A kind of mechanical hand location grasping mechanism
The present invention relates to haulage equipment field, be specifically related to a kind of mechanical hand location grasping mechanism.
Before many large-scale product warehousings or use, as packing all due to outside carrier, so needing to arrange
And identification, the mode of operation that existing general employing is artificial, but owing to product stacking is higher, there is bigger inconvenience, and product
Surface has layer protecting film, can find information, extremely inconvenience after needing to tear on the identification code on surface, and manual
Dyestripping is the most difficult, easily damages product surface.And when carrying typically also by a dead lift, need stronger work
Power, although mechanical hand can replace manually, but nowadays mechanical hand cannot be competent at for bigger article, grasp stability pole
Summary of the invention
It is an object of the invention to the problem above overcoming prior art to exist, it is provided that a kind of mechanical hand location gripper
Structure, good positioning effect of the present invention, precision is high, and reduces manpower intervention, little to product injury.
For realizing above-mentioned technical purpose, reaching above-mentioned technique effect, the present invention is achieved through the following technical solutions:
A kind of mechanical hand location grasping mechanism, including carrier pipeline, described carrier pipeline includes that set gradually enters
Material roller bed conveyors, driven roller-way and location roller bed conveyors, described location roller bed conveyors includes rack platform, described support
Platform surface is provided with some roller-ways, and described roller-way is connected with power drive mechanism, is provided with jacking below some described roller-ways
Mechanism, described lifting body top is provided with some top boards, and described top board is arranged between adjacent two roller-ways, on roller-way two ends
Also being provided with clamping plate, described cleat surface is provided with some roller-ways and dodges hole, and two described clamping plate are all set on the axis of guide,
Being provided with axle sleeve between the described axis of guide and clamping plate, described axle sleeve is connected with Boards wall, described clamping plate is additionally provided with fixing
Fixture block, described fixing fixture block is folded on the first belt gear, and the discharge end side of described location roller bed conveyors is arranged
Having stop part, described carrier pipeline to be provided above dyestripping identification mechanism, roller bed conveyors side, described location is additionally provided with
Base, described base is provided with six axis robot, described six axis robot is provided with grasping mechanism.
Further, described top board being evenly arranged with guide wheel, described guide wheel rotates along roller-way axial direction and arranges.
Further, described dyestripping identification mechanism includes portal frame, described portal frame is provided with and moves in the X-axis direction
Slip girder, described slip girder is provided with the slip auxiliary girder moved along Z-direction, described slip auxiliary girder is provided with support
Installing plate, is provided with two detection beams moved along Y direction, described detection beam is provided with two bottom described support mounting plate
The individual mounting bracket moved in the X-axis direction, described mounting bracket is provided with sucker and barcode scanning camera.
Further, it is provided with lift cylinder between described mounting bracket and sucker, is provided with bottom described lift cylinder
Horizontal adjustment plate, described horizontal adjustment plate is provided with Long Circle hole, is provided with spring avoiding mechanism, institute in described Long Circle hole
State sucker to be arranged on bottom spring avoiding mechanism.
Further, described grasping mechanism includes basic framework, and described basic framework is along the dual-side of X-direction
Being provided with guide rail, described guide rail is arranged along Y direction, and two described guide rails are provided with the first slide unit
With the second slide unit, two described first slide units and first capture frame and connect, and two described second slide units and second capture frame and connect,
Described first crawl frame and second captures and is provided with grasping plate on frame, also sets up in the basic framework that described guide rail is corresponding
The second belt gear, the belt top of described second belt gear and bottom sandwiched respectively is had to be fixed with the first transmission
Jig arm and the second transmission jig arm, described first transmission jig arm is fixedly installed on the first crawl frame, and described second transmission jig arm sets
Put and capture on frame second.
Further, mounting plane plate is set in the middle part of described basic framework, is provided with in the middle of described mounting plane plate and weighs
Sensor, is additionally provided with axle joined assemblies between described mounting plane plate and basic framework.
The invention has the beneficial effects as follows:
Move to bottom, be stopped by stop part bottom it, it is achieved rear and front end by carrier by the conveyer belt of roller-way structure
Spacing, then by lifting body and clip board engagement, it is possible to make carrier lift up and realize the spacing of right position so that carry
Tool position is always consistent, reduces the demand that mechanical hand efficiently positions, and accelerates grasp speed, promotes and captures effect.Use
Driving belt mechanism is as the power of clamping plate, it is ensured that two clamping plate can synchronize mutually to move, and by the second motor-driven
And proximity transducer, it is possible to the carrier adapting to arbitrary dimension uses, and the suitability is wide.By two lead screw gear and two
The upper roof beam structure being respectively provided with bottom lead screw gear achieves omnibearing movement on horizontal plane, it is possible to adapt to the product of various sizes
Product use, and dyestripping uses vacuum cup, will not damage product surface, it is to avoid artificial bad generation, when by fixed
Behind roller bed conveyors location, position, it is possible to remove the location positioning between support mounting plate and location roller bed conveyors from, reduce location
Mechanism gets involved, and improves precision.Arranged by the second belt gear enable to the grasping plate of both sides can relative motion, it is possible to
Capture various sizes of product.When axle joined assemblies makes to capture, it is possible to have certain leeway of rocking, reduce weight to mechanical hand
Impulsive force, improves service life.
Described above is only the general introduction of technical solution of the present invention, in order to better understand the technological means of the present invention,
And can be practiced according to the content of description, below with presently preferred embodiments of the present invention and coordinate accompanying drawing describe in detail as after.
The detailed description of the invention of the present invention is shown in detail in by following example and accompanying drawing thereof.
Accompanying drawing explanation
In order to be illustrated more clearly that the technical scheme in embodiment of the present invention technology, in embodiment technology being described below
The required accompanying drawing used is briefly described, it should be apparent that, the accompanying drawing in describing below is only some realities of the present invention
Execute example, for those of ordinary skill in the art, on the premise of not paying creative work, it is also possible to according to these accompanying drawings
Obtain other accompanying drawing.
Fig. 1 is the overall structure schematic diagram of the present invention；
Fig. 2 is the location roller-way conveyer structure schematic diagram of the present invention；
Fig. 3 is the clamping plate part-structure schematic diagram of the present invention；
Fig. 4 is the suction cup portion structural representation of the present invention；
Fig. 5 is the grasping mechanism part-structure schematic diagram of the present invention.
Detailed description of the invention
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Describe, it is clear that described embodiment is only a part of embodiment of the present invention rather than whole embodiments wholely.Based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under not making creative work premise
Embodiment, broadly falls into the scope of protection of the invention.
Referring to figs. 1 through shown in Fig. 5, a kind of mechanical hand location grasping mechanism, including carrier pipeline 1, carrier pipeline bag
Including feeding roller table conveyer belt 2, driven roller-way 3 and the location roller bed conveyors 4 set gradually, location roller bed conveyors includes support
Platform 5, rack platform surface configuration has some roller-ways 6, and roller-way is connected with power drive mechanism, is provided with top below some roller-ways
Rising mechanism, lifting body top is provided with some top boards 7, and top board is arranged between adjacent two roller-ways, on roller-way two ends the most all
Being provided with clamping plate 8, cleat surface is provided with some roller-ways and dodges hole 9, and two clamping plate are all set on the axis of guide 10, the axis of guide with
Being provided with axle sleeve 11 between clamping plate, axle sleeve is connected with Boards wall, and clamping plate are additionally provided with fixing fixture block 12, fixing fixture block sandwiched
On the first belt gear 13, the discharge end side of location roller bed conveyors is provided with stop part 14, on carrier pipeline
Side is provided with dyestripping identification mechanism 15, and roller bed conveyors side, location is additionally provided with base 16, base is provided with six shaft mechanicals
Hands 17, six axis robot is provided with grasping mechanism 18, and six axis robot side is additionally provided with puts roller bed frame 44.
Wherein, carrier is sent on stop part by location roller bed conveyors, it is achieved one end positions, then lifting body action
Rise, it is possible to making top board by carrier jack-up, after carrier departs from conveyer belt, driving belt mechanism action, driving belt rotates through
Fixing fixture block makes two clamping plate mutually draw close, and the position of carrier is limited adjustment by clamping plate further, is folded in location roller-way transmission
Centre, makes every a batch of carrier all can be in same position on top board, it is simple to detection beam and mounting bracket are to carrier surface
The thin film of product adsorbs and tears, and is identified information, also allows for grasping mechanism and captures.
Being evenly arranged with guide wheel 19 on top board, guide wheel rotates along roller-way axial direction and arranges, and holds up when guide wheel heads on carrier
After, the pinching action of clamping plate can make carrier slide on guide wheel, and frictional force is little, and therefore the active force of clamping plate can reduce, dynamic
Make more smooth and easy.
Dyestripping identification mechanism includes portal frame 20, and portal frame is provided with the slip girder 21 moved in the X-axis direction, and slides
It is provided with the slip auxiliary girder 22 moved along Z-direction on girder, slip auxiliary girder is provided with support mounting plate 23, support mounting plate
Bottom is provided with two detection beams 24 moved along Y direction, detection beam is provided with two installations moved in the X-axis direction and props up
Frame 25, mounting bracket is provided with sucker 26 and barcode scanning camera 27.Detection beam and mounting bracket are mutually moved along X and Y-axis
Cooperation realizes horizontal plane and moves, and is removed by the thin film of product surface by sucker, is produced by barcode scanning camera while removing
It is provided with lift cylinder 28 between mounting bracket and sucker, bottom lift cylinder, is provided with horizontal adjustment plate 29, water
Being provided with Long Circle hole 30 on flat adjustable plate, be provided with spring avoiding mechanism 31 in Long Circle hole, sucker is arranged on spring and dodges
Actuator base, vacuum cup can be firmly pressed on the film of product by lift cylinder, and spring avoiding mechanism then avoids vacuum to inhale
Pressure on dish crosses macrolesion product, improves stability in use.
Grasping mechanism includes basic framework 32, and basic framework is provided with guide rail 33 along the dual-side of X-direction,
Guide rail is arranged along Y direction, and two guide rails are provided with the first slide unit and the second slide unit, two the first slide units with
First captures frame 36 connects, and two the second slide units and second capture frame 37 and connect, and the first crawl frame and second captures and is all provided with on frame
It is equipped with grasping plate 38, in the basic framework that guide rail is corresponding, is additionally provided with the second belt gear 39, the second belt transmission
The belt top of mechanism and bottom sandwiched respectively are fixed with the first transmission jig arm 40 and the second transmission jig arm 41, the first transmission jig arm
Being fixedly installed on the first crawl frame, the second transmission jig arm is arranged on the second crawl frame.Integrated model can extend along Y direction
And shortening, adapt to the product gripping of all size.
Mounting plane plate 42 is set in the middle part of basic framework, in the middle of mounting plane plate, is provided with LOAD CELLS, mounting plane
Axle joined assemblies 43 it is additionally provided with, it is possible to just can learn the concrete weight of product when capturing between plate and basic framework, convenient fast
Victory, and axle connects group when making to capture, it is possible to and having certain leeway of rocking, reduce the weight impulsive force to mechanical hand, raising makes
Use the life-span.
Described above to the disclosed embodiments, makes professional and technical personnel in the field be capable of or uses the present invention.
Multiple amendment to these embodiments will be apparent from for those skilled in the art, as defined herein
General Principle can realize without departing from the spirit or scope of the present invention in other embodiments.Therefore, the present invention
It is not intended to be limited to the embodiments shown herein, and is to fit to and principles disclosed herein and features of novelty phase one
The widest scope caused.