CN108621176A - A kind of end executive device - Google Patents
A kind of end executive device Download PDFInfo
- Publication number
- CN108621176A CN108621176A CN201710153666.4A CN201710153666A CN108621176A CN 108621176 A CN108621176 A CN 108621176A CN 201710153666 A CN201710153666 A CN 201710153666A CN 108621176 A CN108621176 A CN 108621176A
- Authority
- CN
- China
- Prior art keywords
- plate
- connecting plate
- swing rod
- end effector
- cylinder
- 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
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
- B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
- B25J15/0066—Gripping heads and other end effectors multiple gripper units or multiple end effectors with different types of end effectors, e.g. gripper and welding gun
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Package Closures (AREA)
Abstract
The invention discloses a kind of end executive devices, it includes end effector substrate（1）With the bottom plate at the both ends below end effector substrate（2）, end effector substrate lower section is equipped with the first connecting plate（3）With the second connecting plate（4）, oscillating cylinder is equipped on the first connecting plate and the second connecting plate（5）, oscillating cylinder is equipped with paw frame（6）, paw frame one end is equipped with claw type finger（7）, the first connecting plate side is equipped with first clamping plate（10）, the second connecting plate side is equipped with second clamping plate（11）, first clamping plate passes through air splint cylinder（12）It is connect with second clamping plate.The present invention uses end executive device, and reasonable in design, work efficiency is high.
Description
Technical field
The present invention relates to end executive device technical field more particularly to a kind of end executive devices.
Background technology
The end executive device (clamp structure) of industrial robot is that robot manipulator is in direct contact with workpiece and goes forward side by side
The device of row operation is one of critical component of robot.End executive device is direct execution work, it is to expanding machine
Operation function, application range and the raising working efficiency of people all has a great impact.There are structures for current end executive device
Design unreasonable, working efficiency is low.
Invention content
In view of the deficiencies of the prior art, the present invention provides a kind of end executive devices reasonable in design.
Its technical scheme applied to solve the technical problem is：A kind of end executive device, it includes end effector base
Plate and bottom plate set on both ends below end effector substrate are equipped with the first connecting plate and the below the end effector substrate
Two connecting plates are equipped with oscillating cylinder on first connecting plate and the second connecting plate, and the oscillating cylinder is equipped with paw frame,
Paw frame one end is equipped with claw type finger, and the claw type finger, which is equipped with, inhales paper cylinder, and the suction paper cylinder is equipped with packing paper
Sucker, first connecting plate side are equipped with first clamping plate, and second connecting plate side is equipped with second clamping plate, first folder
Plate is connect by air splint cylinder with second clamping plate, and both ends are respectively equipped with the first fixed plate and the above the end effector substrate
Two fixed plates, and the first fixed plate be equipped with the first hold-down support, the second fixed plate be equipped with the second hold-down support, described first
The first swing rod and the second swing rod are respectively equipped on hold-down support and the second hold-down support, first swing rod and the second swing rod pass through
Connecting rod connects, and pallet claw type finger is equipped on first swing rod and the second swing rod, is gone back above the end effector substrate
Equipped with guide rail splice, the guide rail splice is equipped with paw terminal pad and pallet paw cylinder, the pallet paw cylinder
One end is set to the junction of first swing rod and connecting rod.
Preferably, the end effector substrate is made of aluminium section bar.
Preferably, described pallet claw type finger one end is equipped with form friction pattern structure.
Preferably, the bottom plate is two.
The invention has the advantages that by using end executive device, reasonable in design, work efficiency is high；Pallet
Claw type finger one end is equipped with form friction pattern structure, is convenient for grabbing workpiece.
Description of the drawings
Fig. 1 is the structural schematic diagram of the present invention.
1. end effector substrate in figure, 2. bottom plates, 3. first connecting plates, 4. second connecting plates, 5. oscillating cylinders, 6. hands
Crowfoot, 7. claw type fingers, 8. suction paper cylinders, 9. packing paper suckers, 10. first clamping plates, 11. second clamping plates, 12. air splint cylinders,
13. the first fixed plate, 14. second fixed plates, 15. first hold-down supports, 16. second hold-down supports, 17. first swing rods,
18. the second swing rod, 19. connecting rods, 20. pallet claw type fingers, 21. guide rail splices, 22. paw terminal pads, 23. pallets
Paw cylinder.
Specific implementation mode
The present invention is described in further details below in conjunction with the drawings and specific embodiments.
As shown in Figure 1, the structural schematic diagram of the present invention, a kind of end executive device, it includes 1 He of end effector substrate
Bottom plate 2 set on 1 lower section both ends of end effector substrate, the lower section of the end effector substrate 1 are equipped with the first connecting plate 3 and the
Two connecting plates 4, oscillating cylinder 5 is equipped on first connecting plate, 3 and second connecting plate 4, and the oscillating cylinder 5 is equipped with hand
Crowfoot 6, described 6 one end of paw frame are equipped with claw type finger 7, and the claw type finger 7, which is equipped with, inhales paper cylinder 8, the suction paper cylinder 8
It is equipped with packing paper sucker 9,3 side of the first connecting plate is equipped with first clamping plate 10, and 4 side of the second connecting plate is equipped with second
Clamping plate 11, the first clamping plate 10 are connect by air splint cylinder 12 with second clamping plate 11,1 top two of the end effector substrate
End is respectively equipped with the first fixed plate 13 and the second fixed plate 14, and the first fixed plate 13 is equipped with the first hold-down support 15, and second
Fixed plate 14 is equipped with the second hold-down support 16, and first is respectively equipped on first hold-down support, 15 and second hold-down support 16
Swing rod 17 and the second swing rod 18, first swing rod, 17 and second swing rod 18 are connected by connecting rod 19,17 He of the first swing rod
Pallet claw type finger 20 is equipped on second swing rod 18,2 top of the end effector substrate is additionally provided with guide rail splice 21, institute
It states guide rail splice 21 and is equipped with paw terminal pad 22 and pallet paw cylinder 23, described 23 one end of pallet paw cylinder is set to institute
State the junction of the first swing rod 17 and connecting rod 19.
The end effector substrate 1 is made of aluminium section bar.Described 20 one end of pallet claw type finger is equipped with form friction pattern structure.
The bottom plate 2 is two.
It these are only preferred embodiments of the present invention, therefore cannot limit the scope of implementation of the present invention according to this, i.e., according to the present invention
Equivalence changes made by description and decoration, should all belong in the range of present invention covering.
Claims (4)
1. a kind of end executive device, it is characterised in that：It includes end effector substrate（1）With set on end effector substrate
（1）The bottom plate at lower section both ends（2）, the end effector substrate（1）Lower section is equipped with the first connecting plate（3）With the second connecting plate
（4）, first connecting plate（3）With the second connecting plate（4）On be equipped with oscillating cylinder（5）, the oscillating cylinder（5）It is equipped with
Paw frame（6）, the paw frame（6）One end is equipped with claw type finger（7）, the claw type finger（7）It is equipped with and inhales paper cylinder（8）,
The suction paper cylinder（8）It is equipped with packing paper sucker（9）, first connecting plate（3）Side is equipped with first clamping plate（10）, described
Two connecting plates（4）Side is equipped with second clamping plate（11）, the first clamping plate（10）Pass through air splint cylinder（12）With second clamping plate
（11）Connection, the end effector substrate（1）Top both ends are respectively equipped with the first fixed plate（13）With the second fixed plate（14）,
And first fixed plate（13）It is equipped with the first hold-down support（15）, the second fixed plate（14）It is equipped with the second hold-down support（16）,
First hold-down support（15）With the second hold-down support（16）On be respectively equipped with the first swing rod（17）With the second swing rod（18）, institute
State the first swing rod（17）With the second swing rod（18）Pass through connecting rod（19）Connection, first swing rod（17）With the second swing rod（18）On
It is equipped with pallet claw type finger（20）, the end effector substrate（2）Top is additionally provided with guide rail splice（21）, the guide rail
Connecting plate（21）It is equipped with paw terminal pad（22）With pallet paw cylinder（23）, the pallet paw cylinder（23）One end is set to
First swing rod（17）And connecting rod（19）Junction.
2. end executive device according to claim 1, it is characterised in that：The end effector substrate（1）For aluminium profiles
Material is made.
3. end executive device according to claim 1, it is characterised in that：The pallet claw type finger（20）One end is equipped with
Form friction pattern structure.
4. end executive device according to claim 1, it is characterised in that：The bottom plate（2）It is two.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710153666.4A CN108621176A (en) | 2017-03-15 | 2017-03-15 | A kind of end executive device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710153666.4A CN108621176A (en) | 2017-03-15 | 2017-03-15 | A kind of end executive device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108621176A true CN108621176A (en) | 2018-10-09 |
Family
ID=63686558
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710153666.4A Pending CN108621176A (en) | 2017-03-15 | 2017-03-15 | A kind of end executive device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108621176A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110642026A (en) * | 2019-10-29 | 2020-01-03 | 北京智联弘盛科技发展有限公司 | Combined type letter sorting pile up neatly machine people end effector |
| CN111846942A (en) * | 2020-06-03 | 2020-10-30 | 深圳富德为智能科技有限公司 | Anti-falling sucking disc frame clamping mechanism of PCB (printed circuit board) collecting and releasing machine |
| CN118559740A (en) * | 2024-08-05 | 2024-08-30 | 成都工业学院 | Mechanical arm |
-
2017
- 2017-03-15 CN CN201710153666.4A patent/CN108621176A/en active Pending
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110642026A (en) * | 2019-10-29 | 2020-01-03 | 北京智联弘盛科技发展有限公司 | Combined type letter sorting pile up neatly machine people end effector |
| CN111846942A (en) * | 2020-06-03 | 2020-10-30 | 深圳富德为智能科技有限公司 | Anti-falling sucking disc frame clamping mechanism of PCB (printed circuit board) collecting and releasing machine |
| CN111846942B (en) * | 2020-06-03 | 2021-05-14 | 深圳富德为智能科技有限公司 | Anti-falling sucking disc frame clamping mechanism of PCB (printed circuit board) collecting and releasing machine |
| CN118559740A (en) * | 2024-08-05 | 2024-08-30 | 成都工业学院 | Mechanical arm |
| CN118559740B (en) * | 2024-08-05 | 2024-10-01 | 成都工业学院 | Mechanical arm |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN207596055U (en) | Fixture and robot | |
| CN108621176A (en) | A kind of end executive device | |
| CN207027506U (en) | Six axis joint robots and its mechanical paw | |
| CN203936682U (en) | Pneumatic cam clamping device | |
| CN204673634U (en) | A kind of stack robot manipulator device having clamping plate and sucker concurrently | |
| CN105619443A (en) | Curved surface grabbing mechanism | |
| CN204687434U (en) | A kind of corrugated board binding apparatus | |
| CN206088398U (en) | Grab case hacking machine elasticity clamping device | |
| CN110759111B (en) | Pile up neatly machine people tongs device | |
| CN203652769U (en) | Adaptive carton gripper for household electrical appliance products | |
| CN204640228U (en) | Packaging bag high speed piling manipulator | |
| CN203622000U (en) | Clamping device provided with clamping jaws | |
| CN206748451U (en) | A kind of pneumatic palletizing mechanical arm fixture | |
| CN205870567U (en) | Pressfitting and pick up integrative general end effector device of industrial robot | |
| CN208358837U (en) | A kind of multistage aerodynamic clamping jaw of industrial robot | |
| CN104097212B (en) | A kind of robot hand fixture being applicable to accumulator automatic de-stacking operation | |
| CN202640367U (en) | Multifunctional clamp for assembly packaging robot | |
| CN206465010U (en) | clamping jaw device | |
| CN106541386A (en) | A kind of Novel palletizer tool handss | |
| CN205555479U (en) | Material snatchs manipulator | |
| CN210456545U (en) | Packing box pile up neatly machinery hand | |
| CN212126796U (en) | Pile up neatly machine people tongs device | |
| CN206316634U (en) | The spring washer discharging manipulator of electromagnetism valve portion kludge | |
| CN207985312U (en) | Tinned food boxing clamp | |
| CN202785519U (en) | Lateral sway type fork clamp used for forklift |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20181009 |
|
| WD01 | Invention patent application deemed withdrawn after publication |