CN109895127A - A kind of transhipment gripper - Google Patents
A kind of transhipment gripper Download PDFInfo
- Publication number
- CN109895127A CN109895127A CN201711303103.5A CN201711303103A CN109895127A CN 109895127 A CN109895127 A CN 109895127A CN 201711303103 A CN201711303103 A CN 201711303103A CN 109895127 A CN109895127 A CN 109895127A
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- claw
- shell
- buffer stopper
- sliding
- connecting rod
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Abstract
The present invention relates to a kind of transhipment grippers, including driving portion and clamping part, clamping device includes the first claw and the second claw, the top of first claw and the second claw is equipped with clamping section, and clamping section includes shell, and shell is equipped with sliding rail on intracorporal top and bottom, the right side inner wall of shell is equipped with sliding slot, it is slidably connected in sliding slot there are two sliding block, buffer stopper is installed on each sliding block, abutting between buffer stopper has buffer spring；Grip block is equipped between buffer stopper and sliding rail, the left end of grip block is set there are two pulley, and right end is slidably connected with shell；Driving portion includes the hydraulic telescopic rod being vertically arranged, horizontal push, first connecting rod, second connecting rod, fixed plate.The present invention is driven by hydraulic telescopic rod, is automatically grabbed or is decontroled so that the first claw and the second claw be driven to open or be closed realization, high degree of automation；Grip block is firmly bonded under the action of the elastic force of spring with the irregular position of picked up workpiece simultaneously, is grabbed solid and reliable.
Description
Technical field
The invention belongs to transport mechanical equipment technical field, and in particular to a kind of transhipment gripper.
Background technique
Manipulator can imitate certain holding functions of manpower and arm, to by fixed routine crawl, carrying object or operation
The automatic pilot of tool.It can replace the heavy labor of people to realize the mechanization and automation of production, can be in harmful ring
Operation is under border to protect personal safety, thus is widely used in machine-building, metallurgy, electronics, light industry and atomic energy department.Mesh
Before, the wider manipulator of application is four axis robots and five axis robots.Wherein to drive machinery in five axis robot structures
Five movement mechanism routines of arm movement are as follows: vertical movement mechanism, swing arm motion mechanism, flip-flop movement mechanism, horizontal motion machine
Structure and actuating station rotational motion mechanism.
Using manipulator, the manual labor of people can be not only reduced, reduces the waste of human resources, and work can be effectively improved
Make efficiency；Existing mechanical paw is mostly two finger clamping type manipulator pawls, and such mechanical paw is rigidity clamping, is only applicable to press from both sides
The rodlike or tubular workpiece for holding regular shape easily gets loose existing such workpiece in irregular shape in clamping process
As.
Summary of the invention
In order to solve the above-mentioned problems in the prior art, the present invention provides a kind of transhipment grippers.The present invention wants
The technical issues of solution is achieved through the following technical solutions: a kind of transhipment gripper, including driving portion and clamping part, feature exist
It include the first claw and the second claw in: the clamping device, the top of the first claw and the second claw is equipped with clamping section, presss from both sides
Tight portion includes shell, and sliding rail is equipped on the intracorporal top and bottom of shell, and the right side inner wall of shell is equipped with sliding slot, slides in sliding slot
Sliding block there are two connecting is moved, buffer stopper is installed on each sliding block, abutting between buffer stopper has buffer spring；The buffer stopper court
It is to the inclined inclined-plane of flexible buffer spring to the one side of sliding rail；
Grip block is equipped between the buffer stopper and sliding rail, one end of grip block is set there are two pulley, and the other end extends to described
Shell is outer and is slidably connected with shell, and two pulleys are located at the top and bottom of grip block；
The driving portion includes fixing sleeve, and institute is stretched out on the top of the hydraulic telescopic rod being vertically arranged in fixing sleeve, hydraulic telescopic rod
State the top of fixing sleeve and be installed with horizontal push, the both ends of horizontal push respectively with the lower end of first connecting rod and second connecting rod
Lower end is hinged, and the upper end of first connecting rod and second connecting rod is hinged with the lower end of first claw and the second claw respectively；It is described
Fixed plate is installed on the top of fixing sleeve, the top of fixed plate and the first claw and the second claw are hinged.
Beneficial effects of the present invention: the present invention drives horizontal push to move up and down by hydraulic telescopic rod, to drive the
One claw and the second claw open or closure realization automatically grabs or relieving movement, high degree of automation；Grip block is slow simultaneously
Rushing under the action of block can be clamped and be clamped to article, during grabbing workpiece, when two claws are closed, in shell
It flanks after contacting workpiece, grip block floats in shell and do not advised the elastic force of spring under the action of with picked up workpiece
Then position is firmly bonded, and for the workpiece of irregular shape, also firmly can be clamped and be grabbed, and crawl is solid and reliable, particularly suitable for
Shape coincidence bad bar and flat column material workpiece are grabbed, it is applied widely.
The present invention is described in further details below with reference to accompanying drawings and embodiments.
Detailed description of the invention
Fig. 1 is schematic structural view of the invention.
Fig. 2 is clamping part structural schematic diagram of the present invention.
Specific embodiment
Reach the technical means and efficacy that predetermined purpose is taken for the present invention is further explained, below in conjunction with attached drawing and reality
Example is applied to a specific embodiment of the invention, structure feature and its effect, detailed description are as follows.
In the description of the invention, it is to be understood that term " center ", " longitudinal direction ", " transverse direction ", "upper", "lower",
The orientation or positional relationship of the instructions such as "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outside" is
It is based on the orientation or positional relationship shown in the drawings, is merely for convenience of description the invention and simplifies description, rather than indicate
Or imply that signified device or element must have a particular orientation, be constructed and operated in a specific orientation, therefore cannot understand
For the limitation to the invention.
In addition, term " first ", " second ", " third " etc. are used for description purposes only, it is not understood to indicate or imply
Relative importance or the quantity for implicitly indicating indicated technical characteristic.The feature of " first ", " second " etc. is defined as a result,
It can explicitly or implicitly include one or more of the features.In the description of the invention, unless otherwise indicated,
The meaning of " plurality " is two or more.
Term " installation ", " connected ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, be also possible to removable
Connection is unloaded, or is integrally connected；It can be mechanical connection, be also possible to be electrically connected；It can be directly connected, it can also be in
Between medium be indirectly connected, can be the connection inside two elements.For the ordinary skill in the art, can pass through
Concrete condition understands concrete meaning of the above-mentioned term in the invention.
As shown in Figure 1 and Figure 2, the present embodiment provides a kind of transhipment gripper, including driving portion and clamping part, clamping devices
Including the first claw 5 and the second claw 6, the top of the first claw 5 and the second claw 6 is equipped with clamping section, and clamping section includes shell
Body 9, is equipped with sliding rail 10 on the top and bottom in shell 9, and the right side inner wall of shell 9 is equipped with sliding slot 11, sliding in sliding slot 11
Sliding block 15 there are two connecting is moved, buffer stopper 16 is installed on each sliding block 15, abutting between buffer stopper 16 has buffer spring 17；It is sliding
Block 15 can slide up and down, and the both ends of buffer spring 17 are fixedly connected with two buffer stoppers 16 respectively, when buffer stopper 16 is compressed,
Sliding block 15 slides in sliding slot 11, and the one side of buffer stopper 16 towards sliding rail 10 is to the inclined inclined-plane of flexible buffer spring 17；
It is equipped with grip block 18 between buffer stopper 16 and sliding rail 10, the left end of grip block 18 is located in shell 9 and pulley there are two setting
19, right end is extended to outside shell 9 and is slidably connected with shell 9, and two pulleys 19 are located at the top and bottom of grip block 18.
When grabbing workpiece, the first claw 5 and the second claw 6 closure can contact clamping with workpiece a part at this time, press from both sides on the inside of shell 9
The left slide into shell 9 of pulley 19, pulley 19 can be passed through after stress with some irregular location contacts of workpiece by holding block 18
It acts on buffer stopper 16, two buffer stoppers 16 are close to each other, and buffer spring 17 is compressed, and simultaneous buffering spring 17 can be to buffering
16 reaction force of block, it is inconsistent with pulley 19, so that grip block 18 is made to generate additional clamping force to the irregular position of workpiece,
Clamping section regular workpiece that can be more stable.
Driving portion includes fixing sleeve 4, and the hydraulic telescopic rod 7 being vertically arranged in fixing sleeve 4, the top of hydraulic telescopic rod 7 is stretched
The top of the fixing sleeve 4 and be installed with horizontal push 8 out, the both ends of horizontal push 8 respectively with the lower end of first connecting rod 12 and
The lower end of second connecting rod 13 is hinged, the upper end of first connecting rod 12 and second connecting rod 13 respectively with the first claw 5 and the second claw 6
Lower end is hinged；The top of hydropexis set 4 is installed with fixed plate 14, the top of fixed plate 14 and the first claw 5 and the second claw 6 is cut with scissors
It connects.When clamping workpiece, hydraulic telescopic rod 7 is stretched out, to drive horizontal push 8 to move up, in first connecting rod 12 and second
Under the action of connecting rod 13, and then the first claw 5 and the second claw 6 is driven to block around with the interface point of fixed plate 14 rotation, first
Pawl 5 and the second claw 6 is close to each other moves inward closure, by Workpiece clamping.Unclamping workpiece, then hydraulic telescopic rod 7 is shunk.
The working principle of the invention or the course of work are as follows: when clamping workpiece, hydraulic telescopic rod 7 is stretched out, to drive
Horizontal push 8 moves up, and under the action of first connecting rod 12 and second connecting rod 13, and then drives the first claw 5 and the second card
Pawl 6 around with the rotation of the interface point of fixed plate 14, the first claw 5 and the second claw 6 is close to each other moves inward closure, while shell
Clamping can be contacted on the inside of body 9 with workpiece a part, grip block 18 can be with some irregular location contacts of workpiece, grip block
By the left slide into shell 9 of pulley 19 after 18 stress, pulley 19 is acted on buffer stopper 16, two 16 phase mutual connections of buffer stopper
Closely, buffer spring 17 is compressed, and simultaneous buffering spring 17 can give buffer stopper 16 reaction force, inconsistent with pulley 19, to make
Grip block 18 generates additional clamping force for Workpiece clamping to the irregular position of workpiece.Unclamping workpiece, then hydraulic telescopic rod 7 is received
Contracting.
The above content is a further detailed description of the present invention in conjunction with specific preferred embodiments, and it cannot be said that
Specific implementation of the invention is only limited to these instructions.For those of ordinary skill in the art to which the present invention belongs, exist
Under the premise of not departing from present inventive concept, a number of simple deductions or replacements can also be made, all shall be regarded as belonging to of the invention
Protection scope.
Claims (1)
1. a kind of transhipment gripper, including driving portion and clamping part, it is characterised in that: the clamping device includes the first claw
(5) and the second claw (6), the top of the first claw (5) and the second claw (6) is equipped with clamping section, and clamping section includes shell
(9), it is equipped with sliding rail (10) on the top and bottom in shell (9), the right side inner wall of shell (9) is equipped with sliding slot (11), sliding
There are two being slidably connected in slot (11) sliding block (15), it is installed with buffer stopper (16) on each sliding block (15), between buffer stopper (16)
Abutting has buffer spring (17)；The one side of the buffer stopper (16) towards sliding rail (10) is inclined to flexible buffer spring (17)
Inclined-plane；
Grip block (18) are equipped between the buffer stopper (16) and sliding rail (10), the left end of grip block (18) is set there are two pulley
(19), right end extends to the shell (9) outside and is slidably connected with shell (9), and two pulleys (19) are located at grip block
(18) top and bottom；
The driving portion includes fixing sleeve (4), the hydraulic telescopic rod (7) being vertically arranged in fixing sleeve (4), hydraulic telescopic rod (7)
Top stretch out the top of the fixing sleeve (4) and be installed with horizontal push (8), the both ends of horizontal push (8) are respectively with first
The lower end of connecting rod (12) and the lower end of second connecting rod (13) are hinged, the upper end of first connecting rod (12) and second connecting rod (13) respectively with
The lower end of first claw (5) and the second claw (6) is hinged；Fixed plate (14) are installed at the top of the fixing sleeve (4), Gu
The top and the first claw (5) of fixed board (14) and the second claw (6) are hinged.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711303103.5A CN109895127A (en) | 2017-12-11 | 2017-12-11 | A kind of transhipment gripper |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711303103.5A CN109895127A (en) | 2017-12-11 | 2017-12-11 | A kind of transhipment gripper |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109895127A true CN109895127A (en) | 2019-06-18 |
Family
ID=66941597
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711303103.5A Withdrawn CN109895127A (en) | 2017-12-11 | 2017-12-11 | A kind of transhipment gripper |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109895127A (en) |
Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110116403A (en) * | 2019-06-25 | 2019-08-13 | 公安部第一研究所 | A kind of the small-sized machine clamping jaw and its method of big stroke |
| CN110444369A (en) * | 2019-08-23 | 2019-11-12 | 苏州银蕨电力科技有限公司 | A kind of power distribution network PMU device |
| CN110849548A (en) * | 2019-12-03 | 2020-02-28 | 大同新成新材料股份有限公司 | Multi-azimuth air tightness detector for intelligent carbon sliding plate and detection method thereof |
| CN110936401A (en) * | 2019-12-10 | 2020-03-31 | 江苏理工学院 | Article picking and placing manipulator for production and manufacturing |
| CN110962154A (en) * | 2019-12-23 | 2020-04-07 | 中建三局安装工程有限公司 | Multi-degree-of-freedom-adjustment pipeline carrying and clamping device and method |
| CN112382197A (en) * | 2020-11-06 | 2021-02-19 | 杭州杉芽科技有限公司 | Self-adaptive non-right-angle glass fixing device for intelligent manufacturing of display screen |
| CN112428013A (en) * | 2020-11-10 | 2021-03-02 | 广东爱自然农业科技有限公司 | Asymmetric cam bearing clamping mechanism |
| CN112497248A (en) * | 2021-01-11 | 2021-03-16 | 广东海洋大学 | Flexible sorting clamping mechanical claw |
| CN112757214A (en) * | 2020-12-30 | 2021-05-07 | 中国石化集团胜利石油管理局有限公司电力分公司 | Lightning arrester replacement auxiliary device |
| CN113264661A (en) * | 2021-06-09 | 2021-08-17 | 本溪玉晶玻璃有限公司 | Ultra-large tonnage glass melting furnace production line using coal gas |
| CN113611047A (en) * | 2021-07-28 | 2021-11-05 | 北京博研盛科科技有限公司 | Multi-axis motion system |
| CN113977621A (en) * | 2021-11-09 | 2022-01-28 | 常州和仕达机械装备制造有限公司 | Take rotary device's bar fixture |
| CN114083779A (en) * | 2021-11-24 | 2022-02-25 | 福建省睿步智能装备有限公司 | PP weaves class travelling basket make-up machine |
| CN114772267A (en) * | 2022-05-18 | 2022-07-22 | 贺贝佳 | Transfer manipulator |
| CN114833550A (en) * | 2021-11-03 | 2022-08-02 | 中国电力科学研究院有限公司 | Clamping and screwing device for oil taking valve of transformer |
| CN114955499A (en) * | 2021-12-28 | 2022-08-30 | 福州外语外贸学院 | Civil engineering pipe fitting clamping device |
| CN118145285A (en) * | 2024-02-23 | 2024-06-07 | 江苏富乐华半导体科技股份有限公司 | AMB pottery copper-clad substrate is with automatic stack and transmission device |
-
2017
- 2017-12-11 CN CN201711303103.5A patent/CN109895127A/en not_active Withdrawn
Cited By (25)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110116403A (en) * | 2019-06-25 | 2019-08-13 | 公安部第一研究所 | A kind of the small-sized machine clamping jaw and its method of big stroke |
| CN110444369A (en) * | 2019-08-23 | 2019-11-12 | 苏州银蕨电力科技有限公司 | A kind of power distribution network PMU device |
| CN110849548A (en) * | 2019-12-03 | 2020-02-28 | 大同新成新材料股份有限公司 | Multi-azimuth air tightness detector for intelligent carbon sliding plate and detection method thereof |
| CN110936401A (en) * | 2019-12-10 | 2020-03-31 | 江苏理工学院 | Article picking and placing manipulator for production and manufacturing |
| CN110962154A (en) * | 2019-12-23 | 2020-04-07 | 中建三局安装工程有限公司 | Multi-degree-of-freedom-adjustment pipeline carrying and clamping device and method |
| CN112382197A (en) * | 2020-11-06 | 2021-02-19 | 杭州杉芽科技有限公司 | Self-adaptive non-right-angle glass fixing device for intelligent manufacturing of display screen |
| CN112382197B (en) * | 2020-11-06 | 2021-08-20 | 聊城中超光电科技有限公司 | Self-adaptive non-right-angle glass fixing device for intelligent manufacturing of display screen |
| CN112428013A (en) * | 2020-11-10 | 2021-03-02 | 广东爱自然农业科技有限公司 | Asymmetric cam bearing clamping mechanism |
| CN112757214A (en) * | 2020-12-30 | 2021-05-07 | 中国石化集团胜利石油管理局有限公司电力分公司 | Lightning arrester replacement auxiliary device |
| CN112497248A (en) * | 2021-01-11 | 2021-03-16 | 广东海洋大学 | Flexible sorting clamping mechanical claw |
| CN112497248B (en) * | 2021-01-11 | 2024-04-26 | 广东海洋大学 | Flexible sorting clamping mechanical claw |
| CN113264661A (en) * | 2021-06-09 | 2021-08-17 | 本溪玉晶玻璃有限公司 | Ultra-large tonnage glass melting furnace production line using coal gas |
| CN113264661B (en) * | 2021-06-09 | 2023-09-29 | 本溪玉晶玻璃有限公司 | Ultra-large tonnage glass melting kiln production line using coal gas |
| CN113611047A (en) * | 2021-07-28 | 2021-11-05 | 北京博研盛科科技有限公司 | Multi-axis motion system |
| CN113611047B (en) * | 2021-07-28 | 2022-09-06 | 北京博研盛科科技有限公司 | Multi-axis motion system |
| CN114833550B (en) * | 2021-11-03 | 2024-05-24 | 中国电力科学研究院有限公司 | Clamping screwing device for transformer oil taking valve |
| CN114833550A (en) * | 2021-11-03 | 2022-08-02 | 中国电力科学研究院有限公司 | Clamping and screwing device for oil taking valve of transformer |
| CN113977621A (en) * | 2021-11-09 | 2022-01-28 | 常州和仕达机械装备制造有限公司 | Take rotary device's bar fixture |
| CN113977621B (en) * | 2021-11-09 | 2024-04-30 | 常州和仕达机械装备制造有限公司 | Bar clamping mechanism with rotating device |
| CN114083779B (en) * | 2021-11-24 | 2024-03-05 | 福建省睿步智能装备有限公司 | PP weaves class travelling basket make-up machine |
| CN114083779A (en) * | 2021-11-24 | 2022-02-25 | 福建省睿步智能装备有限公司 | PP weaves class travelling basket make-up machine |
| CN114955499B (en) * | 2021-12-28 | 2023-09-12 | 福州外语外贸学院 | Civil engineering pipe fitting clamping device |
| CN114955499A (en) * | 2021-12-28 | 2022-08-30 | 福州外语外贸学院 | Civil engineering pipe fitting clamping device |
| CN114772267A (en) * | 2022-05-18 | 2022-07-22 | 贺贝佳 | Transfer manipulator |
| CN118145285A (en) * | 2024-02-23 | 2024-06-07 | 江苏富乐华半导体科技股份有限公司 | AMB pottery copper-clad substrate is with automatic stack and transmission device |
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Legal Events
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| PB01 | Publication | ||
| PB01 | Publication | ||
| WW01 | Invention patent application withdrawn after publication | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20190618 |