CN106986193A - Robot gripper general assembly - Google Patents
Robot gripper general assembly Download PDFInfo
- Publication number
- CN106986193A CN106986193A CN201710365120.5A CN201710365120A CN106986193A CN 106986193 A CN106986193 A CN 106986193A CN 201710365120 A CN201710365120 A CN 201710365120A CN 106986193 A CN106986193 A CN 106986193A
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- CN
- China
- Prior art keywords
- support frame
- connecting rod
- downside
- main holding
- upside
- 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.)
- Pending
Links
- 230000037431 insertion Effects 0.000 claims description 4
- 238000003780 insertion Methods 0.000 claims description 4
- 238000005516 engineering process Methods 0.000 description 3
- 230000015572 biosynthetic process Effects 0.000 description 2
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
Classifications
-
- 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
- B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
-
- 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
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
- B65G2201/0273—Tires
Landscapes
- Manipulator (AREA)
Abstract
The invention discloses a kind of robot gripper general assembly, belong to electromechanical automatic field, including motor cabinet, it is arranged on the handgrip motor on motor cabinet, the ball screw framework driven by handgrip motor, driven by the screw in ball screw framework and inner support frame moving up and down, the outer support frame that is fixedly connected with motor cabinet and around outer support frame successively spaced several main holding frames, inner support frame and outer support frame are vertically arranged, main holding frame includes vertically arranged outer strut, be articulated with outer strut radially inner side and between the upper and lower every two connecting rods and a support bar, connecting rod is hinged with inner support frame and both be hinged extends laterally, the radial inner end of connecting rod is driven and can moved up and down by inner support frame, support bar one end is articulated with the middle part of downside connecting rod in main holding frame, the other end is fixedly connected with outer tube.The present invention be it is a kind of improve operating efficiency, reduce hand labor intensity robot gripper general assembly.
Description
Technical field
The invention belongs to electromechanical automatic field, more particularly to a kind of robot gripper general assembly.
Background technology
Palletizing technology is an emerging technology of material flows automation technical field, and so-called stacking exactly presses a part material
According to the pile battlement of certain pattern, the logistics activity such as carrying, handling, transport, storage to realize material.Traditional tire code
Pile carrying automaticity is low, and hand labor intensity is big.
The content of the invention
It is an object of the invention to provide it is a kind of improve operating efficiency, reduce hand labor intensity robot gripper it is total
Dress.
To achieve the above object, the present invention is adopted the following technical scheme that：Robot gripper general assembly, including motor cabinet, setting
Handgrip motor on motor cabinet, the ball screw framework driven by handgrip motor, driven by the screw in ball screw framework
And inner support frame moving up and down, the outer support frame that is fixedly connected with motor cabinet and be arranged at intervals successively around outer support frame
Several main holding frames, inner support frame and outer support frame are vertically arranged, and main holding frame includes vertically arranged outer strut,
Be articulated with outer strut radially inner side and between the upper and lower every two connecting rods and a support bar, connecting rod and inner support frame are hinged and both
Be hinged and extend laterally, the radial inner end of connecting rod is driven and can moved up and down by inner support frame, and support bar one end is articulated with main folder
The middle part of downside connecting rod, the other end in frame is held to be fixedly connected with outer tube.
The outer support frame is the outer tube being vertically arranged, each main holding frame of outer tube correspondence be respectively provided with above and below two mistakes
Hole, via is vertically extending；Inner support frame is the inner tube of insertion outer tube, and inner tube is fixed with the screw in ball screw framework to be connected
Connect, set two connecting rods in two contiguous blocks, main holding frame to be hinged respectively with two contiguous blocks at interval in the upper and lower on inner pipe, upside connects
The pin joint of bar and upside contiguous block is correspondingly positioned in the via of upside or on the inside of the via of upside or on the outside of the via of upside, downside
The pin joint of connecting rod and downside contiguous block is correspondingly positioned in the via of downside or on the inside of the via of downside or on the outside of the via of downside.
The outer strut is vertically arranged.
Support bar one end is articulated with the middle part of downside connecting rod in main holding frame.
Robot gripper general assembly of the present invention, screw drives interior holding frame to move up and down, interior, two connecting rods, outer strut
With inner support frame one parallelogram linkage of formation, under the constraint of support bar, outer strut can shrink to radially inner side
Or expanded to radial outside, outer strut is vertically arranged and can run through multiple tires from top to bottom, and all outer struts are outside to footpath
Side is expanded and with that in all tire, along contacting and being tensioned, multiple tires can be clamped by tensile force, then coordinate robot body,
Precalculated position is moved to handgrip general assembly, tire stacking is completed.
Brief description of the drawings
Fig. 1 is the structural representation of the present invention；
Fig. 2 is Fig. 1 top view；
Fig. 3 is the stereogram of the present invention；
In figure：Handgrip motor 1, shaft coupling 2, motor cabinet 3, leading screw 4, screw 5, via 6, connecting rod 7, outer strut 8, support bar
9th, contiguous block 10, outer support frame 11, inner support frame 12, tire 13, limit inferior sensing chip 14, zero point sensing chip 15, proximity switch
16。
Embodiment
As the robot gripper general assembly shown in Fig. 1-Fig. 3, including motor cabinet 3, be arranged on motor cabinet 3 handgrip motor 1,
The ball screw framework that is driven by handgrip motor 1, driven and inner support moving up and down by the screw 5 in ball screw framework
What frame 12, the outer support frame 11 being fixedly connected with motor cabinet 3 and circular outer support frame 11 were circumferentially set uniformly at intervals successively
Several main holding frames.
The ball screw framework includes the leading screw 4 being vertically arranged and is assemblied on leading screw 4 and can be moved up and down along leading screw 4
Screw 5, the output shaft of handgrip motor 1 extends downwardly from, and the output shaft of handgrip motor 1 docks the silk on the downside of it by shaft coupling 2
Thick stick 4, handgrip motor 1 is servomotor, and when handgrip motor 1 drives the rotation of leading screw 4, screw 5 is moved up and down along leading screw 4.
Inner support frame 12 and outer support frame 11 are vertically arranged, and the outer support frame 11 is the outer tube being vertically arranged,
Inner support frame 12 is the inner tube in insertion outer tube, and inner tube is to be vertically arranged.Inner tube is fixedly connected on the downside of screw 5, preferably
In at the top of the bottom of leading screw 4 insertion inner tube in ground, ball screw framework, it is set in the bottom outer ring of leading screw 4 inner tube head clearance,
Outer tube, inner tube and leading screw three are coaxially disposed, and inner tube interval is set in the outer ring of leading screw 4 and can moved up and down.
Motor cabinet 3 is installed on the upside of outer tube, and outer tube is that bolt connection or flange are connected with motor cabinet, the ball
Screw mechanism is also stretched into outer tube.
The each main holding frame of outer tube correspondence be respectively provided with above and below two vias 6, via 6 extends vertically, and via 6 is set outside
Connected on the tube wall of sleeve pipe with the tube cavity of outer tube；Two via 6 corresponding with any main holding frame is setting up and down and respectively
Two connecting rods up and down with the main holding frame are corresponding, and main holding frame is circumferentially set uniformly at intervals around outer holding frame in the present embodiment
Four are put, outer tube four main folders of correspondence hold frame and set four pairs of vias 6, inner tube is fixed with the screw 5 in ball screw framework to be connected
Connect, two contiguous blocks 10 are set at interval in the upper and lower on inner pipe.
Main holding frame structure is as follows：Including be vertically arranged outer strut 8, be articulated with the radially inner side of outer strut 8 and up and down
Spaced and parallel two connecting rods 7 and a support bar 9, the outer strut 8 is vertically arranged, and the radial outer end of connecting rod 7 passes through level
Bearing pin A is hinged with outer strut 8, and connecting rod 7 is hinged with inner support frame 12 by jointed shaft and both hinge axes transverse horizontals are prolonged
Stretch, the radial inner end of connecting rod 7 is driven by inner support frame 12 and can moved up and down, upper and lower two connecting rod 7 in main holding frame respectively with
Upper and lower two contiguous block 10 is hinged, the pin joint of upside connecting rod 7 and upside contiguous block 10 be correspondingly positioned in the via 6 of upside or on
The pin joint of the inner side of side via 6 or the outside of upside via 6, downside connecting rod 7 and downside contiguous block 10 is correspondingly positioned at downside via 6
In the interior or inner side of downside via 6 or the outside of downside via 6, the present embodiment, jointed shaft is horizontally disposed bearing pin B, upside
Contiguous block correspondence upside connecting rod is connected provided with the extension stretched out outside corresponding upside via 6, upside connecting rod by jointed shaft with upside
The extension for connecing block is hinged, and the pin joint (or jointed shaft) between upside connecting rod and upside contiguous block is located at corresponding upside via
Outside, downside contiguous block correspondence downside connecting rod is provided with the extension stretched out outside corresponding downside via 6, downside connecting rod by jointed shaft with
The extension of downside contiguous block is hinged, the pin joint (or jointed shaft) between downside connecting rod and downside contiguous block be located at it is corresponding under
Outside the via of side, middle part, the other end and the outer tube that the one end of support bar 9 is articulated with downside connecting rod 7 in main holding frame are articulated and connected, and
And the top of support bar 9 (radial outer end) is articulated with the middle part of downside connecting rod 7, bottom (radial inner end) in main holding frame by bearing pin C
It is articulated with by bearing pin D in the outside wall surface with outer tube, the pin joint of support bar 9 and outer tube is less than downside contiguous block 10, pin
Axle A, bearing pin B, bearing pin C and bearing pin D are parallel to each other.Certainly, two connecting rods 7 up and down in main holding frame can also be respectively interposed overcoat
Corresponding two via 6 and it is hinged respectively with two contiguous blocks 10 up and down by two jointed shafts on pipe, now, upside connecting rod connects with upside
The pin joint for connecing block is located on the inside of corresponding upside via, and downside connecting rod is located at corresponding downside via to the pin joint of downside contiguous block
Inner side.
The upside connecting rod of all main holding frames of upside contiguous block correspondence is respectively provided with corresponding extension, upside contiguous block
Extension stretch out that each upside via is outer and the upside rod hinge connection with each main holding frame respectively correspondingly, similarly,
The downside connecting rod of all main holding frames of downside contiguous block correspondence is respectively provided with corresponding extension, the extension of downside contiguous block
Stretch out that each downside via is outer and the downside rod hinge connection with each main holding frame respectively correspondingly.
The screw 5 or upside contiguous block 10 are provided with limit inferior sensing chip 14 and zero point sensing chip 15, outer support frame
11 top be provided with proximity switch 16, proximity switch 16, limit inferior sensing chip 14, zero point sensing chip 15 and handgrip motor 1 with
Controller is electrically connected.Do not shown in controller figure.
Robot gripper general assembly of the present invention, screw 5 drives interior holding frame to move up and down, two connecting rods of main holding frame
7th, outer strut 8 and one parallelogram linkage of formation of inner support frame 12, two connecting rods 7 of main holding frame, outer strut 8, branch
Strut 9 and inner support frame 12 constitute a planar linkage mechanism, and under the constraint of support bar 9, outer strut 8 can be received to radially inner side
Contracting or expanded to radial outside, outer strut 8 is vertically arranged and can run through multiple tires 13 from top to bottom, all outer struts 8 to
Radial outside is expanded and with that in all tire 13, along contacting and being tensioned, multiple tires 13 can be clamped by tensile force, are then coordinated
Robot body, precalculated position is moved to handgrip general assembly, is completed to the stacking of tire 13.
Claims (4)
1. robot gripper general assembly, it is characterised in that：Including motor cabinet (3), the handgrip motor (1) being arranged on motor cabinet (3),
Driven by the ball screw framework of handgrip motor (1) drive, by the screw (5) in ball screw framework and moving up and down interior
Support frame (12), the outer support frame (11) being fixedly connected with motor cabinet (3) and circular outer support frame (11) are arranged at intervals successively
Several main holding frames, inner support frame (12) and outer support frame (11) are vertically arranged, and main holding frame includes vertically arranged
Outer strut (8), be articulated with outer strut (8) radially inner side and between the upper and lower every two connecting rods (7) and a support bar (9), even
Bar (7) is hinged with inner support frame (12) and both hinge axes are extended laterally, and the radial inner end of connecting rod (7) is by inner support frame
(12) drive and can move up and down, support bar (9) one end is articulated with the middle part of one of connecting rod (7) in main holding frame, another
End is articulated and connected with outer support frame (11).
2. robot gripper general assembly as claimed in claim 1, it is characterised in that：The outer support frame (11) is vertically arranged
Outer tube, each main holding frame of outer tube correspondence be respectively provided with above and below two vias (6), via (6) is vertically extending；Inner support frame
(12) be the inner tube of insertion outer tube, inner tube is fixedly connected with the screw (5) in ball screw framework, on inner pipe between the upper and lower every
Ground sets two contiguous blocks (10), and two connecting rods (7) in main holding frame are hinged with two contiguous blocks (10) respectively, upside connecting rod (7) with
The pin joint of upside contiguous block (10) is correspondingly positioned in upside via (6) or upside via (6) inner side or upside via (6)
The pin joint of outside, downside connecting rod (7) and downside contiguous block (10) is correspondingly positioned in downside via (6) or downside via (6)
On the outside of inner side or downside via (6).
3. robot gripper general assembly as claimed in claim 1, it is characterised in that：The outer strut (8) is vertically arranged.
4. robot gripper general assembly as claimed in claim 1, it is characterised in that：Support bar (9) one end is articulated with main holding frame
The middle part of middle downside connecting rod (7).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710365120.5A CN106986193A (en) | 2017-05-22 | 2017-05-22 | Robot gripper general assembly |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710365120.5A CN106986193A (en) | 2017-05-22 | 2017-05-22 | Robot gripper general assembly |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106986193A true CN106986193A (en) | 2017-07-28 |
Family
ID=59419733
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710365120.5A Pending CN106986193A (en) | 2017-05-22 | 2017-05-22 | Robot gripper general assembly |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106986193A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108832747A (en) * | 2018-06-13 | 2018-11-16 | 哈尔滨电机厂有限责任公司 | A kind of removable interpolar support device of vertical hydropower generator |
| CN112010051A (en) * | 2020-06-30 | 2020-12-01 | 安徽省蒙城县红海新型建材有限公司 | Stacking and carrying device for hollow bricks |
| CN113460677A (en) * | 2021-07-02 | 2021-10-01 | 沈阳德安泰机械有限公司 | Six-elbow telescopic gripper mechanism for tire |
| CN116119377A (en) * | 2023-04-19 | 2023-05-16 | 山西天宝集团有限公司 | Automatic stacking device and method for wind power flange transportation |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0567742A2 (en) * | 1992-03-04 | 1993-11-03 | Bridgestone Corporation | Apparatus and method for uniformly enlarging or reducing the diameter of a cylindrical member |
| CN202642851U (en) * | 2012-06-12 | 2013-01-02 | 泉州市恒兴工业机械有限公司 | Stacker crane |
| CN203512752U (en) * | 2013-09-25 | 2014-04-02 | 青岛科捷自动化设备有限公司 | Manipulator for transporting pile of tires |
| CN203512791U (en) * | 2013-09-25 | 2014-04-02 | 青岛科捷自动化设备有限公司 | Tire high-speed carrying, stacking and destacking system |
| CN104552325A (en) * | 2015-01-14 | 2015-04-29 | 上海古岛自动化设备有限公司 | Manipulator multi-tire grabbing device |
| CN204528670U (en) * | 2015-03-31 | 2015-08-05 | 沈阳飞机工业集团物流装备有限公司 | A kind of piler horizontally-guided and Overthrow preventing device |
| CN205011019U (en) * | 2015-08-21 | 2016-02-03 | 深圳罗伯泰克科技有限公司 | Stacking equipment is carried fast to truss -like |
-
2017
- 2017-05-22 CN CN201710365120.5A patent/CN106986193A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0567742A2 (en) * | 1992-03-04 | 1993-11-03 | Bridgestone Corporation | Apparatus and method for uniformly enlarging or reducing the diameter of a cylindrical member |
| CN202642851U (en) * | 2012-06-12 | 2013-01-02 | 泉州市恒兴工业机械有限公司 | Stacker crane |
| CN203512752U (en) * | 2013-09-25 | 2014-04-02 | 青岛科捷自动化设备有限公司 | Manipulator for transporting pile of tires |
| CN203512791U (en) * | 2013-09-25 | 2014-04-02 | 青岛科捷自动化设备有限公司 | Tire high-speed carrying, stacking and destacking system |
| CN104552325A (en) * | 2015-01-14 | 2015-04-29 | 上海古岛自动化设备有限公司 | Manipulator multi-tire grabbing device |
| CN204528670U (en) * | 2015-03-31 | 2015-08-05 | 沈阳飞机工业集团物流装备有限公司 | A kind of piler horizontally-guided and Overthrow preventing device |
| CN205011019U (en) * | 2015-08-21 | 2016-02-03 | 深圳罗伯泰克科技有限公司 | Stacking equipment is carried fast to truss -like |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108832747A (en) * | 2018-06-13 | 2018-11-16 | 哈尔滨电机厂有限责任公司 | A kind of removable interpolar support device of vertical hydropower generator |
| CN112010051A (en) * | 2020-06-30 | 2020-12-01 | 安徽省蒙城县红海新型建材有限公司 | Stacking and carrying device for hollow bricks |
| CN112010051B (en) * | 2020-06-30 | 2022-11-01 | 安徽省蒙城县红海新型建材有限公司 | Stacking and carrying device for hollow bricks |
| CN113460677A (en) * | 2021-07-02 | 2021-10-01 | 沈阳德安泰机械有限公司 | Six-elbow telescopic gripper mechanism for tire |
| CN116119377A (en) * | 2023-04-19 | 2023-05-16 | 山西天宝集团有限公司 | Automatic stacking device and method for wind power flange transportation |
| CN116119377B (en) * | 2023-04-19 | 2023-06-20 | 山西天宝集团有限公司 | Automatic stacking device and method for wind power flange transportation |
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| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB02 | Change of applicant information | ||
| CB02 | Change of applicant information |
Address after: 211299 9 happiness Road, Lishui Economic Development Zone, Nanjing, Jiangsu Applicant after: JIANGSU LONSON INTELLIGENT TECHNOLOGY CO.,LTD. Address before: 210019 Room 608, 101 Building, Zijin Xicheng Center, Jianye District, Nanjing City, Jiangsu Province Applicant before: NANJING LONSON AUTOMATION EQUIPMENT TECHNOLOGY CO.,LTD. |
|
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170728 |