CN105798878A - Mechanical gripper for automatically placing products towards sorting machine - Google Patents

Mechanical gripper for automatically placing products towards sorting machine Download PDF

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Publication number
CN105798878A
CN105798878A CN201410855293.1A CN201410855293A CN105798878A CN 105798878 A CN105798878 A CN 105798878A CN 201410855293 A CN201410855293 A CN 201410855293A CN 105798878 A CN105798878 A CN 105798878A
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CN
China
Prior art keywords
plate
overload
goods
bearing
clamping cylinder
Prior art date
Application number
CN201410855293.1A
Other languages
Chinese (zh)
Inventor
李亚男
吕万会
郭建伟
李�东
王冲
王栋
Original Assignee
北京航天斯达科技有限公司
天津航天瑞莱科技有限公司
北京强度环境研究所
Priority date (The priority date 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 date listed.)
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Publication date
Application filed by 北京航天斯达科技有限公司, 天津航天瑞莱科技有限公司, 北京强度环境研究所 filed Critical 北京航天斯达科技有限公司
Priority to CN201410855293.1A priority Critical patent/CN105798878A/en
Publication of CN105798878A publication Critical patent/CN105798878A/en

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Abstract

The invention belongs to the production field of paper financial product cutting and packaging and particularly relates to a mechanical gripper for automatically placing products towards a sorting machine. When the mechanical gripper grabs goods, support rods on a backup plate penetrate through beneath the goods. A clamping cylinder acts, and through the cooperation guide of a guide shaft and a guide slider, drives a clamping cylinder connecting plate. The clamping cylinder connecting plate drives a floating platen to move up and down, and the goods are clamped through the cooperation of the floating platen and the support rods of the backup plate. A rotating shaft bracket makes rotating motion around a rotating shaft in a certain angle range and drives a goods clamping mechanism to rotate, support rods of the goods clamping mechanism cooperate with support rods of a trolley of the sorting machine in a staggered manner, and the goods fall onto the trolley of the sorting machine. An overload mechanism is connected with a rotating shaft holder, the overload mechanism is connected to a servo mechanism of a production line, and the servo mechanism drives the mechanical gripper to make lifting motion and reciprocating motion. Manpower is liberated, and manual operation is no longer required by the sorting procedure.

Description

A kind of mechanical paw placing product from trend cleaning-sorting machine
Technical field
The invention belongs to papery financial product and cut packaging production field, be specifically related to a kind of mechanical paw placing product from trend cleaning-sorting machine.
Background technology
In modern society, the life of people be unable to do without the papery financial product for concluding the business, and the security of financial product is particularly important, solves the security problem of financial product in the urgent need to correlation technique and equipment.
Currently mainly being dependent on by hand papery financial product being sent into cleaning-sorting machine in China's special printing industry and carry out sorting, this mode production efficiency is low, and labor strength is big, and product security there is also very big hidden danger.In today that China's economy develops rapidly, in the urgent need to automatically papery financial product being sent into cleaning-sorting machine.Mechanical paw is automatic one of production line key component sending into cleaning-sorting machine by product.Function is to be picked up by the papery financial product of thousand sheets a bundle and accurately put into cleaning-sorting machine dolly, does not interfere with cleaning-sorting machine dolly;Then paw exits, and product enters subsequent processing in cleaning-sorting machine with cleaning-sorting machine dolly and carries out sorting.
Summary of the invention
For above-mentioned prior art, the present invention provides a kind of mechanical paw placing product from trend cleaning-sorting machine, in order to solve the existing problem relying primarily on and by hand papery financial product being carried out sorting.
In order to solve above-mentioned technical problem, a kind of mechanical paw from trend cleaning-sorting machine placement product of the present invention includes goods clamping device and switching mechanism;Goods clamping device includes backup plate, clamping cylinder, clamping cylinder bearing and floating platen;Backup plate is fixed on front side of clamping cylinder bearing, it is installed below clamping cylinder in the middle part of clamping cylinder bearing, clamping cylinder is connected with floating platen, when backup plate captures goods, the support bar of backup plate passes from goods bottom, clamping cylinder action drives floating platen to move up and down, and floating platen coordinates with backup plate, clamps goods;Switching mechanism includes trip shaft bearing, trip shaft, upset cylinder connection seat, oscillating bearing, upset cylinder, upset cylinder hold-down support and the fixing seat of trip shaft;Clamping cylinder bearing is connected with the piston rod of oscillating bearing with upset cylinder by overturning cylinder connection seat, and upset tail cylinder is arranged on the fixing seat of trip shaft by overturning cylinder hold-down support, and the fixing seat of trip shaft is provided with trip shaft;Trip shaft bearing rotates around trip shaft, drives goods clamping device to rotate.
Described goods clamping device also includes the axis of guide, guide runner, spring, floating axle bearing, clamping cylinder connecting plate, floating axle and bearing;Backup plate is rectangular configuration generally, the processing of backup plate bottom has support bar, clamping cylinder bearing two side lower part is provided with guide runner, guide runner is hollow circle tube structure, the axis of guide is arranged on rear side of clamping cylinder connecting plate through guide runner from bottom to top, clamping cylinder connecting plate lower front is provided with floating axle bearing, floating platen is connected with floating axle bearing by floating axle, bearing fit is passed through between floating axle and floating axle bearing, between floating platen and floating axle bearing, both sides, gap are provided with spring, when backup plate captures goods, the support bar of backup plate passes from goods bottom, clamping cylinder action, lead with the axis of guide and guide runner, clamping cylinder connecting plate is driven to move up and down, clamping cylinder connecting plate drives floating platen to move up and down, floating platen coordinates with the support bar of backup plate, clamping goods.
Described switching mechanism also includes overload mechanism, and overload mechanism is connected with the fixing seat of trip shaft;Described overload mechanism includes overload housing, paw connecting plate, steel ball, lead, sensor, holddown spring, banking pin, holding screw, guide rail, slide block and stop screw;Paw connecting plate is arranged on overload housing upper, in the middle of overload housing, processing has stairstepping cylindrical hole, steel ball is positioned at cylindrical hole, it is close in the " V " shape groove of overload housing central section, holddown spring one end is provided with lead, is positioned at overload housing stairstepping cylindrical hole and compresses steel ball, and the holddown spring other end is connected with holding screw, holding screw is fixed on the stairstepping cylindrical hole of overload housing, and banking pin is used for fixing spacing holding screw;During overload mechanism's normal operation, paw connecting plate passes through spring compression steel ball, steel ball drives overload housing to be synchronized with the movement by the " V " shape groove transshipped on housing, on the left of overload housing, slide block is installed, on the left of paw connecting plate, guide rail is installed, stop screw is installed on the right side of guide rail, when the load, overload housing overcomes spring and lead to compress the pretightning force of steel ball, the slide block of overload housing is along the guide rail movement of paw connecting plate, simultaneously, the sensor being arranged on overload housing detects that paw connecting plate moves, send alarm, cut off active force, ensure that mechanical paw is without prejudice, play overload protective function, the slide block of overload housing is defined by stop screw along the guide rail movement distance of paw connecting plate.
The described overload housing in overload mechanism is connected with the fixing seat of trip shaft, and the paw connecting plate in overload mechanism is connected on the servo control mechanism of production line, servo control mechanism drive mechanical paw of the present invention to carry out elevating movement and reciprocating motion.
This mechanical paw also includes adjusting screw, and trip shaft bearing adjusts by changing the length regulating screw around the anglec of rotation of trip shaft.
The technical scheme that the embodiment of the present invention provides has the benefit that
(1) present invention liberates manpower, makes the sorting operation of cleaning-sorting machine be no longer necessary to manual operation;
(2) present invention improves production efficiency;
(3) the invention solves manual sorting and operate the financial product security hidden danger brought.
Accompanying drawing explanation
Fig. 1 is a kind of mechanical paw three dimensional structure schematic diagram placing product from trend cleaning-sorting machine of the present invention;
Fig. 2 is a kind of mechanical paw front view placing product from trend cleaning-sorting machine of the present invention;
Fig. 3 is a kind of mechanical paw rearview placing product from trend cleaning-sorting machine of the present invention;
Fig. 4 is a kind of mechanical paw top view placing product from trend cleaning-sorting machine of the present invention;
Fig. 5 is the overload structural scheme of mechanism of a kind of mechanical paw placing product from trend cleaning-sorting machine of the present invention;
Fig. 6 is the overload mechanism sectional view of a kind of mechanical paw placing product from trend cleaning-sorting machine of the present invention;
Fig. 7 is that the present invention is a kind of places the cleaning-sorting machine dolly schematic diagram that the mechanical paw of product matches from trend cleaning-sorting machine;
Fig. 8 is that the present invention is a kind of places the cleaning-sorting machine dolly side view that the mechanical paw of product matches from trend cleaning-sorting machine;
In figure: 1-backup plate, 2-clamping cylinder, the 3-axis of guide, 4-guide runner, 5-trip shaft bearing, 6-clamping cylinder bearing, 7-spring, 8-floating axle bearing, 9-floating platen, 10-clamping cylinder connecting plate, 11-trip shaft, 12-overturns cylinder and connects seat, 13-oscillating bearing, 14-overturns cylinder, 15-overturns cylinder hold-down support, 16-trip shaft fixes seat, 17-transships mechanism, 18-floating axle, 19-bearing, 20-adjusts screw, 21-transships housing, 22-paw connecting plate, 23-steel ball, 24-lead, 25-sensor, 26-holddown spring, 27-banking pin, 28-holding screw, 29-guide rail, 30-slide block, 31-stop screw.
Detailed description of the invention
Below in conjunction with the drawings and specific embodiments, the present invention is elaborated.
As shown in Figures 1 to 4, a kind of mechanical paw from trend cleaning-sorting machine placement product of the present invention includes goods clamping device and switching mechanism;
Goods clamping device includes backup plate 1, clamping cylinder 2, the axis of guide 3, guide runner 4, clamping cylinder bearing 6, spring 7, floating axle bearing 8, floating platen 9, clamping cylinder connecting plate 10, floating axle 18 and bearing 19;nullBackup plate 1 global sections shape generally rectangular configuration,The processing of backup plate 1 bottom has support bar,For supporting the goods captured,Backup plate 1 is fixed on front side of clamping cylinder bearing 6,Clamping cylinder 2 is installed in the middle part of clamping cylinder bearing 6,Clamping cylinder 2 is positioned at clamping cylinder bearing 6 bottom,6 liang of side lower parts of clamping cylinder bearing are provided with guide runner 4,Guide runner 4 is hollow circle tube structure,The axis of guide 3 is arranged on rear side of clamping cylinder connecting plate 10 through guide runner 4 from bottom to top,Clamping cylinder connecting plate 10 lower front is provided with floating axle bearing 8,Floating platen 9 is connected with floating axle bearing 8 by floating axle 18,Coordinated by bearing 19 between floating axle 18 with floating axle bearing 8,Between floating platen 9 and floating axle bearing 8, both sides, gap are provided with spring 7,When mechanical paw gripper takes out-of-flatness goods,Spring 7 pressurized,Make floating platen 9 can do little scope around floating axle 18 to rotate,To adapt to the gripper to out-of-flatness goods,When backup plate 1 captures goods,The support bar of backup plate 1 passes from goods bottom,Clamping cylinder 2 action,Lead with the axis of guide 3 and guide runner 4,Drive clamping cylinder connecting plate 10 knee-action,Clamping cylinder connecting plate 10 drives floating platen 9 knee-action,Coordinate with the support bar of backup plate 1,Clamping goods.
Switching mechanism includes trip shaft bearing 5, trip shaft 11, and upset cylinder connects seat 12, oscillating bearing 13, overturns cylinder 14, overturns cylinder hold-down support 15, and trip shaft fixes seat 16, overload mechanism 17, adjusts screw 20;The clamping cylinder bearing 6 of goods clamping device is connected with the piston rod of oscillating bearing 13 with upset cylinder 14 by overturning cylinder connection seat 12, upset cylinder 14 afterbody is arranged on the fixing seat 16 of trip shaft by overturning cylinder hold-down support 15, the piston rod of upset cylinder 14 is connected seat 12 be connected with clamping cylinder bearing 6 by oscillating bearing 13, upset cylinder, and the fixing seat 16 of trip shaft is provided with trip shaft 11;Trip shaft bearing 5 rotates in certain angular range around trip shaft 11, goods clamping device is driven to rotate, make the support bar on the backup plate 1 of goods clamping device interlock with the cleaning-sorting machine dolly support bar shown in Fig. 7 and Fig. 8 to coordinate, goods is dropped on cleaning-sorting machine dolly;Trip shaft bearing 5 can be adjusted by the length of change adjustment screw 20 around the anglec of rotation of trip shaft 11, it is ensured that the postrotational angle of goods clamping device is identical with cleaning-sorting machine dolly angle.
As shown in Figure 5 and Figure 6, the overload housing 21 that switching mechanism also includes in overload mechanism 17 is connected with the fixing seat 16 of trip shaft, and overload mechanism 17 includes overload housing 21, paw connecting plate 22, steel ball 23, lead 24, sensor 25, holddown spring 26, banking pin 27, holding screw 28, guide rail 29, slide block 30, stop screw 31;nullIn the middle of overload housing 21, processing has stairstepping cylindrical hole,Steel ball 23 is positioned at cylindrical hole,It is close in the " V " shape groove in the middle part of overload housing 21,Holddown spring 26 one end is provided with lead 24,It is positioned at overload housing 21 stairstepping cylindrical hole and compresses steel ball 23,Holddown spring 26 other end is fixed by holding screw 28,Banking pin 27 is used for fixing spacing holding screw 28,During overload mechanism's 17 normal operation,Paw connecting plate 22 compresses steel ball 23 by spring 26,Steel ball 23 drives overload housing 21 to be synchronized with the movement by the " V " shape groove transshipped on housing 21,On the left of overload housing 21, slide block 30 is installed,Guide rail 29 is installed on the left of paw connecting plate 22,Stop screw 31 is installed on the right side of guide rail 29,When the load,Overload housing 21 overcomes spring 26 and lead 24 to compress the pretightning force of steel ball 23,The slide block 30 of overload housing 21 moves along the guide rail 29 of paw connecting plate 22,Simultaneously,The sensor 25 being arranged on overload housing 21 detects that paw connecting plate 22 moves,Send alarm,Cut off active force,Ensure that mechanical paw is without prejudice,Play overload protective function,The slide block 30 of overload housing 21 is defined by stop screw 31 along guide rail 29 move distance of paw connecting plate 22.
Paw connecting plate 22 in overload mechanism 17 is connected on the servo control mechanism of production line, servo control mechanism drive mechanical paw of the present invention to carry out elevating movement and reciprocating motion.

Claims (5)

1. the mechanical paw placing product from trend cleaning-sorting machine, it is characterised in that: this mechanical paw includes goods clamping device and switching mechanism;Goods clamping device includes backup plate (1), clamping cylinder (2), clamping cylinder bearing (6) and floating platen (9);Backup plate (1) is fixed on clamping cylinder bearing (6) front side, clamping cylinder bearing (6) middle part is installed below clamping cylinder (2), clamping cylinder (2) is connected with floating platen (9), when backup plate (1) captures goods, the support bar of backup plate (1) passes from goods bottom, clamping cylinder (2) action drives floating platen (9) to move up and down, floating platen (9) coordinates with backup plate (1), clamps goods;Switching mechanism includes the fixing seat (16) of trip shaft bearing (5), trip shaft (11), upset cylinder connection seat (12), oscillating bearing (13), upset cylinder (14), upset cylinder hold-down support (15) and trip shaft;Clamping cylinder bearing (6) is connected with the piston rod of oscillating bearing (13) with upset cylinder (14) by overturning cylinder connection seat (12), upset cylinder (14) afterbody is arranged on the fixing seat (16) of trip shaft by overturning cylinder hold-down support (15), and trip shaft is fixed seat (16) and is provided with trip shaft (11);Trip shaft bearing (5) rotates around trip shaft (11), drives goods clamping device to rotate.
2. the mechanical paw placing product from trend cleaning-sorting machine according to claim 1, it is characterized in that: described goods clamping device also includes the axis of guide (3), guide runner (4), spring (7), floating axle bearing (8), clamping cylinder connecting plate (10), floating axle (18) and bearing (19);nullBackup plate (1) generally rectangular configuration,The processing of backup plate (1) bottom has support bar,Clamping cylinder bearing (6) two side lower part is provided with guide runner (4),Guide runner (4) is hollow circle tube structure,The axis of guide (3) is arranged on clamping cylinder connecting plate (10) rear side through guide runner (4) from bottom to top,Clamping cylinder connecting plate (10) lower front is provided with floating axle bearing (8),Floating platen (9) is connected with floating axle bearing (8) by floating axle (18),Coordinated by bearing (19) between floating axle (18) with floating axle bearing (8),Between floating platen (9) and floating axle bearing (8), both sides, gap are provided with spring (7),When backup plate (1) captures goods,The support bar of backup plate (1) passes from goods bottom,Clamping cylinder (2) action,Lead with the axis of guide (3) and guide runner (4),Clamping cylinder connecting plate (10) is driven to move up and down,Clamping cylinder connecting plate (10) drives floating platen (9) to move up and down,Floating platen (9) coordinates with the support bar of backup plate (1),Clamping goods.
3. the mechanical paw placing product from trend cleaning-sorting machine according to claim 1 and 2, it is characterized in that: described switching mechanism also includes overload mechanism (17), and overload mechanism (17) is connected with the fixing seat (16) of trip shaft;Described overload mechanism (17) includes overload housing (21), paw connecting plate (22), steel ball (23), lead (24), sensor (25), holddown spring (26), banking pin (27), holding screw (28), guide rail (29), slide block (30) and stop screw (31);Paw connecting plate (22) is arranged on overload housing (21) top, in the middle of overload housing (21), processing has stairstepping cylindrical hole, steel ball (23) is positioned at cylindrical hole, it is close in the " V " shape groove at overload housing (21) middle part, holddown spring (26) one end is provided with lead (24), it is positioned at overload housing (21) stairstepping cylindrical hole and compresses steel ball (23), holddown spring (26) other end is connected with holding screw (28), holding screw (28) is fixed on the stairstepping cylindrical hole of overload housing (21), banking pin (27) is used for fixing spacing holding screw (28);nullDuring overload mechanism (17) normal operation,Paw connecting plate (22) compresses steel ball (23) by spring (26),Steel ball (23) drives overload housing (21) to be synchronized with the movement by the " V " shape groove transshipped on housing (21),Overload housing (21) left side is provided with slide block (30),Paw connecting plate (22) left side is provided with guide rail (29),Guide rail (29) right side is provided with stop screw (31),When the load,Overload housing (21) overcomes spring (26) and lead (24) to compress the pretightning force of steel ball (23),The slide block (30) of overload housing (21) moves along the guide rail (29) of paw connecting plate (22),Simultaneously,The sensor (25) being arranged in overload housing (21) detects that paw connecting plate (22) is mobile,Send alarm,Cut off active force,Ensure that mechanical paw is without prejudice,Play overload protective function,The slide block (30) of overload housing (21) is defined by stop screw (31) along guide rail (29) move distance of paw connecting plate (22).
4. the mechanical paw placing product from trend cleaning-sorting machine according to claim 3, it is characterized in that: the described overload housing (21) in overload mechanism (17) is connected with the fixing seat (16) of trip shaft, paw connecting plate (22) in overload mechanism (17) is connected on the servo control mechanism of production line, servo control mechanism drive mechanical paw of the present invention to carry out elevating movement and reciprocating motion.
5. the mechanical paw placing product from trend cleaning-sorting machine according to claim 1, it is characterized in that: this mechanical paw also includes adjusting screw (20), trip shaft bearing (5) adjusts by changing the length regulating screw (20) around the anglec of rotation of trip shaft (11).
CN201410855293.1A 2014-12-31 2014-12-31 Mechanical gripper for automatically placing products towards sorting machine CN105798878A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201410855293.1A CN105798878A (en) 2014-12-31 2014-12-31 Mechanical gripper for automatically placing products towards sorting machine

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201410855293.1A CN105798878A (en) 2014-12-31 2014-12-31 Mechanical gripper for automatically placing products towards sorting machine

Publications (1)

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CN105798878A true CN105798878A (en) 2016-07-27

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Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3606874A1 (en) * 1986-03-03 1987-09-17 Fraunhofer Ges Forschung Gripping device with gripper jaws
CN2894965Y (en) * 2006-04-05 2007-05-02 上海发那科机器人有限公司 Staking-carrying servo tongs
CN101259619A (en) * 2008-02-26 2008-09-10 廊坊智通机器人系统有限公司 Automatic flexible chucking tools
CN202144070U (en) * 2011-07-07 2012-02-15 深圳市久喜电子有限公司 Automated cylinder mechanical arm
CN202808018U (en) * 2012-09-14 2013-03-20 北京强度环境研究所 Large-sheet financial product transmission control device
CN103057998A (en) * 2011-10-19 2013-04-24 北京强度环境研究所 Conveying device of long-strip financial product
CN103058001A (en) * 2011-10-19 2013-04-24 北京强度环境研究所 Financial product clamping and conveying device
CN203331031U (en) * 2013-06-21 2013-12-11 广东科技学院 Automatic clamping device
CN103568018A (en) * 2013-10-15 2014-02-12 上海星派自动化科技有限公司 Robot gripper for clamping multi-basket member to overturn

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3606874A1 (en) * 1986-03-03 1987-09-17 Fraunhofer Ges Forschung Gripping device with gripper jaws
CN2894965Y (en) * 2006-04-05 2007-05-02 上海发那科机器人有限公司 Staking-carrying servo tongs
CN101259619A (en) * 2008-02-26 2008-09-10 廊坊智通机器人系统有限公司 Automatic flexible chucking tools
CN202144070U (en) * 2011-07-07 2012-02-15 深圳市久喜电子有限公司 Automated cylinder mechanical arm
CN103057998A (en) * 2011-10-19 2013-04-24 北京强度环境研究所 Conveying device of long-strip financial product
CN103058001A (en) * 2011-10-19 2013-04-24 北京强度环境研究所 Financial product clamping and conveying device
CN202808018U (en) * 2012-09-14 2013-03-20 北京强度环境研究所 Large-sheet financial product transmission control device
CN203331031U (en) * 2013-06-21 2013-12-11 广东科技学院 Automatic clamping device
CN103568018A (en) * 2013-10-15 2014-02-12 上海星派自动化科技有限公司 Robot gripper for clamping multi-basket member to overturn

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Application publication date: 20160727