CN109573611A - A kind of adjustable carrier robot grasper - Google Patents
A kind of adjustable carrier robot grasper Download PDFInfo
- Publication number
- CN109573611A CN109573611A CN201910059499.6A CN201910059499A CN109573611A CN 109573611 A CN109573611 A CN 109573611A CN 201910059499 A CN201910059499 A CN 201910059499A CN 109573611 A CN109573611 A CN 109573611A
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- Prior art keywords
- fixed
- plate
- sliding
- adjustable
- sleeve
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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
- 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
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
- B65G47/912—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers provided with drive systems with rectilinear movements only
-
- 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
- B65G2207/00—Indexing codes relating to constructional details, configuration and additional features of a handling device, e.g. Conveyors
- B65G2207/08—Adjustable and/or adaptable to the article size
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of adjustable carrier robot graspers, including mounting plate, the side of the mounting plate is equipped with a second sliding slot and two first sliding grooves, two first sliding grooves are located at the two sides of second sliding slot, there are two the second sliding blocks for installation in the second sliding slot, first sliding block there are two being respectively mounted in two first sliding grooves, and two first sliding blocks of the same side and second sliding block are one group, two the first sliding blocks and second sliding block in same group are fixed with movable plate jointly, mobile mechanism is equipped in the second sliding slot, the two sides of two movable plates are respectively and fixedly provided with two slide bars being parallel to each other.The present invention can be realized the switching of clamping transhipment and absorption transhipment, increase the purposes of handgrip, it is adjusted when clamping transhipment, suitable for carrying different size of cargo, and stable carrying is able to carry out when carrying, time and the cost of labor for reducing disassembly handgrip, improve working efficiency, are easy to use.
Description
Technical field
The present invention relates to carrier robot handgrip technical field more particularly to a kind of adjustable carrier robot graspers.
Background technique
Transfer robot is the industrial robot that can carry out automated handling operation, and transport operation refers to a kind of equipment
Workpiece is held, refers to from a Working position and moves on to another Working position.The mountable different end of transfer robot executes
Device is worked with the workpiece handling for completing various different shapes and state, significantly reduces the heavy manual labor of the mankind, extensive
Applied to removing automatically for lathe loading and unloading, press machine automatic production line, automatic assembly line, Palletised carry, container etc.
Fortune, Systems in Certain Developed Countries have made manual handling to greatest extent, and what is gone beyond the limit must be completed by transfer robot.
The carrying of transfer robot be unable to do without mechanical gripper, and traditional mechanical gripper can be only done single operation, due to
Carrier robot higher cost often executes different handling works after the completion of single copy mechanically, carries different size of
Article, it is therefore desirable to different carrying handgrips is used, after the completion of replacing handgrip, needs to reposition the position of robot gripper,
It just can be carried out operation, and time-consuming and laborious when replacement handgrip, it is inconvenient for use, and various types of handgrips increase use cost, are
This can grab different size of article we have proposed a kind of adjustable carrier robot grasper, to solve the above problems.
Summary of the invention
The purpose of the present invention is to solve disadvantages existing in the prior art, and a kind of adjustable carrying implement proposed
Device people's handgrip.
To achieve the goals above, present invention employs following technical solutions:
A kind of adjustable carrier robot grasper, including mounting plate, the side of the mounting plate are equipped with one second and slide
Slot and two first sliding grooves, two first sliding grooves are located at the two sides of second sliding slot, in the second sliding slot there are two installations
Second sliding block, is respectively mounted that there are two the first sliding blocks, and two first sliding blocks of the same side and one second in two first sliding grooves
Sliding block is that two the first sliding blocks and second sliding block in one group, same group are fixed with movable plate, the second sliding slot jointly
Interior to be equipped with mobile mechanism, the two sides of two movable plates are respectively and fixedly provided with two slide bars being parallel to each other, and two slide bars of the same side are
Adjustable plate is arranged on two slide bars in one group, same group jointly, the two sides of two movable plates are equipped with placing groove, and four put
It sets the bottom in slot and is mounted on cylinder, the end of four cylinders is each attached to the side of adjustable plate, the adjustable plate and movement
The side of plate is equipped with adsorbent equipment, and the two sides of the adjustable plate are respectively and fixedly provided with fixing axle, and the two sides of the adjustable plate are equipped with
Sleeve is adjusted, the side for adjusting sleeve is equipped with limit gap, and one end side wall in the limit gap is equipped with limiting slot,
The fixing axle is located in limiting slot, and the upper end of the adjustable plate is equipped with position-limit mechanism, is equipped in the adjusting sleeve and adjusts dress
It sets.
Preferably, the mobile mechanism includes the screw rod being rotatably connected in second sliding slot on the side wall of one end, and described second
Bottom in sliding slot is fixed with supporting block, and two the second sliding blocks are located at the two sides of supporting block, and one end of the screw rod is run through
The side of supporting block and the other side for extending supporting block, one end of the mounting plate are fixed with servo motor, the servo motor
Output shaft end through mounting plate one end and extend in second sliding slot, the output shaft end of the servo motor is fixed on
One end of screw rod, one end of the screw rod is equipped with left hand thread, and the other end of screw rod is equipped with right-handed thread, one of them second
Sliding block screw thread is socketed in one end that screw rod is equipped with left hand thread, another the second sliding block screw thread is socketed in screw rod equipped with right-handed thread
One end.
Preferably, the adsorbent equipment includes the multiple stop sleevees for being equidistantly fixed on adjustable plate and movable plate side,
The other side of the adjustable plate and movable plate, which is run through, is equipped with multiple gas-guide tubes, and the gas-guide tube and stop sleeve correspond, institute
Gas-guide tube one end is stated through stop sleeve and extends to the lower end of stop sleeve, is fixed with baffle, the gear on the gas-guide tube
One end of plate contradicts on one end side wall in stop sleeve, and second spring, the second spring are arranged on the gas-guide tube
One end be fixed on the other end of baffle, the other end of the second spring is fixed on the other end side wall in stop sleeve,
One end of the gas-guide tube is connected with sucker, and the other end of the gas-guide tube is connected with high-pressure air pipe.
Preferably, the position-limit mechanism includes the spacing collar for being fixed on adjustable plate upper end, the bottom in the spacing collar
Portion is rotatably connected to the second rotating bar, and loading plate, second rotating bar are fixed on one end side wall in the spacing collar
One end through loading plate side and extend to the other side of loading plate, one end of second rotating bar is equipped with external screw thread,
The second gag lever post is equipped in the spacing collar, one end of second gag lever post is equipped with through-hole, is equipped with interior spiral shell in the through-hole
Line, second rotating bar are socketed in externally threaded threaded one end and set in internal thread through-hole, second gag lever post
Top of the other end in the spacing collar and extend to one end of spacing collar, be socketed with rotation in second rotating bar
Block, the side of the rotating block are rotatably connected to the first rotating bar, and fixing sleeve is equipped with the first conical tooth in first rotating bar
It takes turns, fixing sleeve is equipped with the second angular wheel in second rotating bar, and second angular wheel and the first angular wheel are mutual
It engages, one end side wall that one end of first rotating bar is run through in spacing collar and the side for extending to spacing collar are described
One end of first rotating bar is fixed with the first turntable, and two adjusting sleeves of the same side are two adjustings in one group, same group
The side of sleeve is respectively and fixedly provided with limited block, and the upper end of the limited block contradicts two tune in the lower end of adjustable plate, same group
The other side of section sleeve is fixed with carrier bar jointly, and the side of the carrier bar is fixed with the first gag lever post, first limit
Bar is located at the side of adjustable plate, and the side of first gag lever post is equipped with groove, and one end of second gag lever post is contradicted recessed
On one end side wall in slot.
Preferably, the regulating device includes that the adjusting rod adjusted in sleeve is arranged in, between side of the adjusting rod etc.
Away from multiple blind holes are equipped with, one end side wall adjusted in sleeve is equipped with tapped through hole, screws togather in the tapped through hole limited
Position screw, one end of the stop screw is through tapped through hole and extends in one of blind hole, the stop screw it is another
One end is fixed with the second turntable, and two adjusting rods of the same side are that the side of two adjusting rods in one group, same group is jointly solid
Surely there is clamping device.
Preferably, the clamping device includes the clamping plate for being fixed on two adjusting rod sides in same group, the clamping plate
Lower end is fixed with support plate, and the side of the clamping plate is fixed with supporting shell, and spacing are solid on one end side wall in the supporting shell etc.
Surely there are multiple first springs, clamping shell is arranged in the supporting shell, first spring is extended in clamping shell and is fixed on
It clamps on one end side wall in shell.
Preferably, the cross section of second gag lever post is rectangle.
Preferably, the side of the support plate is obliquely installed.
Preferably, the upper end of the mounting plate is fixed with link block, and the upper end of the link block is fixed with connecting plate, described
The upper end two sides of connecting plate are away from equidistantly equipped with multiple mounting holes.
Preferably, the mounting plate is made of aluminum alloy material.
Compared with prior art, the beneficial effects of the present invention are:
1, by the cooperation of clamping device and support plate, article is clamped, solves and is not easy clamping carrying article
Problem has achieved the purpose that stable holding is carried, and support plate facilitates handgrip to pick up the article for needing to carry, the clamping dress when carrying
Set can stable holding size there are the articles of small variations；
2, by the cooperation of regulating device and adjusting sleeve, handgrip will be replaced by solving when different articles are carried in clamping
Problem has achieved the purpose that facilitate adjusting, can clamp to different articles, saves the time of replacement handgrip, improves
Working efficiency；
It 3, can be between clamping transhipment and absorption transhipment by the cooperation of adsorbent equipment, regulating device and clamping device
It is converted, handgrip is enable reasonably to be changed according to different service conditions；
In conclusion the present invention can be realized the switching of clamping transhipment and absorption transhipment, the purposes of handgrip is increased, is being pressed from both sides
It is adjusted when holding transhipment, is suitable for carrying different size of cargo, and be able to carry out stable carrying when carrying, reduces
Time and the cost of labor for dismantling handgrip, improve working efficiency, are easy to use.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram of adjustable carrier robot grasper proposed by the present invention；
Fig. 2 is a kind of mounting plates structure schematic diagram of adjustable carrier robot grasper proposed by the present invention；
Fig. 3 is a kind of adjustable plate structural schematic diagram of adjustable carrier robot grasper proposed by the present invention；
Fig. 4 is a kind of second sliding slot structural schematic diagram of adjustable carrier robot grasper proposed by the present invention；
Fig. 5 is a kind of adjustable plate structural schematic diagram of adjustable carrier robot grasper proposed by the present invention；
Fig. 6 is schematic enlarged-scale view at a kind of A of adjustable carrier robot grasper proposed by the present invention；
Fig. 7 is schematic enlarged-scale view at a kind of B of adjustable carrier robot grasper proposed by the present invention；
Fig. 8 is schematic enlarged-scale view at a kind of C of adjustable carrier robot grasper proposed by the present invention；
Fig. 9 is schematic enlarged-scale view at a kind of D of adjustable carrier robot grasper proposed by the present invention；
Figure 10 is schematic enlarged-scale view at a kind of E of adjustable carrier robot grasper proposed by the present invention；
Figure 11 is a kind of first sliding groove structural schematic diagram of adjustable carrier robot grasper proposed by the present invention.
In figure: 1 mounting plate, 2 movable plates, 3 slide bars, 4 cylinders, 5 adjustable plates, 6 grooves, 7 first gag lever posts, 8 adjust sleeves,
9 adjusting rods, 10 support plates, 11 clamping plates, 12 stop screws, 13 carrier bars, 14 second gag lever posts, 15 high-pressure air pipes, 16 first are slided
Block, 17 second sliding blocks, 18 connecting plates, 19 link blocks, 20 mounting holes, 21 first turntables, 22 servo motors, 23 spacing collars, 24
Sucker, 25 limited blocks, 26 stop sleevees, 27 second turntables, 28 placing grooves, 29 supporting blocks, 30 screw rods, 31 blind holes, 32 screw threads are logical
Hole, 33 first rotating bars, 34 first angular wheels, 35 rotating blocks, 36 second angular wheels, 37 loading plates, 38 second rotating bars,
39 supporting shells, 40 clamping shells, 41 first springs, 42 fixing axles, 43 limit gap, 44 first sliding grooves, 45 second sliding slots, 46 second
Spring, 47 gas-guide tubes, 48 baffles.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.
Referring to Fig.1-11, a kind of adjustable carrier robot grasper, including mounting plate 1, mounting plate 1 use aluminium alloy material
Matter is made, and quality is less than steel, and anti-corrosion, increases service life, the upper end of mounting plate 1 is fixed with link block 19, link block 19
Upper end be fixed with connecting plate 18, the upper end two sides of connecting plate 18 pass through bolt and peace away from multiple mounting holes 20 are equidistantly equipped with
Handgrip is installed in carrier robot by dress hole 20, facilitates installing and dismounting, and the side of mounting plate 1 is equipped with 45 He of second sliding slot
Two first sliding grooves 44, two first sliding grooves 44 are located at the two sides of second sliding slot 45, in second sliding slot 45 there are two installations
Second sliding block 17 is respectively mounted in two first sliding grooves 44 there are two the first sliding block 16, and the second sliding block 17 of auxiliary drives movable plate 2 to move
It is dynamic, and two first sliding blocks 16 of the same side and second sliding block 17 are two 16 Hes of the first sliding block in one group, same group
One the second sliding block 17 is fixed with movable plate 2 jointly, the movement that movable plate 2 can be made stable, and movement is equipped in second sliding slot 45
Mechanism controls the movement of the second sliding block 17, and the two sides of two movable plates 2 are respectively and fixedly provided with two slide bars being parallel to each other 3, the same side
Two slide bars 3 be one group, same group in two slide bars 3 on be arranged with adjustable plate 5 jointly, facilitate adjustable plate 5 on slide bar 3
It moves back and forth, increases the mobile stability of adjustable plate 5；
The two sides of two movable plates 2 are equipped with placing groove 28, and the bottom in four placing grooves 28 is mounted on cylinder 4, and four
The end of a cylinder 4 is each attached to the side of adjustable plate 5, and cylinder 4 controls to adjust the movement of plate 5, so that the clamping of handgrip be facilitated to turn
The side of fortune, adjustable plate 5 and movable plate 2 is equipped with adsorbent equipment, convenient to carry out absorption transhipment, adjustable plate 5 to frivolous article
Two sides be respectively and fixedly provided with fixing axle 42, the two sides of adjustable plate 5, which are equipped with, adjusts sleeve 8, and the side for adjusting sleeve 8 is equipped with limit and slits
Mouth 43, one end side wall limited in gap 43 are equipped with limiting slot, and fixing axle 42 is located in limiting slot, facilitates and adjusts sleeve 8
The upper end of installing and dismounting, adjustable plate 5 is equipped with position-limit mechanism, facilitates secured adjusted sleeve 8, adjusts and is equipped with regulating device in sleeve 8,
Achieved the purpose that facilitate adjusting, can different articles clamped, save the time of replacement handgrip, improve work effect
Rate.
In the present invention, mobile mechanism includes the screw rod 30 being rotatably connected in second sliding slot 45 on the side wall of one end, and second is sliding
Bottom in slot 45 is fixed with supporting block 29, has reached 30 purpose of studdle, prevents screw rod 30 from radial jump occurring in rotation
Dynamic, two the second sliding blocks 17 are located at the two sides of supporting block 29, side and extension of the one end of screw rod 30 through supporting block 29
The other side of supporting block 29, one end of mounting plate 1 are fixed with servo motor 22, the model SM 80-024- of servo motor 22
30LFB, is capable of revolving speed and the steering of accurate adjustment screw 30, and the output shaft end of servo motor 22 runs through the one of mounting plate 1
It holds and extends in second sliding slot 45, the output shaft end of servo motor 22 is fixed on one end of screw rod 30, one end of screw rod 30
Equipped with left hand thread, and the other end of screw rod 30 is equipped with right-handed thread, one of them 17 screw thread of the second sliding block is socketed in screw rod 30
One end equipped with left hand thread, another 17 screw thread of the second sliding block are socketed in one end that screw rod 30 is equipped with right-handed thread, servo electricity
Machine 22 drives screw rod 30 to rotate, and screw rod 30 drives two the second sliding blocks 17 mobile, and two the second sliding blocks 17 drive movable plate 2 to move
It is dynamic, facilitate the distance of two movable plates 2 of adjustment, stable carrying is carried out convenient for the cargo to large span.
In the present invention, adsorbent equipment includes the multiple stop sleevees for being equidistantly fixed on 2 side of adjustable plate 5 and movable plate
26, it is high pressure engineering plastic material that the other side of adjustable plate 5 and movable plate 2, which is run through, which is equipped with multiple gas-guide tubes 47, is had certain
Hardness and structural strength can be slided in adjustable plate 5 and movable plate 2, and gas-guide tube 47 and stop sleeve 26 correspond, air guide
47 one end of pipe runs through stop sleeve 26 and extends to the lower end of stop sleeve 26, is fixed with baffle 48, baffle 48 on gas-guide tube 47
One end contradict on one end side wall in stop sleeve 26, baffle 48 limit gas-guide tube 47 stretch out length, carry when hold
The gravity that gas-guide tube 47 is born is carried, is arranged with second spring 46 on gas-guide tube 47, one end of second spring 46 is fixed on baffle 48
The other end, the other end of second spring 46 is fixed on the other end side wall in stop sleeve 26, compresses 46 energy of second spring
It is adsorbed onto sucker 24 uniformly on the article for needing to carry, one end of gas-guide tube 47 is connected with sucker 24,24 convenience of sucker
Adsorbent article is carried, and the other end of gas-guide tube 47 is connected with high-pressure air pipe 15, and when in use, high-pressure air pipe 15 is connected to suction
On attached air pump, by the evacuating air between sucker 24 and cargo when carrying, absorption is facilitated to carry.
In the present invention, position-limit mechanism includes the spacing collar 23 for being fixed on 5 upper end of adjustable plate, the bottom in spacing collar 23
It is rotatably connected to the second rotating bar 38, loading plate 37 is fixed on one end side wall in spacing collar 23, plays stable support
The effect of second rotating bar 38, one end of the second rotating bar 38 run through the side of loading plate 37 and extend to the another of loading plate 37
Side, one end of the second rotating bar 38 are equipped with external screw thread, are equipped with the second gag lever post 14, the cross of the second gag lever post 14 in spacing collar 23
Section is rectangle, prevents the second gag lever post 14 from rotating, thus the overhang of the second gag lever post 14 of control, the one of the second gag lever post 14
End is equipped with through-hole, and internal screw thread is equipped in through-hole, and the second rotating bar 38 is socketed in externally threaded threaded one end equipped with internal screw thread
Through-hole in, top in spacing collar 23 of the other end of the second gag lever post 14 and the one end for extending to spacing collar 23,
Facilitate the position of the second gag lever post 14 of control, rotating block 35 is socketed in the second rotating bar 38, the side of rotating block 35, which rotates, to be connected
It is connected to the first rotating bar 33, fixing sleeve is equipped with the first angular wheel 34, fixing sleeve in the second rotating bar 38 in the first rotating bar 33
Equipped with the second angular wheel 36, the second angular wheel 36 and the intermeshing of the first angular wheel 34, one end of the first rotating bar 33
One end side wall in spacing collar 23 and the side for extending to spacing collar 23, one end of the first rotating bar 33 is fixed with
One turntable 21, the first turntable 21 drive the rotation of the first rotating bar 33, and the first rotating bar 33 passes through the first angular wheel 34 and second
Angular wheel 36 drives the rotation of the second rotating bar 38, and two adjusting sleeves 8 of the same side are two adjustings in one group, same group
The side of sleeve 8 is respectively and fixedly provided with limited block 25, and the upper end of limited block 25 contradicts two in the lower end of adjustable plate 5, same group
The other side for adjusting sleeve 8 is fixed with carrier bar 13 jointly, and the side of carrier bar 13 is fixed with the first gag lever post 7, the first limit
Bar 7 is located at the side of adjustable plate 5, and the side of the first gag lever post 7 is equipped with groove 6, and one end of the second gag lever post 14 is contradicted in groove 6
On interior one end side wall, the conflict of the upper end of limited block 25 tightly can be made in the lower end of adjustable plate 5, thus to regulating device and
Clamping device is fixed, and facilitates and carries out clamping transhipment.
In the present invention, regulating device includes that the adjusting rod 9 adjusted in sleeve 8 is arranged in, and the side of adjusting rod 9 is equidistantly set
There are multiple blind holes 31, play the role of limit, one end side wall adjusted in sleeve 8 is equipped with tapped through hole 32, tapped through hole
Stop screw 12 is screwed in 32, one end of stop screw 12 through tapped through hole 32 and extends in one of blind hole 31,
The other end of stop screw 12 is fixed with the second turntable 27, facilitates rotation set screw 12, thus facilitate adjusting, the two of the same side
A adjusting rod 9 is that the side of two adjusting rods 9 in one group, same group is fixed with clamping device jointly, according to the size of cargo
Rotation set screw 12 produces stop screw 12 out of blind hole 31, after adjusting rod 9 is adjusted to suitable overhang, reversion
Stop screw 12 is transferred in corresponding groove 6 by stop screw 12, is facilitated and is clamped different cargos.
In the present invention, clamping device includes the clamping plate 11 for being fixed on two 9 sides of adjusting rod in same group, under clamping plate 11
End is fixed with support plate 10, and the side of support plate 10 is obliquely installed, and the side of clamping plate 11 is fixed with supporting shell 39, in supporting shell 39
One end side wall on etc. spacing be fixed with multiple first springs 41, clamping shell 40 is arranged in supporting shell 39, the first spring 41 prolongs
It extends in clamping shell 40 and is fixed on one end side wall in clamping shell 40, when clamping, clamping shell 40 compression first can be passed through
Spring 41 prevents the size when carrying between article from having differences and causes so as to carry out stable clamping to cargo
Biggish shaking occurs for article.
In the present invention, in use, handgrip is fixed on transfer robot by connecting plate 18, high-pressure air pipe 15 is connected to
It adsorbs on air pump, servo motor 22 drives screw rod 30 to rotate, and screw rod 30 drives two the second sliding blocks 17 mobile, two the second sliding blocks
17 drive movable plate 2 mobile, and cylinder 4 pushes the adjustable plate 5 of 2 two sides of movable plate mobile, to adjust movable plate 2 and adjustable plate 5
Position, handgrip is moved on article to be transported, when the sucker 24 on handgrip, which is attached to, to be carried on object, inhales to object is carried
Attached carrying, it is convenient that different size of article is rotated, when carrying object and being not easy to absorption and carry, tilt adjustment set outward
Cylinder 8 will adjust the limit gap 43 on sleeve 8 and be inserted into fixing axle 42, is located at fixing axle 42 in limiting slot, limited block 25 supports
Touching rotates the first turntable 21 in the lower end of adjustable plate 5, and the first turntable 21 drives the rotation of the first rotating bar 33, the first rotating bar 33
The rotation of the second rotating bar 38 is driven by the first angular wheel 34 and the second angular wheel 36, the second rotating bar 38 is rotated in interior spiral shell
It drives the second rotating bar 38 to remove under the action of line and external screw thread out of spacing collar 23, one end of the second rotating bar 38 is transferred to
In groove 6, and the bottom in groove 6 is contradicted, regulating device and clamping device are fixed, turned according to the size of cargo
Dynamic stop screw 12, stop screw 12 is produced out of blind hole 31, after adjusting rod 9 is adjusted to suitable overhang, reversion limit
Position screw 12, stop screw 12 is transferred in corresponding groove 6, is facilitated and is clamped different cargo, and when clamping, cylinder 4 is with adjusting
Plate 5 is mobile, and adjustable plate 5 drives adjusting sleeve 8, regulating device and clamping device to be clamped, and can pass through clamping shell 40 and compress
First spring 41, so as to carry out stable clamping to cargo, prevent carry when article between size have differences and
Cause article that biggish shaking occurs.
The foregoing is only a preferred embodiment of the present invention, but scope of protection of the present invention is not limited thereto,
Anyone skilled in the art in the technical scope disclosed by the present invention, according to the technique and scheme of the present invention and its
Inventive concept is subject to equivalent substitution or change, should be covered by the protection scope of the present invention.
Claims (10)
1. a kind of adjustable carrier robot grasper, including mounting plate (1), it is characterised in that: the side of the mounting plate (1)
Equipped with a second sliding slot (45) and two first sliding grooves (44), two first sliding grooves (44) are located at second sliding slot (45)
Two sides, in the second sliding slot (45) installation there are two the second sliding block (17), be respectively mounted in two first sliding grooves (44) there are two
First sliding block (16), and two first sliding blocks (16) of the same side and second sliding block (17) they are two in one group, same group
A first sliding block (16) and second sliding block (17) are fixed with movable plate (2) jointly, are equipped with and move in the second sliding slot (45)
Motivation structure, the two sides of two movable plates (2) are respectively and fixedly provided with two slide bars being parallel to each other (3), and two slide bars (3) of the same side are
It is arranged with jointly adjustable plate (5) on two slide bars (3) in one group, same group, the two sides of two movable plates (2) are equipped with placement
Slot (28), the bottom in four placing grooves (28) are mounted on cylinder (4), and the end of four cylinders (4) is each attached to adjustable plate
(5) side of side, the adjustable plate (5) and movable plate (2) is equipped with adsorbent equipment, and the two sides of the adjustable plate (5) are equal
It is fixed with fixing axle (42), the two sides of the adjustable plate (5), which are equipped with, adjusts sleeve (8), and the side for adjusting sleeve (8) is set
Have limit gap (43), one end side wall in limit gap (43) is equipped with limiting slot, and the fixing axle (42) is located at limit
In the slot of position, the upper end of the adjustable plate (5) is equipped with position-limit mechanism, is equipped with regulating device in the adjusting sleeve (8).
2. a kind of adjustable carrier robot grasper according to claim 1, which is characterized in that mobile mechanism's packet
The screw rod (30) being rotatably connected on the interior one end side wall of second sliding slot (45) is included, the bottom in the second sliding slot (45) is fixed with
Supporting block (29), two the second sliding blocks (17) are located at the two sides of supporting block (29), and one end of the screw rod (30) is through branch
One end of the side of bracer (29) and the other side for extending supporting block (29), the mounting plate (1) is fixed with servo motor (22),
The output shaft end of the servo motor (22) runs through the one end of mounting plate (1) and extends in second sliding slot (45), described to watch
The output shaft end for taking motor (22) is fixed on one end of screw rod (30), and one end of the screw rod (30) is equipped with left hand thread, and
The other end of screw rod (30) is equipped with right-handed thread, one of them the second sliding block (17) screw thread is socketed in screw rod (30) equipped with left-handed spiral shell
One end of line, another the second sliding block (17) screw thread are socketed in one end that screw rod (30) are equipped with right-handed thread.
3. a kind of adjustable carrier robot grasper according to claim 1, which is characterized in that the adsorbent equipment packet
Include the multiple stop sleevees (26) for being equidistantly fixed on adjustable plate (5) and movable plate (2) side, the adjustable plate (5) and movement
The other side of plate (2), which is run through, is equipped with multiple gas-guide tubes (47), and the gas-guide tube (47) and stop sleeve (26) correspond, described
Gas-guide tube (47) one end runs through stop sleeve (26) and extends to the lower end of stop sleeve (26), fixed on the gas-guide tube (47)
Have baffle (48), one end of the baffle (48) contradicts the gas-guide tube (47) on one end side wall in stop sleeve (26)
On be arranged with second spring (46), one end of the second spring (46) is fixed on the other end of baffle (48), second bullet
The other end of spring (46) is fixed on the other end side wall in stop sleeve (26), and one end of the gas-guide tube (47) is connected with suction
The other end of disk (24), the gas-guide tube (47) is connected with high-pressure air pipe (15).
4. a kind of adjustable carrier robot grasper according to claim 1, which is characterized in that the position-limit mechanism packet
The spacing collar (23) for being fixed on adjustable plate (5) upper end is included, the lower rotation in the spacing collar (23) is connected with second turn
Lever (38) is fixed with loading plate (37) on one end side wall in the spacing collar (23), second rotating bar (38)
One end runs through the side of loading plate (37) and extends to the other side of loading plate (37), and one end of second rotating bar (38) is set
There is external screw thread, be equipped with the second gag lever post (14) in the spacing collar (23), one end of second gag lever post (14) is equipped with logical
Hole, the through-hole is interior to be equipped with internal screw thread, and second rotating bar (38) is socketed in externally threaded threaded one end equipped with interior spiral shell
In the through-hole of line, top in spacing collar (23) of the other end of second gag lever post (14) simultaneously extends to spacing collar
(23) one end is socketed with rotating block (35) on second rotating bar (38), the side rotation connection of the rotating block (35)
Have the first rotating bar (33), fixing sleeve is equipped with the first angular wheel (34) on first rotating bar (33), second rotation
Fixing sleeve is equipped with the second angular wheel (36) on bar (38), and second angular wheel (36) and the first angular wheel (34) are mutual
It engages, one end side wall that one end of first rotating bar (33) is run through in spacing collar (23) simultaneously extends to spacing collar (23)
Side, one end of first rotating bar (33) is fixed with the first turntable (21), and two adjusting sleeves (8) of the same side are one
Group, two sides for adjusting sleeve (8) in same group are respectively and fixedly provided with limited block (25), and the upper end of the limited block (25) contradicts
Two other sides for adjusting sleeve (8) in the lower end of adjustable plate (5), same group are fixed with carrier bar (13) jointly, described
The side of carrier bar (13) is fixed with the first gag lever post (7), and first gag lever post (7) is located at the side of adjustable plate (5), described
The side of first gag lever post (7) is equipped with groove (6), and one end of second gag lever post (14) contradicts one end in groove (6)
On side wall.
5. a kind of adjustable carrier robot grasper according to claim 1, which is characterized in that the regulating device packet
It includes setting and is adjusting the adjusting rod (9) in sleeve (8), the side of the adjusting rod (9) is equidistantly equipped with multiple blind holes (31), institute
It states one end side wall adjusted in sleeve (8) and is equipped with tapped through hole (32), be screwed with stop screw in the tapped through hole (32)
(12), one end of the stop screw (12) through tapped through hole (32) and extends in one of blind hole (31), the limit
The other end of position screw (12) is fixed with the second turntable (27), and two adjusting rods (9) of the same side are two in one group, same group
The side of a adjusting rod (9) is fixed with clamping device jointly.
6. a kind of adjustable carrier robot grasper according to claim 5, which is characterized in that the clamping device packet
The clamping plate (11) for being fixed on two adjusting rod (9) sides in same group is included, the lower end of the clamping plate (11) is fixed with support plate
(10), the side of the clamping plate (11) is fixed with supporting shell (39), and spacing are solid on one end side wall in the supporting shell (39) etc.
Surely there are multiple first springs (41), clamping shell (40) is arranged in the supporting shell (39), first spring (41) extends to
In clamping shell (40) and it is fixed on one end side wall clamped in shell (40).
7. a kind of adjustable carrier robot grasper according to claim 4, which is characterized in that second gag lever post
(14) cross section is rectangle.
8. a kind of adjustable carrier robot grasper according to claim 6, which is characterized in that the support plate (10)
Side be obliquely installed.
9. a kind of adjustable carrier robot grasper according to claim 1, which is characterized in that the mounting plate (1)
Upper end be fixed with link block (19), the upper end of the link block (19) is fixed with connecting plate (18), the connecting plate (18)
Upper end two sides are away from equidistantly equipped with multiple mounting holes (20).
10. a kind of adjustable carrier robot grasper according to claim 1, which is characterized in that the mounting plate (1)
It is made of aluminum alloy material.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910059499.6A CN109573611B (en) | 2019-01-22 | 2019-01-22 | Transfer robot tongs with adjustable |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910059499.6A CN109573611B (en) | 2019-01-22 | 2019-01-22 | Transfer robot tongs with adjustable |
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| CN109573611A true CN109573611A (en) | 2019-04-05 |
| CN109573611B CN109573611B (en) | 2023-08-22 |
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ID=65916964
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910059499.6A Active CN109573611B (en) | 2019-01-22 | 2019-01-22 | Transfer robot tongs with adjustable |
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| CN110255185A (en) * | 2019-07-25 | 2019-09-20 | 云集未来智能科技(天津)有限公司 | A kind of clamping device |
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| CN111037123A (en) * | 2020-01-16 | 2020-04-21 | 济南金威刻科技发展有限公司 | Precise laser cutting system |
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| CN114227745A (en) * | 2022-02-07 | 2022-03-25 | 河南工业贸易职业学院 | Clamping device for transfer robot |
| CN114227745B (en) * | 2022-02-07 | 2023-09-01 | 河南工业贸易职业学院 | Clamping device for transfer robot |
| CN114772269A (en) * | 2022-05-24 | 2022-07-22 | 安徽英发睿能科技股份有限公司 | Transport auxiliary device is used in production of two-sided battery of centre gripping formula |
| CN115009844A (en) * | 2022-07-27 | 2022-09-06 | 特力新能源(惠州)有限公司 | Tool processing machinery hand is used in electronic product production |
| CN115009844B (en) * | 2022-07-27 | 2024-04-26 | 特力新能源(惠州)有限公司 | Jig machining manipulator for electronic product production |
| CN116281161A (en) * | 2023-05-17 | 2023-06-23 | 常州市吉诺装饰材料有限公司 | Plastic floor carrying device |
| CN116281161B (en) * | 2023-05-17 | 2023-11-17 | 常州市吉诺装饰材料有限公司 | Plastic floor carrying device |
| CN116902602B (en) * | 2023-09-12 | 2023-11-21 | 常州市正文印刷有限公司 | Carton aligning and stacking device |
| CN116902602A (en) * | 2023-09-12 | 2023-10-20 | 常州市正文印刷有限公司 | Carton aligning and stacking device |
| CN118323697A (en) * | 2024-03-13 | 2024-07-12 | 江苏智慧工场技术研究院有限公司 | Transfer robot |
| CN117985464A (en) * | 2024-04-03 | 2024-05-07 | 常州优纳新材料科技有限公司 | Carrying device for slitting mesoporous heat insulating material |
| CN118419613A (en) * | 2024-05-30 | 2024-08-02 | 湖北三行科技股份有限公司 | Enamel thin plate stacker |
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