CN104803188A - Robot claw for supporting ceramic products - Google Patents
Robot claw for supporting ceramic products Download PDFInfo
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- CN104803188A CN104803188A CN201510214252.9A CN201510214252A CN104803188A CN 104803188 A CN104803188 A CN 104803188A CN 201510214252 A CN201510214252 A CN 201510214252A CN 104803188 A CN104803188 A CN 104803188A
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- ceramic product
- bracket
- robot
- actuating device
- connecting panel
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Abstract
The invention provides a robot claw for supporting ceramic products. The robot claw is mounted at a moveable end of a robot and is used for carrying the ceramic products. The robot claw comprises a bracket, a connecting plate, a supporting frame and a driving device, wherein the bracket is connected with the moveable end of the robot; the connecting plate, the supporting frame and the driving device are connected with the bracket; the driving device is arranged on the connecting plate and is connected with the supporting frame; the supporting frame is driven to move by the driving device; the supporting frame is moveably connected with the connecting plate. The robot claw for supporting ceramic products provided by the invention is simple in structure and high in universality and flexibility and can be used together with the robot for firmly supporting, carrying and unloading the ceramic products in various shapes or structures without manual intervention and assistance, so that the carrying efficiency of the ceramic products is increased and the completeness of the ceramic products is effectively ensured.
Description
Technical field
The present invention relates to industrial robot intelligent use technical field, more particularly, relate to a kind of robot gripper for ceramic product holding.
Background technology
Along with the raising of production automation level, applied robot automatically performs production task and also gets more and more.Robot can replace the heavy labor of people to realize mechanization and the automation of production, can operate to protect personal safety under hostile environment, thus be widely used in the fields such as machine manufacture, metallurgy, electronics, light industry and atomic energy.
At present, in the large size ceramic such as toilet, bathtub process of producing product, because these ceramic product volumes are large, Heavy Weight and the easy feature such as broken, therefore how raising the efficiency and be lowered into and originally realize large size ceramic product and steadily carry, is a kind of important problem of ceramic production industry.Particularly ceramic half-blank, after burning till kiln discharge, needs to unload by kiln car, is carried to and specifies storing place.Adopt manual operation in prior art, so not only labour intensity is large more, and human cost is high and efficiency is low.And the remaining temperature of the ceramic semi-finished product of firm kiln discharge also has 100-200 DEG C, adopt a dead lift to need to cool, these links also reduce production efficiency greatly.
In order to enhance productivity, also having at ceramic production industry adopts haulage equipment to replace manually being transported on an other line to large size ceramic product from a line, but there is following shortcoming in existing haulage equipment: the existing haulage equipment volume of one side is large and area occupied is large, causes productive costs high; Existing haulage equipment adopts the mode of clamping to be fixed ceramic product mostly on the other hand, due to ceramic product out-of-shapes such as toilets, make gripping of every money product a little all not identical, therefore difformity and the ceramic product of specification are needed to adopt different holding devices to be fixed, cause existing haulage equipment Applicable scope little low with commonality, and also improve the manufacturing cost of ceramic product production., in the mode clamped, ceramic product is carried, easily the glaze layer of damage surface of ceramic products meanwhile.
Summary of the invention
The object of the invention is to overcome shortcoming of the prior art with not enough, provide a kind of structure simply for the robot gripper of ceramic product holding; This robot gripper highly versatile and alerting ability strong, firm holding, carrying and unloading can be carried out with the use of to the ceramic product of various shape or structure with robot, without the need to manual intervention with auxiliary, thus improve the efficiency of ceramic product carrying and effectively ensure the integraty of ceramic product.
In order to achieve the above object, the present invention is achieved by following technical proposals: a kind of robot gripper for ceramic product holding, is arranged on the movable end of robot, carries for holding ceramic product; It is characterized in that: comprising: the support be connected with robot movable end, the connecting panel be connected with support, bracket and actuating device; Described actuating device to be arranged on connecting panel and to be connected with bracket, and actuating device driven bracket moves, and bracket is flexibly connected with connecting panel.
In such scheme, the handgrip that the present invention is arranged on robot movable end is moved by actuating device driven bracket, the ceramic products such as toilet are carried out holding, by robot, ceramic product is transported on an other line from a line again, the unloading of ceramic product is carried out in last actuating device driven bracket motion, then can realize steadily carrying ceramic product.This robot gripper structure is simple, relative to existing haulage equipment mode is gripped to ceramic product, the present invention adopts the commonality that can be strengthened handgrip by the mode of bracket holding ceramic product, this handgrip is not only applicable to different structure, difformity and difference and grips the fixing of ceramic product a little, also can fix ceramic product without the need to the restriction being subject to surface of ceramic products shape or structure; And which is without the need to considering that Clamping force spends little cannot to fix ceramic product or Clamping force is spent the glaze layer of large easily damage surface of ceramic products or causes ceramic product to have the problems such as crackle, and therefore, robot gripper of the present invention is practical, convenient operation.
Simultaneously, robot gripper of the present invention is arranged on the movable end of robot, and it makes full use of the high mechanical freedom of robot, and alerting ability is strong, realize ceramic product holding reposefully, carrying and unloading, thus improve the efficiency of ceramic product carrying and effectively ensure the integraty of ceramic product.
More particularly, described actuating device to be arranged on connecting panel and to be connected with bracket, and the motion of actuating device driven bracket refers to: described actuating device one end is fixed on connecting panel end face, and the other end is connected with bracket, driven bracket crank motion.
The present invention also comprises attaching parts; On connecting panel, respective drive device other end place offers loose slot, and the actuating device other end is connected with bracket by the attaching parts be located on loose slot.Actuating device of the present invention is arranged on connecting panel end face, and bracket is arranged on connecting panel bottom surface, then the actuating device other end is connected with bracket by the attaching parts be located on loose slot, and therefore, the movement travel of bracket is determined by the length of loose slot.
Described bracket and connecting panel sliding block joint.Bracket adopts the form of sliding to move bottom connecting panel, can improve the stability of its inside holding campaign and outwards disengaging motion, stationarity and rapidity.
Be provided with slide rail bottom described connecting panel, bracket is provided with slide block; Described slide block and slide rail bearing fit are to realize sliding.Slide rail of the present invention can arrange more than two, can improve the stationarity of movement of bracket so further.
Described bracket comprises trailing arm and the supporting plate for holding ceramic product; Described trailing arm one end is connected with actuating device, and the other end is connected with supporting plate.
Described supporting plate is provided with sidewall, and sidewall is connected with trailing arm.The setting of sidewall except for being connected with trailing arm, but also plays the effect of available protecting ceramic product.
Described inside sidewalls is provided with the elastic component for the protection of ceramic product.This elastic component can adopt Rubber Parts, can protect the ceramic product of holding on supporting plate further.
During described bracket holding ceramic product, between two supporting plates, be provided with gap.Gap of the present invention is the space of docking with support ceramic product workpiece as handgrip, and in use, two brackets are drawn close and the bottom of holding ceramic product to supporting ceramic product workpiece, support the gap of workpiece then between supporting plate of ceramic product; During unloading, after ceramic product is placed on the supporting workpiece in gap by the handgrip that ceramic product in holding, two brackets, again away from supporting workpiece motion, effectively can realize docking of handgrip and supporting workpiece like this, be convenient to supporting plate and carry out holding to ceramic product and be convenient to unload.
The working process of robot gripper that the present invention is used for ceramic product holding is such: actuating device drives attaching parts motion thus drives bracket to open and to unload to ceramic product or to carry out holding to ceramic product, in movement of bracket process, the bracket be connected with slide block is slided along slide rail by slide block, thus improves movement of bracket stationarity; When bracket holding ceramic product, by connected robot, ceramic product is transported on an other line from a line, then can realizes steadily carrying ceramic product.
Compared with prior art, tool of the present invention has the following advantages and beneficial effect: the robot gripper structure that the present invention is used for ceramic product holding is simple, this robot gripper highly versatile and alerting ability strong, firm holding, carrying and unloading can be carried out with the use of to the ceramic product of various shape or structure with robot, without the need to manual intervention with auxiliary, thus improve the efficiency of ceramic product carrying and effectively ensure the integraty of ceramic product.
Accompanying drawing explanation
Fig. 1 is the structural representation one of the present invention for the robot gripper of ceramic product holding;
Fig. 2 is the structural representation two of the present invention for the robot gripper of ceramic product holding;
Wherein, 1 be ceramic product, 2 be support, 3 be connecting panel, 4 be actuating device, 5 be attaching parts, 6 be loose slot, 7 be trailing arm, 8 be supporting plate, 9 be slide rail, 10 be slide block, 11 for sidewall.
Detailed description of the invention
Below in conjunction with accompanying drawing and detailed description of the invention, the present invention is described in further detail.
Embodiment
As depicted in figs. 1 and 2, the robot gripper for ceramic product holding of the present invention, is mounted in the movable end of robot, carries for holding ceramic product 1; This handgrip comprises: the support 2 be connected with robot movable end, connecting panel 3, bracket and the actuating device 4 be connected with support 2.Wherein, bracket comprises trailing arm 7 and the supporting plate 8 for holding ceramic product 1, and actuating device 4 one end is fixed on connecting panel 3 end face, and the other end is connected with trailing arm 7, and the other end of trailing arm 7 is connected with supporting plate 8.Actuating device 4 driven bracket crank motion, bracket and connecting panel 3 sliding block joint.
The present invention also comprises attaching parts 5, and on connecting panel 3, respective drive device 4 other end place offers loose slot 6, and actuating device 4 other end is connected with trailing arm 7 by the attaching parts 5 be located on loose slot 6.Be provided with slide rail 9 bottom connecting panel 3, trailing arm 7 be provided with slide block 10, slide block 10 and slide rail 9 bearing fit are to realize sliding.
In order to better protect ceramic product, supporting plate 8 is provided with sidewall 11, and sidewall 11 is connected with trailing arm 7, is provided with the elastic component (not shown) for the protection of ceramic product 1 inside sidewall 11.In use procedure of the present invention, during bracket holding ceramic product 1, between two supporting plates 8, be provided with gap.This gap is as handgrip and the space supporting ceramic product 1 workpiece and dock, effectively can realize docking of handgrip and supporting workpiece, be convenient to supporting plate 8 pairs of ceramic products 1 and carry out holding and be convenient to unload.
The working process of robot gripper that the present invention is used for ceramic product holding is such: actuating device 4 drives attaching parts 5 to move thus drives bracket to open and to unload to ceramic product 1 or to carry out holding to ceramic product 1, in movement of bracket process, the bracket be connected with slide block 10 is slided along slide rail 9 by slide block 10, thus improves movement of bracket stationarity; When bracket holding ceramic product 1, by connected robot, ceramic product 1 is transported on an other line from a line, then can realizes steadily carrying ceramic product 1.
Above-described embodiment is the present invention's preferably embodiment; but embodiments of the present invention are not restricted to the described embodiments; change, the modification done under other any does not deviate from Spirit Essence of the present invention and principle, substitute, combine, simplify; all should be the substitute mode of equivalence, be included within protection scope of the present invention.
Claims (9)
1. for a robot gripper for ceramic product holding, be arranged on the movable end of robot, carry for holding ceramic product; It is characterized in that: comprising: the support be connected with robot movable end, the connecting panel be connected with support, bracket and actuating device; Described actuating device to be arranged on connecting panel and to be connected with bracket, and actuating device driven bracket moves, and bracket is flexibly connected with connecting panel.
2. the robot gripper for ceramic product holding according to claim 1, it is characterized in that: described actuating device to be arranged on connecting panel and to be connected with bracket, the motion of actuating device driven bracket refers to: described actuating device one end is fixed on connecting panel end face, the other end is connected with bracket, driven bracket crank motion.
3. the robot gripper for ceramic product holding according to claim 2, is characterized in that: also comprise attaching parts; On connecting panel, respective drive device other end place offers loose slot, and the actuating device other end is connected with bracket by the attaching parts be located on loose slot.
4. the robot gripper for ceramic product holding according to claim 3, is characterized in that: described bracket and connecting panel sliding block joint.
5. the robot gripper for ceramic product holding according to claim 4, is characterized in that: be provided with slide rail bottom described connecting panel, bracket is provided with slide block; Described slide block and slide rail bearing fit are to realize sliding.
6. the robot gripper for ceramic product holding according to any one of claim 1 to 5, is characterized in that: described bracket comprises trailing arm and the supporting plate for holding ceramic product; Described trailing arm one end is connected with actuating device, and the other end is connected with supporting plate.
7. the robot gripper for ceramic product holding according to claim 6, is characterized in that: described supporting plate is provided with sidewall, and sidewall is connected with trailing arm.
8. the robot gripper for ceramic product holding according to claim 7, is characterized in that: described inside sidewalls is provided with the elastic component for the protection of ceramic product.
9. the robot gripper for ceramic product holding according to claim 6, is characterized in that: during described bracket holding ceramic product, is provided with gap between two supporting plates.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510214252.9A CN104803188B (en) | 2015-04-29 | 2015-04-29 | A kind of robot gripper for ceramic product holding |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510214252.9A CN104803188B (en) | 2015-04-29 | 2015-04-29 | A kind of robot gripper for ceramic product holding |
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| Publication Number | Publication Date |
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| CN104803188A true CN104803188A (en) | 2015-07-29 |
| CN104803188B CN104803188B (en) | 2017-08-25 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201510214252.9A Active CN104803188B (en) | 2015-04-29 | 2015-04-29 | A kind of robot gripper for ceramic product holding |
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| CN (1) | CN104803188B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107893465A (en) * | 2017-11-08 | 2018-04-10 | 吴正管 | A kind of closestool installation aid |
| CN110260666A (en) * | 2019-06-28 | 2019-09-20 | 九牧厨卫股份有限公司 | A kind of automatic kiln loading device of sanitary ceramics product and automatic kiln-loading method |
Citations (7)
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|---|---|---|---|---|
| WO1988007492A1 (en) * | 1987-03-30 | 1988-10-06 | Robert Bosch Gmbh | Linear unit for transferring objects |
| CN201058431Y (en) * | 2007-07-31 | 2008-05-14 | 华联机械有限公司 | Palletised carry grasper |
| US20120039699A1 (en) * | 2009-07-27 | 2012-02-16 | Christopher Ward | System and methods for forming stacks |
| CN103213852A (en) * | 2013-04-25 | 2013-07-24 | 云南众诚士德柔性自动化设备有限公司 | Multi-functional mechanical grabbing and transporting device capable of unstacking and overturning automatically |
| CN103662852A (en) * | 2013-11-26 | 2014-03-26 | 风帆股份有限公司 | Multifunctional storage battery stacking tongs |
| CN204036465U (en) * | 2014-08-18 | 2014-12-24 | 青岛宝佳自动化设备有限公司 | A kind of robot palletizer box handgrip |
| CN204607029U (en) * | 2015-04-29 | 2015-09-02 | 广东泰格威机器人科技有限公司 | A kind of robot gripper for ceramic product holding |
-
2015
- 2015-04-29 CN CN201510214252.9A patent/CN104803188B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO1988007492A1 (en) * | 1987-03-30 | 1988-10-06 | Robert Bosch Gmbh | Linear unit for transferring objects |
| CN201058431Y (en) * | 2007-07-31 | 2008-05-14 | 华联机械有限公司 | Palletised carry grasper |
| US20120039699A1 (en) * | 2009-07-27 | 2012-02-16 | Christopher Ward | System and methods for forming stacks |
| CN103213852A (en) * | 2013-04-25 | 2013-07-24 | 云南众诚士德柔性自动化设备有限公司 | Multi-functional mechanical grabbing and transporting device capable of unstacking and overturning automatically |
| CN103662852A (en) * | 2013-11-26 | 2014-03-26 | 风帆股份有限公司 | Multifunctional storage battery stacking tongs |
| CN204036465U (en) * | 2014-08-18 | 2014-12-24 | 青岛宝佳自动化设备有限公司 | A kind of robot palletizer box handgrip |
| CN204607029U (en) * | 2015-04-29 | 2015-09-02 | 广东泰格威机器人科技有限公司 | A kind of robot gripper for ceramic product holding |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107893465A (en) * | 2017-11-08 | 2018-04-10 | 吴正管 | A kind of closestool installation aid |
| CN110260666A (en) * | 2019-06-28 | 2019-09-20 | 九牧厨卫股份有限公司 | A kind of automatic kiln loading device of sanitary ceramics product and automatic kiln-loading method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104803188B (en) | 2017-08-25 |
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| GR01 | Patent grant | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of invention: Robot claw for supporting ceramic products Effective date of registration: 20180529 Granted publication date: 20170825 Pledgee: Guangdong Nanhai rural commercial bank Limited by Share Ltd Sanshui branch Pledgor: Guangdong Tag prestige robot Science and Technology Ltd. Registration number: 2018440000135 |
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| PC01 | Cancellation of the registration of the contract for pledge of patent right |
Date of cancellation: 20210506 Granted publication date: 20170825 Pledgee: Guangdong Nanhai rural commercial bank Limited by Share Ltd. Sanshui branch Pledgor: GUANGDONG TIGERWELD ROBOT TECHNOLOGY Co.,Ltd. Registration number: 2018440000135 |
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| PC01 | Cancellation of the registration of the contract for pledge of patent right |