CN106985155A - A kind of high mechanical gripper mechanism of reliability - Google Patents
A kind of high mechanical gripper mechanism of reliability Download PDFInfo
- Publication number
- CN106985155A CN106985155A CN201710120781.1A CN201710120781A CN106985155A CN 106985155 A CN106985155 A CN 106985155A CN 201710120781 A CN201710120781 A CN 201710120781A CN 106985155 A CN106985155 A CN 106985155A
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- CN
- China
- Prior art keywords
- plate
- slip portion
- active
- drive
- driving member
- 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.)
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Classifications
-
- 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
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/086—Gripping heads and other end effectors having finger members with means for synchronizing the movements of the fingers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Program-controlled manipulators
- B25J9/10—Program-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/14—Program-controlled manipulators characterised by positioning means for manipulator elements fluid
- B25J9/144—Linear actuators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B28—WORKING CEMENT, CLAY, OR STONE
- B28B—SHAPING CLAY OR OTHER CERAMIC COMPOSITIONS; SHAPING SLAG; SHAPING MIXTURES CONTAINING CEMENTITIOUS MATERIAL, e.g. PLASTER
- B28B17/00—Details of, or accessories for, apparatus for shaping the material; Auxiliary measures taken in connection with such shaping
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/901—Devices for picking-up and depositing articles or materials provided with drive systems with rectilinear movements only
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Chemical & Material Sciences (AREA)
- Ceramic Engineering (AREA)
- Manipulator (AREA)
Abstract
A kind of high mechanical gripper mechanism of reliability, at least including a set of clamping device, frame and outer frame body, clamping device includes slide rail, sliding part, drive device, grasping plate and driving section；Sliding part includes active slip portion and follower slip portion, is slidably mounted at slide rail；Grasping plate is respectively arranged in active slip portion and follower slip portion；Driving section includes active driving member, slave drive part, drive and directive wheel；The lateral surface of active driving member and slave drive part is equipped with guide part and transition part, and frame is the frame for the cube profile being connected with each other by a plurality of connecting tube, and outer frame body is installed on the outside of frame, and clamping device is installed in frame；Protection offset plate is installed on the inside of grasping plate.A kind of mechanical gripper mechanism high it is an object of the invention to propose reliability, its energy stabilized structure, the structure of brick will not be also destroyed while keeping a firmer hand on more steady during crawl brick bag; being capable of protection tile bag; functional reliability is high, and enough accurately crawl brick bags, and working stability.
Description
Technical field
The present invention relates to ceramic tile production equipment technical field, more particularly to a kind of high mechanical gripper mechanism of reliability.
Background technology
In Jian Tao factories production link, just storage storage after ceramic tile Flexible Container carton is finished, storage is that Jian Tao factories produce most
Latter link.Since it there is architectural ceramic industry, ceramic tile storage is always by the way of manually carrying.It is offline simultaneously from workshop
Packaged ceramic tile, is commonly called as brick bag, manually will the stacking in warehouse.And with the development ceramics production process of scientific and technological level,
In order to improve operating efficiency, generally require and palletizing operation is carried out to ceramics by ceramics Palletizer.Mechanical gripper is stacking machine
Important component, its effect is to pick up brick bag and carry out stacking, and still, existing mechanical gripper packet capturing precision is low, work
Make unstable, and when brick bag is captured, brick bag is grabbed unstable, it is easy to brick bag is dropped, and destroys brick pack arrangement, influences heap
Pile.
The content of the invention
The mechanical gripper mechanism high it is an object of the invention to propose a kind of reliability, it can stabilized structure, crawl brick bag
When will not also destroy the structure of brick while keep a firmer hand on more steady, can protection tile bag, functional reliability is high, and enough accurately grabs
Take brick bag, and working stability.
For up to this purpose, the present invention uses following technical scheme：
A kind of high mechanical gripper mechanism of reliability, at least including a set of clamping device, the clamping device include slide rail,
Sliding part, drive device, grasping plate and driving section；
The sliding part includes active slip portion and follower slip portion, is slidably mounted at the slide rail；
The grasping plate is respectively arranged in the active slip portion and follower slip portion；
The driving section includes active driving member, slave drive part, drive and directive wheel；
The lateral surface of the active driving member and slave drive part is equipped with guide part and transition part, and the intermediate location
In the end of the guide part；
The active driving member and slave drive part are respectively arranged in the active slip portion and follower slip portion is relative
One end；
The active driving member and slave drive part are respectively arranged on the both sides of the drive, and its medial surface is fitted in
The drive, the medial surface of the active driving member and slave drive part is driving face；
The directive wheel is respectively arranged on the outside of the active driving member and slave drive part, and the active driving member and
The guide part of slave drive part fits in the directive wheel respectively；
The drive device is used to drive the active slip portion to move along a straight line along the slide rail, and passes through the transmission
Portion drives the follower slip portion to be moved along a straight line along the slide rail, thus drive be respectively arranged in the active slip portion and from
Grasping plate on dynamic sliding part does counter motion；
The mechanical gripper mechanism also includes frame and outer frame body；
The frame is the frame for the cube profile being connected with each other by a plurality of connecting tube, and the outer frame body is installed on institute
The outside of frame is stated, to block the top and all around four side of the frame；
The clamping device is installed in the frame；
Protection offset plate is installed on the inside of the grasping plate.
Further, the driving section is located between the active slip portion and follower slip portion；
The drive is gear, and the active driving member and slave drive part are rack, and tooth is provided with its medial surface；
The active driving member is identical with the structure of slave drive part；
The guide part is the V-type face being made up of ramp and lower inclined plane；
V-groove is provided with along the periphery of the directive wheel, the V-type face fits in the V-groove.
Further, the transition part includes upper transition face and lower transition face；
End of the upper transition face along the ramp is inclined upwardly, end of the lower transition face along the lower inclined plane
Tilt down, the upper transition face and lower transition face constitute the domatic of V-type.
Further, the active slip portion is identical with the structure in follower slip portion；
The active slip portion includes be slidably installed seat and sliding block；
The seat that is slidably installed is provided with the rectangular hollow framework of avoiding hollow groove for top, and the both sides of the avoiding hollow groove are the cunning
The upper mounting surface of dynamic mounting seat；
The slide rail includes two strip slide rails and connecting plate, and two sub- slide rails are connected by connecting plate；
The sliding block is slidably mounted at two sub- slide rails respectively, the cover for seat that is slidably installed on the slide rail,
And the bottom of the upper mounting surface is installed at the top of the sliding block.
Further, the drive device includes cylinder and cylinder mounting seat；
The cylinder mounting seat includes front mounting plate, lower installation board and triangle reinforcing plate；
The front mounting plate bottom and lower installation board front end are vertically connected；
The quantity of the triangle reinforcing plate is at least one, and its two side is respectively fixedly connected with the outer of the front mounting plate
Side and the top surface of lower installation board；
The cylinder is installed on the medial surface of the front mounting plate.
Further, the active slip portion also includes footstock, and it includes foreboard, bottom plate and reinforcing plate；
The bottom of the foreboard and the front end of bottom plate are vertically connected；
The quantity of the reinforcing plate is two, and its two ends is respectively fixedly connected with lateral surface and the bottom plate in the foreboard
Top surface；
The bottom plate is installed on the top of the upper mounting surface；
Spacing space is formed between two pieces of reinforcing plates, the drive end of the cylinder is installed on the foreboard by spacer
Outside, the spacer is limited in the spacing space.
Further, the active slip portion also includes grasping plate connecting seat；
The grasping plate connecting seat includes upper mounting plate and connection frame；
The upper mounting plate is installed on the bottom of the seat that is slidably installed, and the connection frame is located at the bottom of the upper mounting plate
Portion, the connection frame is provided with the assistant reinforcement plate being connected with the upper mounting plate；
The grasping plate is installed on the outside of the connection frame.
Further, the quantity of the clamping device is two, and two sets of clamping devices are arranged side by side, the respectively first clamping
Mechanism and the second clamping device；
The drive device of first clamping device and the drive device of the second clamping device are respectively arranged in the slide rail
Relative side.
Further, the connecting tube is the aluminium section bar that four sides are designed with groove；
The framework includes side plate and top plate；
The side plate and top plate are fixed on the groove of the connecting tube of the shell outside by fixture.
Further, the top of the outer frame body is provided with perforate and routing hole, and the periphery of the routing hole is provided with flange.
The present invention proposes a kind of high mechanical gripper mechanism of reliability according to the above, and it can stabilized structure, crawl brick
Also the structure of brick will not be destroyed while keeping a firmer hand on more steady during bag, can protection tile bag, functional reliability is high, and it is enough accurately
Capture brick bag, and working stability.
The drive device drives the active slip portion to be moved along a straight line along the slide rail, and passes through the driving section band
Move the follower slip portion to move along a straight line along the slide rail so that be respectively arranged in the active slip portion and follower slip portion
On grasping plate do counter motion simultaneously, improve the stability and precision of the grasping plate crawl brick bag.The driving section is located at institute
State between active slip portion and follower slip portion, can guarantee that effective progress of transmission.
Particularly, the drive device drives the active drive member, and then the active driving member drives institute
Drive motion is stated, the drive drives the slave drive part to move again, due to the active driving member and slave drive
Part is respectively arranged in active slip portion one end relative with follower slip portion, so the final active driving member and driven
Driving member drives the active slip portion and follower slip portion to move respectively so that the active slip portion and follower slip portion think
It is close or mutually remote, you can to realize the grasping plate crawl and put down the operation of brick bag.
Because the weight of brick bag is big, when the grasping plate captures brick bag, the weight of brick bag can be transferred to institute from the grasping plate
State in active slip portion and follower slip portion, can so influence the precision when active slip portion and the slip of follower slip portion,
So as to influenceing the precision and stability of grasping plate crawl brick bag, therefore, the active driving member and slave drive part are led
Fit in the directive wheel respectively to portion, it is possible to increase the precision when active slip portion and follower slip portion are slided, so that
Improve the precision and stability of the grasping plate crawl brick bag；
Because the medial surface of the active driving member and slave drive part fits in the drive, the directive wheel point
Not She Yu the active driving member and slave drive part outside, and the targeting part of the active driving member and slave drive part
The directive wheel is not fitted in, and like this, the medial surface and lateral surface of the active driving member will be spacing in the transmission
Between wheel and directive wheel, it is possible to increase precision during the active drive member and the active driving member is supported it is strong
Degree, makes it not readily disengage from the drive and directive wheel, similarly, the medial surface and lateral surface of the slave drive part also can
It is spacing between the drive and directive wheel, improve the precision and intensity when can improve the active drive member, make
It not readily disengages from the drive and directive wheel, further improves the precision and stability of the grasping plate crawl brick bag；Institute
Intermediate location is stated in the end of the guide part so that the length of the guide part is longer, improve the stroke of its guiding, the mistake
The setting in portion is crossed, the installation of the active driving member and slave drive part has been also convenient for.
The frame provides the position of an installation for the clamping device, and the frame is mutually to be interconnected by a plurality of connecting tube
The frame of the cuboid profile connect, its structural strength is big, stabilized structure, convenient to install；The outer frame body is installed on described
The outside of frame, to block the top and all around four sides of the frame, can be protected in the frame
The clamping device, will not also hinder the motion of the grasping plate.The protection offset plate is soft material so that the grasping plate is grabbed
While being kept a firmer hand on when taking brick bag, the structure of brick will not be also destroyed, being capable of protection tile bag, its functional reliability height.
Brief description of the drawings
Fig. 1 is the structural representation of one of embodiment of the invention.
Fig. 2 is the structural representation of one of embodiment of the invention.
Fig. 3 is the structural representation of one of embodiment of the invention.
Fig. 4 is the structural representation of one of embodiment of the invention.
Fig. 5 is the front view of one of embodiment of the invention.
Fig. 6 is the partial enlarged drawing at Fig. 5 A.
Wherein：It is clamping device 3, the first clamping device 301, the second clamping device 302, frame 303, connecting tube 3031, recessed
Groove 30311, outer frame body 304, side plate 3041, top plate 3042, perforate 3043, routing hole 3044, flange 3045, slide rail 31, son are sliding
Rail 311, connecting plate 312, sliding part 32, active slip portion 321, the seat 3211 that is slidably installed, avoiding hollow groove 32111, upper mounting surface
32112nd, sliding block 3212, footstock 3213, foreboard 32131, bottom plate 32132, reinforcing plate 32133, grasping plate connecting seat 3214, upper installation
Plate 32141, connection frame 32142, assistant reinforcement plate 321421, follower slip portion 322, drive device 33, cylinder 331, drive end
3311st, cylinder mounting seat 332, front mounting plate 3321, lower installation board 3322, triangle reinforcing plate 3323, grasping plate 34, protection offset plate
341st, driving section 35, active driving member 351, guide part 3511, ramp 35111, lower inclined plane 35112, transition part 3512, upper mistake
Cross face 35121, lower transition face 35122, slave drive part 352, drive 353, directive wheel 354, V-groove 3541, driving section peace
Fill seat 355.
Embodiment
Further illustrate technical scheme below in conjunction with the accompanying drawings and by embodiment.
The mechanical gripper mechanism of the present embodiment as the stacking machine of ceramic tile packing line component, in order to more clearly say
Bright the present embodiment, Fig. 1, Fig. 2 and Fig. 3 conceal the top plate 3042 of outer frame body 304 and the side plate 3041 of the left and right sides；Fig. 5 is hidden
The side plate 3041 in the front of outer frame body 304 is hidden.
As shown in Figures 1 to 6, the high mechanical gripper mechanism of a kind of reliability, it is described at least including a set of clamping device 3
Clamping device 3 includes slide rail 31, sliding part 32, drive device 33, grasping plate 34 and driving section 35；
The sliding part 32 includes active slip portion 321 and follower slip portion 322, is slidably mounted at the slide rail
31；
The grasping plate 34 is respectively arranged in the active slip portion 321 and follower slip portion 322；
The driving section 35 is located between the active slip portion 321 and follower slip portion 322；
The driving section 35 includes active driving member 351, slave drive part 352, drive 353 and directive wheel 354；
The lateral surface of the active driving member 351 and slave drive part 352 is equipped with guide part 3511 and transition part 3512,
And the transition part 3512 is located at the end of the guide part 3511；
The active driving member 351 and slave drive part 352 are respectively arranged in the active slip portion 321 and follower slip
The relative one end in portion 322；
The active driving member 351 and slave drive part 352 are respectively arranged on the both sides of the drive 353, and its inner side
Face fits in the drive 353, and the medial surface of the active driving member 351 and slave drive part 352 is driving face；
The directive wheel 354 is respectively arranged on the outside of the active driving member 351 and slave drive part 352, and the master
The guide part 3511 of dynamic driving member 351 and slave drive part 352 fits in the directive wheel 354 respectively；
The drive device 33 is used to drive the active slip portion 321 to move along a straight line along the slide rail 31, and passes through
The driving section 35 drives the follower slip portion 322 to be moved along a straight line along the slide rail 31, and institute is respectively arranged in so as to drive
The grasping plate 34 stated in active slip portion 321 and follower slip portion 322 does counter motion.
During work, the drive device 33 drives the active slip portion 321 to be moved along a straight line along the slide rail 31, and leads to
Crossing the driving section 35 drives the follower slip portion 322 to be moved along a straight line along the slide rail 31 so that be respectively arranged in described
Grasping plate 34 in active slip portion 321 and follower slip portion 322 does counter motion simultaneously, improves the crawl of the grasping plate 34 brick bag
Stability and precision.The driving section 35 is located between the active slip portion 321 and follower slip portion 322, can guarantee that biography
Dynamic effective progress.
Particularly, the drive device 33 drives the active driving member 351 to move, then the active driving member
351 drive the drive 353 to move, and the drive 353 drives the slave drive part 352 to move again, due to the master
Dynamic driving member 351 and slave drive part 352 are respectively arranged in one relative with follower slip portion 322 of the active slip portion 321
End, so final the active driving member 351 and slave drive part 352 drive the active slip portion 321 and driven cunning respectively
Dynamic portion 322 is moved so that think close or mutually remote with follower slip portion 322 in the active slip portion 321, you can realized described
Grasping plate 34 captures and put down the operation of brick bag.
Because the weight of brick bag is big, when the grasping plate 34 captures brick bag, the weight of brick bag can be shifted from the grasping plate 34
Into the active slip portion 321 and follower slip portion 322, the active slip portion 321 and follower slip portion can be so influenceed
Precision during 322 slip, so as to influence the precision and stability of the crawl of the grasping plate 34 brick bag, therefore, the active transmission
The guide part 3511 of part 351 and slave drive part 352 fits in the directive wheel 354 respectively, it is possible to increase the active slip
Precision when portion 321 and the slip of follower slip portion 322, so as to improve the precision and stability of the crawl of the grasping plate 34 brick bag；
Because the medial surface of the active driving member 351 and slave drive part 352 fits in the drive 353, institute
State the outside that directive wheel 354 is respectively arranged on the active driving member 351 and slave drive part 352, and the active driving member 351
The directive wheel 354 is fitted in respectively with the guide part 3511 of slave drive part 352, like this, the active driving member 351
Medial surface and lateral surface will be spacing between the drive 353 and directive wheel 354, it is possible to increase the active driving member
Precision during 351 motion and the intensity to the active driving member 351 support, make it not readily disengage from the He of drive 353
Directive wheel 354,
Similarly, the medial surface and lateral surface of the slave drive part 352 also can be spacing in the drive 353 and guiding
Between wheel 354, the precision and intensity when the active driving member 351 is moved can be improved by improving, and not readily disengage from it described
Drive 353 and directive wheel 354, further improve the precision and stability of the crawl of the grasping plate 34 brick bag；The transition part
3512 are located at the end of the guide part 3511 so that the length of the guide part 3511 is longer, improve the stroke of its guiding, institute
The setting of transition part 3512 is stated, the installation of the active driving member 351 and slave drive part 352 has been also convenient for.
Further, drive 353 is gear, and the active driving member 351 and slave drive part 352 are rack, and tooth is set
There is its medial surface；
The active driving member 351 is identical with the structure of slave drive part 352；
The guide part 3511 is the V-type face being made up of ramp 35111 and lower inclined plane 35112；
V-groove 3541 is provided with along the periphery of the directive wheel 354, the V-type face fits in the V-groove 3541.
Pass through the cooperation of rack-and-pinion, you can realize between the active driving member 351 and the slave drive part 352
Transmission；The active driving member 351 is identical with the structure of slave drive part 352, more facilitates it to produce and process, improves production
Efficiency, also, transmission effect also can be more preferably；The V-type face is processed into the lateral surface in the active driving member 351, it is such
Words, the active driving member 351 will collect guiding and transmission agency in together, can simplifying its structure, its powerful function, reduction
Manufacturing cost；The V-type face being made up of the ramp 35111 and lower inclined plane 35112, can just fit in the directive wheel
The V-groove 3541 of 354 peripheries, realization is accurately oriented to.
Further, the transition part 3512 includes upper transition face 35121 and lower transition face 35122；
End of the upper transition face 35121 along the ramp 35111 is inclined upwardly, the lower edge of transition face 35122
The end of the lower inclined plane 35112 is tilted down, and the upper transition face 35121 and lower transition face 35112 constitute the domatic of V-type.
End due to the upper transition face 35121 along the ramp 35111 is inclined upwardly, the lower transition face
35122 tilt down along the end of the lower inclined plane 35112, like this, the active driving member 351 can be caused in transition part
3512 cross-sectional area gradually gradually increases to the upper transition face 35121 and the inclined direction of lower transition face 35122, so more
Plus facilitate the end of the active driving member 351 to be arranged on by bolt in the active slip portion 321.And by the upper transition
Face 35121 and lower transition face 35112 constitute domatic both appearance looks elegants of V-type, also function to protective effect, just in case occur unexpected feelings
Condition, the active driving member 351 is operationally departing from the active slip portion 321, and the active driving member 351 is with described
When drive 353 is moved to the guide part 3511, the slope of V-type is made up of the upper transition face 35121 and lower transition face 35112
Face is parked in the active driving member 351 card in the directive wheel 354, and what the reduction mechanical gripper mechanism suffered damage can
Energy.
Further, the active slip portion 321 is identical with the structure in follower slip portion 322；
The active slip portion 321 includes be slidably installed seat 3211 and sliding block 3212；
The seat 3211 that is slidably installed is provided with the rectangular hollow framework of avoiding hollow groove 32111, the avoiding hollow groove 32111 for top
Both sides for the seat 3211 that is slidably installed upper mounting surface 32112；
The slide rail 31 includes two strip slide rails 311 and connecting plate 312, and two sub- slide rails 311 pass through connecting plate 312
Connection；
The sliding block 3212 is slidably mounted at two sub- slide rails 311 respectively, and the seat 3211 that is slidably installed is placed on
On the slide rail 31, and the top of the sliding block 3212 is installed on the bottom of the upper mounting surface 32112.
The active slip portion 321 is identical with the structure in follower slip portion 322, more facilitates it to manufacture and produce.This reality
The sub- slide rail 311 for applying example is cylindrical slide rail, and the sliding block 3212 is round slider, and the sliding block 3212 is sliding in the son
When being slided on rail 311, the sliding block 3212 can drive the seat 3211 that is slidably installed to move, and the seat 3211 that is slidably installed is top
Portion is provided with avoiding hollow groove 32111, and the avoiding hollow groove 32111 can either facilitate the installation of the drive device 33, can guarantee that again described
The seat 3211 that is slidably installed is moved in the case of without hindrance, and the seat 3211 that is slidably installed is rectangular hollow framework, it is ensured that described
The interference of position, the top peace of the sliding block 3212 do not occur during movement with the slide rail 31 for the seat 3211 that is slidably installed
Bottom loaded on the upper mounting surface 32112, enables the sliding block 3212 to drive the seat 3211 that is slidably installed to move.
Further, the drive device 33 includes cylinder 331 and cylinder mounting seat 332；
The cylinder mounting seat 332 includes front mounting plate 3321, lower installation board 3322 and triangle reinforcing plate 3323；
The bottom of front mounting plate 3321 and the front end of lower installation board 3322 are vertically connected；
The quantity of the triangle reinforcing plate 3323 is at least one, and its two side is respectively fixedly connected with the front mounting plate
3321 lateral surface and the top surface of lower installation board 3322；
The cylinder 331 is installed on the medial surface of the front mounting plate 3321.
The quantity of the triangle reinforcing plate 3323 of each cylinder mounting seat 332 of the present embodiment is two, its two side point
The lateral surface of the front mounting plate 3321 and the top surface of lower installation board 3322 are not fixedly connected on, so that the cylinder is installed
The structure of seat 332 is more stablized, and increases its service life, so that the cylinder 331 can more be stably installed at institute
The medial surface of front mounting plate 3321 is stated, even if using for a long time, the situation that the cylinder mounting seat 332 will not also loosen.
Further, the active slip portion 321 also includes footstock 3213, and it includes foreboard 32131, bottom plate 32132 and added
Strong plate 32133；
The bottom of the foreboard 32131 and the front end of bottom plate 32132 are vertically connected；
The quantity of the reinforcing plate 32133 be two, its two ends be respectively fixedly connected with the foreboard 32131 lateral surface and
The top surface of the bottom plate 3213；
The bottom plate 32132 is installed on the top of the upper mounting surface 32112；
Spacing space is formed between two pieces of reinforcing plates 32133, the drive end 3311 of the cylinder 331 passes through spacer
3312 are installed on the outside of the foreboard 32131, and the spacer 3312 is limited in the spacing space.
The bottom of the foreboard 32131 and the front end of bottom plate 32132 are vertically connected, and the quantity of the reinforcing plate 32133 is
Two, its two ends is respectively fixedly connected with the top surface of the lateral surface and the bottom plate 3213 in the foreboard 32131, so that described
The structure of footstock 3213 is more stablized, and increases its service life；The bottom plate 3213 is installed on the top of the upper mounting surface 32112
Portion, the drive end 3311 of the cylinder 331 is installed on the outside of the foreboard 32131 by spacer 3312, the cylinder 331
Drive end 3311 is by driving the foreboard 32131 just can drive the motion of the seat 3211 that is slidably installed, the spacer 3312
Setting so that the drive end 3311 of the cylinder 331 can more be firmly mounted to the outside of the foreboard 32131, institute
State spacer 3312 to be limited in the spacing space, further strengthen the stability when spacer 3312 works, it is to avoid its
Double swerve.
Further, the active slip portion 321 also includes grasping plate connecting seat 3214；
The grasping plate connecting seat 3214 includes upper mounting plate 32141 and connection frame 32142；
The upper mounting plate 32141 is installed on the bottom of the seat 3211 that is slidably installed, and the connection frame 32142 is located at institute
The bottom of upper mounting plate 32141 is stated, the connection frame 32142 is provided with the auxiliary being connected with the upper mounting plate 32141 and added
Strong plate 321421；
The grasping plate 34 is installed on the outside of the connection frame 32142.
The upper mounting plate 32141 is installed on the bottom of the seat 3211 that is slidably installed, when the seat 3211 that is slidably installed
When mobile, the grasping plate 34 in the outside more convenient to install in the connection frame 32142 is captured and put down operation, institute to brick bag
The bottom that connection frame 32142 is located at the upper mounting plate 32141 is stated, the connection frame 32142 is provided with and the upper mounting plate
The 32141 assistant reinforcement plates 321421 being connected, by increasing capacitance it is possible to increase the bonding strength of the grasping plate connecting seat 3214, so as to increase it
Service life, it is ensured that more reliable and more stable during the crawl of the grasping plate 34 brick bag.
Further, the quantity of the clamping device 3 is two, and two sets of clamping devices 3 are arranged side by side, the respectively first folder
Hold the clamping device 302 of mechanism 301 and second；
The drive device 33 of the clamping device 302 of drive device 33 and second of first clamping device 301 is respectively mounted
In the relative side of the slide rail 31.
The quantity of the clamping device 3 is two, can be protected on the premise of mechanical gripper mechanism manufacturing cost is reduced
Demonstrate,prove quality and efficiency that the handgrip 34 captures brick bag, the clamping machine of drive device 33 and second of first clamping device 301
The drive device 33 of structure 302 is respectively arranged in the relative side of the slide rail 31 so that the weight of the mechanical gripper mechanism reaches
To the effect of equilibrium assignmen, increase the stability of its work.
Further, the mechanical gripper mechanism also includes frame 303 and outer frame body 304；
The frame 303 is the frame for the cube profile being connected with each other by a plurality of connecting tube 3031, the outer frame body
304 are installed on the outside of the frame 303, to block the top and all around four side of the frame 303；
The clamping device 3 is installed in the frame 303.
The frame 303 is the position that the clamping device 3 provides an installation, and the frame 303 is by a plurality of connection
The frame for the cuboid profile that pipe 3031 is connected with each other, its structural strength is big, stabilized structure, convenient to install；The housing
Body 304 is installed on the outside of the frame 303, to block the top and all around four sides, Ji Nengbao of the frame 303
Shield is arranged on the clamping device 3 in the frame 303, will not also hinder the motion of the grasping plate 34.
Further, the connecting tube 3031 is the aluminium section bar that four sides are designed with groove 30311；
The framework 304 includes side plate 3041 and top plate 3042；
The side plate 3041 and top plate 3042 are fixed on the recessed of the connecting tube 3031 in the outside of frame 303 by fixture
Groove 30311.
The fixture is square nut block, and it passes through the cooperation with the groove 30311, the side plate 3041 and top plate
3042 can more be stably installed in the groove 30311, be also convenient for the dismounting of the side plate 3041 and top plate 3042.
Further, the inner side of the grasping plate 34 is provided with protection offset plate 341.
The protection offset plate 341 is soft material so that while being kept a firmer hand on during the crawl of the grasping plate 34 brick bag,
The structure of brick will not be destroyed, being capable of protection tile bag, its functional reliability height.
Further, the driving section 35 also includes driving section mounting seat 355, and it is located at the centre of the slide rail 31；
The drive 353 and directive wheel 354 are mounted on the top of the driving section mounting seat 355, the drive
Deep groove ball bearing is installed in 353.
The driving section mounting seat 355 is located at the centre of the slide rail 31 so that the active slip portion 321 and driven cunning
Dynamic portion 322 has identical sliding stroke, so as to ensure to be respectively arranged in the active slip portion 321 and follower slip portion 322
The handgrip 34 can be synchronized with the movement crawl and put down brick bag, the deep groove ball bearing can support the drive 353 again
The resistance when drive 353 is rotated can be reduced.
Further, the top of the outer frame body 304 is provided with outside perforate 3043 and routing hole 3044, the routing hole 3044
Week is provided with flange 3045.
The quantity of the perforate 3043 of the present embodiment is four, and the perforate 3043 is easy to empty avoiding to connect with the cylinder 331
The tracheae connect；The routing hole 3044 is easy to the wiring of tracheae；The flange 3045 is easy to the mechanical gripper mechanism and outside
The connection of equipment is installed.
The technical principle of the present invention is described above in association with specific embodiment.These descriptions are intended merely to explain the present invention's
Principle, and limiting the scope of the invention can not be construed in any way.Based on explanation herein, the technology of this area
Personnel, which would not require any inventive effort, can associate other embodiments of the present invention, and these modes are fallen within
Within protection scope of the present invention.
Claims (10)
1. a kind of high mechanical gripper mechanism of reliability, at least including a set of clamping device, the clamping device includes slide rail, cunning
Dynamic portion, drive device, grasping plate and driving section；
The sliding part includes active slip portion and follower slip portion, is slidably mounted at the slide rail；
The grasping plate is respectively arranged in the active slip portion and follower slip portion；
It is characterized in that：The driving section includes active driving member, slave drive part, drive and directive wheel；
The lateral surface of the active driving member and slave drive part is equipped with guide part and transition part, and the intermediate location is in institute
State the end of guide part；
The active driving member and slave drive part are respectively arranged in active slip portion one end relative with follower slip portion；
The active driving member and slave drive part are respectively arranged on the both sides of the drive, and its medial surface fit in it is described
Drive, the medial surface of the active driving member and slave drive part is driving face；
The directive wheel is respectively arranged on the outside of the active driving member and slave drive part, and the active driving member and driven
The guide part of driving member fits in the directive wheel respectively；
The drive device is used to drive the active slip portion to move along a straight line along the slide rail, and passes through the driving section band
Move the follower slip portion to move along a straight line along the slide rail, the active slip portion and driven cunning are respectively arranged in so as to drive
Grasping plate in dynamic portion does counter motion；
The mechanical gripper mechanism also includes frame and outer frame body；
The frame is the frame for the cube profile being connected with each other by a plurality of connecting tube, and the outer frame body is installed on the machine
The outside of frame, to block the top and all around four side of the frame；
The clamping device is installed in the frame；
Protection offset plate is installed on the inside of the grasping plate.
2. a kind of high mechanical gripper mechanism of reliability according to claim 1, it is characterised in that：The driving section is located at
Between the active slip portion and follower slip portion；
The drive is gear, and the active driving member and slave drive part are rack, and tooth is provided with its medial surface；
The active driving member is identical with the structure of slave drive part；
The guide part is the V-type face being made up of ramp and lower inclined plane；
V-groove is provided with along the periphery of the directive wheel, the V-type face fits in the V-groove.
3. a kind of high mechanical gripper mechanism of reliability according to claim 2, it is characterised in that：The transition part includes
Upper transition face and lower transition face；
End of the upper transition face along the ramp is inclined upwardly, and end of the lower transition face along the lower inclined plane is downward
Tilt, the upper transition face and lower transition face constitute the domatic of V-type.
4. a kind of high mechanical gripper mechanism of reliability according to claim 1, it is characterised in that：The active slip portion
It is identical with the structure in follower slip portion；
The active slip portion includes be slidably installed seat and sliding block；
The seat that is slidably installed is provided with the rectangular hollow framework of avoiding hollow groove for top, and peace is slided in the both sides of the avoiding hollow groove to be described
Fill the upper mounting surface of seat；
The slide rail includes two strip slide rails and connecting plate, and two sub- slide rails are connected by connecting plate；
The sliding block is slidably mounted at two sub- slide rails respectively, and the cover for seat that is slidably installed is on the slide rail, and institute
State the bottom that the upper mounting surface is installed at the top of sliding block.
5. a kind of high mechanical gripper mechanism of reliability according to claim 4, it is characterised in that：The drive device bag
Include cylinder and cylinder mounting seat；
The cylinder mounting seat includes front mounting plate, lower installation board and triangle reinforcing plate；
The front mounting plate bottom and lower installation board front end are vertically connected；
The quantity of the triangle reinforcing plate is at least one, and its two side is respectively fixedly connected with the lateral surface of the front mounting plate
With the top surface of lower installation board；
The cylinder is installed on the medial surface of the front mounting plate.
6. the high mechanical gripper mechanism of a kind of reliability according to claim 5, it is characterised in that：The active slip portion is also
Including footstock, it includes foreboard, bottom plate and reinforcing plate；
The bottom of the foreboard and the front end of bottom plate are vertically connected；
The quantity of the reinforcing plate is two, and its two ends is respectively fixedly connected with the top of the lateral surface and the bottom plate in the foreboard
Face；
The bottom plate is installed on the top of the upper mounting surface；
Spacing space is formed between two pieces of reinforcing plates, the drive end of the cylinder is installed on the outer of the foreboard by spacer
Side, the spacer is limited in the spacing space.
7. a kind of high mechanical gripper mechanism of reliability according to claim 4, it is characterised in that：The active slip portion
Also include grasping plate connecting seat；
The grasping plate connecting seat includes upper mounting plate and connection frame；
The upper mounting plate is installed on the bottom of the seat that is slidably installed, and the connection frame is located at the bottom of the upper mounting plate,
The connection frame is provided with the assistant reinforcement plate being connected with the upper mounting plate；
The grasping plate is installed on the outside of the connection frame.
8. a kind of high mechanical gripper mechanism of reliability according to claim 1, it is characterised in that：The clamping device
Quantity is two, and two sets of clamping devices are arranged side by side, respectively the first clamping device and the second clamping device；
It is relative that the drive device of first clamping device and the drive device of the second clamping device are respectively arranged in the slide rail
Side.
9. a kind of high mechanical gripper mechanism of reliability according to claim 1, it is characterised in that：The connecting tube is four
Individual side is designed with the aluminium section bar of groove；
The framework includes side plate and top plate；
The side plate and top plate are fixed on the groove of the connecting tube of the shell outside by fixture.
10. a kind of high mechanical gripper mechanism of reliability according to claim 1, it is characterised in that：The outer frame body
Top is provided with perforate and routing hole, and the periphery of the routing hole is provided with flange.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710120781.1A CN106985155A (en) | 2017-03-02 | 2017-03-02 | A kind of high mechanical gripper mechanism of reliability |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710120781.1A CN106985155A (en) | 2017-03-02 | 2017-03-02 | A kind of high mechanical gripper mechanism of reliability |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106985155A true CN106985155A (en) | 2017-07-28 |
Family
ID=59413110
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710120781.1A Pending CN106985155A (en) | 2017-03-02 | 2017-03-02 | A kind of high mechanical gripper mechanism of reliability |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106985155A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108131106A (en) * | 2017-11-13 | 2018-06-08 | 中国石油天然气集团公司 | A kind of automated drilling rig tubular column mechanical hand |
| CN113878602A (en) * | 2021-10-08 | 2022-01-04 | 晋江新建兴机械设备有限公司 | Manipulator and clamping stable type clamp |
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| JP2937701B2 (en) * | 1993-09-07 | 1999-08-23 | オークラ輸送機株式会社 | Transfer baggage holding device |
| CN105347052A (en) * | 2015-11-24 | 2016-02-24 | 洛阳中冶重工机械有限公司 | Missing clamping prevention stacking clamping gripper device |
| CN205132525U (en) * | 2015-10-30 | 2016-04-06 | 杭州鸿福科技有限公司 | Case transport tongs |
| CN205602202U (en) * | 2016-04-08 | 2016-09-28 | 佛山市兰科机电设备有限公司 | Ceramic chip packing box pile up neatly machinery hand file grapple constructs |
| CN106078780A (en) * | 2016-08-03 | 2016-11-09 | 天津扬天科技有限公司 | A kind of novel paw of the robot that stacks bricks adapting to many brick |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2937701B2 (en) * | 1993-09-07 | 1999-08-23 | オークラ輸送機株式会社 | Transfer baggage holding device |
| CN205132525U (en) * | 2015-10-30 | 2016-04-06 | 杭州鸿福科技有限公司 | Case transport tongs |
| CN105347052A (en) * | 2015-11-24 | 2016-02-24 | 洛阳中冶重工机械有限公司 | Missing clamping prevention stacking clamping gripper device |
| CN205602202U (en) * | 2016-04-08 | 2016-09-28 | 佛山市兰科机电设备有限公司 | Ceramic chip packing box pile up neatly machinery hand file grapple constructs |
| CN106078780A (en) * | 2016-08-03 | 2016-11-09 | 天津扬天科技有限公司 | A kind of novel paw of the robot that stacks bricks adapting to many brick |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108131106A (en) * | 2017-11-13 | 2018-06-08 | 中国石油天然气集团公司 | A kind of automated drilling rig tubular column mechanical hand |
| CN108131106B (en) * | 2017-11-13 | 2023-09-26 | 中国石油天然气集团公司 | A mechanical gripper for the pipe string of an automated drilling rig |
| CN113878602A (en) * | 2021-10-08 | 2022-01-04 | 晋江新建兴机械设备有限公司 | Manipulator and clamping stable type clamp |
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Application publication date: 20170728 |
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