is an object of the invention to overcoming above-mentioned deficiency, providing a kind of structure simple and being applied to the carrying of goblet inter process
Grabbing device, by install this grabbing device manipulator be applied to goblet handling process, can improve production efficiency, reduce life
Produce cost and improve production security.
For solving above-mentioned technical problem, the present invention employs the following technical solutions：A kind of grabbing device, including handgrip and fixation
The fixed plate of handgrip, described handgrip quantity is two or more, and each handgrip is made up of two parallel fingers, handgrip one end
Opening, the other end is fixed in fixed plate, and each handgrip is provided with two and plural gripping port.
Further, it is provided with liftable pressing plate above described handgrip, for strengthening stablizing of goblet in handling process
Property.
Further, the facies digitales mediales manus of described handgrip is provided with sheet rubber, can effectively prevent from doing the outer surface spending goblet simultaneously
The buffering pressure to glassware for the handgrip.
Further, the finger end face at the openend of described handgrip is inclined plane shape, for strengthening accuracy and the movement of crawl
Security.A kind of manipulator installing above-mentioned grabbing device, including grabbing device and sub-truss, described grabbing device and control
The lifting cylinder making its lifting connects, and described lifting cylinder is fixed on transverse shifting slide block, and described transverse shifting slide block is in horizontal stroke
Move on direction guiding rail, described cross slide way and vertically move slide block and be fixed together, vertically move slide block on longitudinal rail
Motion, longitudinal movement rail is fixed on sub-truss.
Movement on cross slide way for the described transverse shifting slide block is controlled by ball-screw by servomotor.
Described vertically move movement on longitudinal rail for the slide block and controlled by ball-screw by servomotor.
The invention has the beneficial effects as follows：The gripper equipment of the present invention is that the special construction for goblet designs, every group
Parallel finger defines handgrip, the form fit of gripping port and goblet on handgrip, after crawl goblet position fix and
It is difficult to slide, enhance the accuracy of crawl and the security of movement.Apply the robot manipulator structure of this gripper equipment reasonable in design,
Multiple goblets can be carried every time, production efficiency can be effectively improved, reduce labor strength and improve production security.
Brief description
Fig. 1 and Fig. 2 is the structural representation of grabbing device in embodiment 1；
Fig. 3 is the robot manipulator structure schematic diagram applying this grabbing device in embodiment 1；
Fig. 4 is the production line applying manipulator of the present invention in embodiment 1；
Fig. 5 and Fig. 6 is the structural representation of grabbing device in embodiment 2.
Fig. 7 is the robot manipulator structure schematic diagram applying this grabbing device in embodiment 2；
Fig. 8 is the production line applying manipulator of the present invention in embodiment 2；
In figure：1 grabbing device, 2 lifting cylinders, 3 transverse shifting slide blocks, 4 horizontal ball-screws, 5 cross slide ways, 6 is horizontal
Shift servo motor, 7 vertically move slide block, 8 longitudinal ball-screws, 9 longitudinal rails, and 10 vertically move servomotor, 11 supports
Truss, 12 conveyer belts, 13 annealing kilns, 14 goblet arrays, 15 emergent platforms, 16 floors, 17 handgrips, 18 fixed plates, 19 pressing plates,
20 compression cylinders, 21 fingers, 22 gripping ports, 23 inclined-planes.
Specific embodiment
The present invention is described further with reference to the accompanying drawings and examples, but the present invention is not limited to embodiment.
Embodiment 1
Present embodiments provide a kind of glass grabbing device 1 as illustrated in fig. 1 and 2, this device includes fixed plate 18 He
Five handgrips 17, each handgrip 17 is made up of two parallel fingers 21, handgrip 17 one end open, and the other end is fixed on fixed plate 18
On, fixed plate 18 is connected with lifting cylinder 2, and each handgrip 17 is provided with two gripping ports 22.Gripping during each
The corresponding gripping port 22 of glass, the grabbing device 1 of the present embodiment can disposably grip two rows totally ten goblets.
In order to ensure the stability of whole handling process, it is provided with pressing plate 19 above handgrip 17, pressing plate 19 is by being fixed on
Compression cylinder 20 in fixed plate 18 controls lifting.
Finger 21 medial surface of described handgrip 17 is provided with sheet rubber, can be effectively prevented the outer surface doing flower goblet and delay
Rush the pressure to glassware for the handgrip.
Finger end face at described handgrip 17 openend is inclined-plane 23, and two finger inclined-planes 23 forming same handgrip extend
Intersect at gripping port, this inclined-plane can reduce the probability that handgrip 17 during crawl is collided with goblet.
Present embodiments provide a kind of manipulator of this grabbing device of application as shown in Figure 3, this manipulator includes capturing
Device 1 and sub-truss 11 etc., described grabbing device 1 is connected with lifting cylinder 2, and lifting cylinder 2 controls the liter of grabbing device 1
Fall, lifting cylinder 2 is fixed on transverse shifting slide block 3, and movement on cross slide way 5 for the transverse shifting slide block 3 is by transverse shifting
Servomotor 6 drives horizontal ball-screw 4 to control.Cross slide way 5 and vertically move slide block 7 and be fixed together, vertically moves cunning
Motion on longitudinal rail 9 for the block 7 is controlled by longitudinal ball-screw 8 by vertically moving servomotor 10, longitudinal movement rail 9
It is fixed on sub-truss 11.Sub-truss 11 is fixed on floor 16.
During described robot work, transverse shifting servomotor 6 controls grabbing device 1 to exist with vertically moving servomotor 10
Horizontal and vertical position, grabbing device 1 is dropped to proper height by lifting cylinder 2, and places it in the cup needing gripping
Before (as shown in Figure 4), carry out front gripping preparation.Transverse shifting servomotor 6 drives grabbing device 1 transverse shifting to grip
Action, handgrip 17 is inserted in the cup array of two row five row.Meanwhile, compression cylinder 20 control pressing plate 19 compress downwards it is ensured that
The stablizing of goblet attitude.Then, lifting cylinder 2 driving mechanical hand 1 rises.Meanwhile, transverse shifting servomotor 6 controls crawl
The transverse shifting of device 1, goblet is placed in above conveyer belt 12, and compression cylinder 20 controls pressing plate 19 to rise, and handgrip 17 continues
Transverse shifting, after side removes grabbing device 1, you can grabbing device 1 is placed on next position, clamps next and organizes high pin
Cup.
Present embodiments provide a kind of production line of application manipulator of the present invention as shown in Figure 4, this manipulator is arranged on
The side of annealing kiln 13, across the transmission belt 12 of next process, goblet array out lined up from annealing kiln 13 by goblet
14, the goblet in goblet array 14 is transported on conveyer belt 12 manipulator, and is transported to next process.In annealing
It is provided with emergent platform 15, when carrying fault generation, goblet can be temporarily transported to by manipulator between kiln 13 and manipulator
On emergent platform 15.
Embodiment 2
The present embodiment robot manipulator structure is similar to Example 1.As shown in figure 5, the manipulator of the present embodiment is installed on annealing
The top of kiln 13, simultaneously across the transmission belt 12 of next process.In the present embodiment, grabbing device 1 is substantially the same manner as Example 1,
Simply grabbing device 1 is made up of two handgrips 17, each handgrip is provided with five gripping ports 22, can also grip 10 every time
Goblet.Other identical structures repeat no more.
During described robot work, transverse shifting servomotor 6 and vertically move servomotor 10 control machinery hand and exist
Horizontal and vertical position, manipulator is dropped to proper height by lifting cylinder 2, and before placing it in the cup needing gripping
(as shown in Figure 8), carries out the preparation from side gripping.Transverse shifting servomotor 6 drives grabbing device 1 transverse shifting to grip
Action, handgrip 17 inserts in the cup array of two row five row.Meanwhile, compression cylinder 20 controls pressing plate 19 to push it is ensured that goblet
The stablizing of attitude.Then, lifting cylinder 2 drives grabbing device 1 to rise.Meanwhile, vertically move servomotor 10 and control crawl dress
Put 1 vertically move, goblet is placed in above conveyer belt 12, compression cylinder 20 controls pressing plate 19 to rise, transverse shifting servo
Motor 6 controls the transverse shifting of grabbing device 1, after side removes grabbing device 1, you can grabbing device 1 is placed on next
Individual position, clamps next and organizes goblet.
The invention is not limited in above-mentioned specific embodiment, above-described embodiment is only schematically, is not restricted
, those skilled in the art under the enlightenment of the present invention, in the case of without departing from the invention objective, without creative
Change crawl angle and mode etc., can make the frame mode being much similar to and embodiment, all in protection scope of the present invention
Within.
Claims (3)
1. a kind of be exclusively used in goblet carrying the manipulator with grabbing device it is characterised in that：
Grabbing device, including the fixed plate of handgrip and fixing handgrip, described handgrip quantity is two or more, and each handgrip is by two
Parallel finger composition, each handgrip one end open, the other end is fixed in fixed plate, each handgrip is provided with plural
Gripping port；
It is provided with liftable pressing plate, pressing plate controls lifting by the compression cylinder being fixed in fixed plate above described handgrip；
The facies digitales mediales manus of described handgrip is provided with sheet rubber；
Finger end face at the openend of described handgrip is inclined-plane, and the inclined-plane extension forming two fingers of same handgrip intersects at
Gripping port；
Grabbing device is connected with the lifting cylinder controlling its lifting, and described lifting cylinder is fixed on transverse shifting slide block, described
Transverse shifting slide block moves on cross slide way, described cross slide way and vertically move slide block and be fixed together, and vertically moves cunning
Motion on longitudinal rail for the block, longitudinal movement rail is fixed on sub-truss.
2. manipulator according to claim 1 it is characterised in that：Movement on cross slide way for the described transverse shifting slide block
Controlled by ball-screw by servomotor.
3. manipulator according to claim 1 it is characterised in that：Described vertically move movement on longitudinal rail for the slide block
Controlled by ball-screw by servomotor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510196634.3A CN104802176B (en) | 2015-04-24 | 2015-04-24 | Gripping device and mechanical hand applying gripping device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510196634.3A CN104802176B (en) | 2015-04-24 | 2015-04-24 | Gripping device and mechanical hand applying gripping device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104802176A CN104802176A (en) | 2015-07-29 |
| CN104802176B true CN104802176B (en) | 2017-02-22 |
Family
ID=53687571
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510196634.3A Expired - Fee Related CN104802176B (en) | 2015-04-24 | 2015-04-24 | Gripping device and mechanical hand applying gripping device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104802176B (en) |
Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107053226B (en) * | 2017-02-12 | 2023-11-17 | 玉沣科技(西安)有限公司 | Manipulator capable of simultaneously clamping and supporting articles |
| CN106914911B (en) * | 2017-03-08 | 2019-06-14 | 浙江理工大学 | Kiln grabbing device on multifunctional glass insulator |
| CN108994825A (en) * | 2018-09-19 | 2018-12-14 | 河北卓秋实业有限公司 | Cantilevered Dual-spindle linked bionic mechanical hand spreading machine |
| CN109434805A (en) * | 2018-10-12 | 2019-03-08 | 章婧 | A kind of screening manipulator of low energy consumption |
| CN109291065A (en) * | 2018-11-20 | 2019-02-01 | 北京墨狄科技有限公司 | A kind of mechanical gripper |
| CN109436788B (en) * | 2018-12-24 | 2023-09-12 | 重庆江东机械有限责任公司 | Composite material ground platen grabbing device |
| CN113184523A (en) * | 2020-01-14 | 2021-07-30 | 济宁协力特种气体有限公司 | Gas cylinder grabbing device |
Family Cites Families (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH10316109A (en) * | 1997-05-14 | 1998-12-02 | Lion Corp | Product transferring apparatus |
| JP3049288B1 (en) * | 1998-12-14 | 2000-06-05 | ホクト産業株式会社 | Automatic mushroom harvesting equipment |
| CN201702776U (en) * | 2010-02-09 | 2011-01-12 | 东莞朗诚模具有限公司 | Manipulator for full-automatic sheet discharging machine |
| 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 |
| CN202151863U (en) * | 2011-05-30 | 2012-02-29 | 梅承寨 | Manipulator device |
| CN102357818A (en) * | 2011-09-30 | 2012-02-22 | 崔伶玲 | Fixture |
| CN102717382B (en) * | 2012-06-08 | 2015-05-20 | 北京工业大学 | Synchronous clawing mechanism with multiple manipulators |
| CN103144119A (en) * | 2013-03-26 | 2013-06-12 | 广州创研自动化设备有限公司 | Robot conveying claw mechanism |
| CN103753298A (en) * | 2013-11-25 | 2014-04-30 | 重庆天之道科技发展有限公司 | Multi-station fixture |
| CN104260102B (en) * | 2014-09-15 | 2016-11-30 | 江苏牧羊控股有限公司 | A kind of robot gripper |
-
2015
- 2015-04-24 CN CN201510196634.3A patent/CN104802176B/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| CN104802176A (en) | 2015-07-29 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104802176B (en) | Gripping device and mechanical hand applying gripping device | |
| CN103552832B (en) | The unloading brick piling unit and unload brick palletizing method of a kind of fired brick | |
| CN203529402U (en) | Unloading brick palletizer unit of sintered brick | |
| CN103359484B (en) | Gantry type blank grabbing machine | |
| CN104889979B (en) | A kind of vacuum cap type palletizing mechanical arm | |
| CN103029984B (en) | A kind of injection bottle automatic disk loading system and mechanical gripper thereof | |
| CN204980364U (en) | Automatic displacement conveyor hand | |
| CN205441968U (en) | Hand claw is got in support | |
| CN205087596U (en) | Automatic setting machine layer brick transposition overhead hoist | |
| CN203473916U (en) | Electrically pneumatic carrying device | |
| CN215884240U (en) | Double-deck anchor clamps and hacking machine | |
| CN108115756A (en) | A kind of flexible automation blanking system for PVC board production line | |
| CN102530569B (en) | Stacking manipulator | |
| CN204369023U (en) | A kind of high speed feeder | |
| CN109549291A (en) | A kind of fetching and sending devices of shoes | |
| CN110271713A (en) | A kind of automatic stacking system with pallet jacking redoiming conveyor | |
| CN205630687U (en) | Mechanical tongs mobile device of transfer robot | |
| CN203006427U (en) | Longitudinal reshaping device | |
| CN212083253U (en) | Mechanical arm type sleeper crack detection system | |
| CN205061013U (en) | Loading device was groupd in automation after baked brick unloaded brick | |
| CN114348622A (en) | Cache device | |
| KR100800510B1 (en) | Gate Conveyor | |
| CN102938351A (en) | Automatic clamping track assembly device for circuit breaker | |
| CN109665330B (en) | Brick stacking method with through holes | |
| CN202508633U (en) | Stacking mechanical arm |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| EXSB | Decision made by sipo to initiate substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170222 Termination date: 20190424 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |