CN110228706A - A kind of adjust automatically gripper of industrial robot - Google Patents
A kind of adjust automatically gripper of industrial robot Download PDFInfo
- Publication number
- CN110228706A CN110228706A CN201910531182.8A CN201910531182A CN110228706A CN 110228706 A CN110228706 A CN 110228706A CN 201910531182 A CN201910531182 A CN 201910531182A CN 110228706 A CN110228706 A CN 110228706A
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- China
- Prior art keywords
- fixed
- gripper
- industrial robot
- adjustment component
- frame
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- 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
- B65G47/905—Control arrangements
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of adjust automatically gripper of industrial robot, are related to Industrial Robot Technology field.The present invention includes frame, and one surface of frame is fixed with two guide rails disposed in parallel；Two guide rails are sliding combined with two symmetrically arranged side folder adjustment components；Side folder adjustment component includes side clip assembly and adjustment component；Side clip assembly includes long plates of rectangular shape；One surface of long plates of rectangular shape is fixed with the first free bearing；First free bearing is hinged with extensible member；The extensible member other end is hinged by the second free bearing and one surface of frame；One surface of long plates of rectangular shape is fixed with two sliding blocks.The present invention adjusts side clip assembly and adjustment component in component by the side folder designed and is combined, component is adjusted when grabbing inner wrapping without operation, in crawl big packaging, adjustment component operation extends bearing length, solve the problems, such as in existing production robot gripper can only the packaging bag to a kind of size effectively grabbed.
Description
Technical field
The invention belongs to Industrial Robot Technology fields, more particularly to a kind of adjust automatically gripper of industrial robot.
Background technique
In the industrial production with the presence of a large amount of product in a manner of packaging bag, stacking and carrying implement on plant produced line
Tool hand is also gradually popularized.Occasionally there are the straps of sizes specification to carry out classification stacking in upper producing line, and production line can only
A manipulator is enough placed, the handgrip for needing end to execute is compound to play effect promptly to different size packaging, often results in
Handgrip not enough causes to slide from centre to the support packed greatly, influences manufacturing schedule, reduces production efficiency.
Summary of the invention
The purpose of the present invention is to provide a kind of adjust automatically gripper of industrial robot, pass through the side folder adjustment component of design
Middle side clip assembly and adjustment component are combined, and component is adjusted when grabbing inner wrapping without operation, in the big packaging of crawl
It adjusts component operation and extends bearing length, a kind of packaging bag of size can only be carried out by solving robot gripper in existing production
The problem of effectively grabbing.
In order to solve the above technical problems, the present invention is achieved by the following technical solutions:
The present invention is a kind of adjust automatically gripper of industrial robot, including frame, one surface of frame are fixed with two and set in parallel
The guide rail set；Two guide rails are sliding combined with two symmetrically arranged side folder adjustment components；The side folder adjustment component includes side
Clip assembly and adjustment component；The side clip assembly includes long plates of rectangular shape；One surface of long plates of rectangular shape is fixed with the first free bearing；Institute
It states the first free bearing and is hinged with extensible member；The extensible member other end is hinged by the second free bearing and one surface of frame；The rectangle
One surface of long slab is fixed with two sliding blocks；The sliding block is slidably matched with guide rail；At L-shaped, the L shape of the long plates of rectangular shape both ends fluting
Slot is connected by screw to sliding block bottom surface and one side；Another surface of long plates of rectangular shape is fixed with side folder riser；The side folder
The riser other end is fixed with two loading shovel boards；Loading shovel board one end is equipped with slope and arc-shaped transitional surface；The loading shovel board
The arrangement of one surface linear is provided with several rectangular straight slot；Wherein first is fixed between two loading shovel boards in a side folder adjustment component
It is switched to penetrating；Second pair, which is fixed with, between two loading shovel boards in another side folder adjustment component penetrates switch；Described first pair is penetrated out
It closes to penetrate with second to switch and be electrical connected with control device；The adjustment component includes lead screw motor, screw rod sliding block, two guiding
Column and driving end plate；Described lead screw motor one end is fixed on side folder riser one side；Two described guide post one end are fixed on screw rod
The side of motor two sides presss from both sides riser surface；The driving end plate is slidably matched with guide post；The screw rod sliding block is fixed on driving end
One surface of plate；The screw rod sliding block and the output screw rod of lead screw motor are rotatably assorted；One surface linear of the driving end plate arrangement
It is fixed with several rectangles and extends support bar；The rectangle extends support bar one end and is equipped with slope and arc-shaped transitional surface, reduces and stretches out
When resistance；The rectangle extends support bar and is slidably matched with rectangular straight slot.
Further, one opposed inner walls of frame are respectively and fixedly provided with two cylindrical sleeves；Described cylindrical sleeves one end is fixed with
Spring limiting board；Four cylindrical sleeves clearance fits have protective plate component；The protective plate component includes protective plate；It is described
The arrangement of one surface rectangle of protective plate is fixed with the first threaded post；First threaded post and cylindrical sleeves clearance fit；The bullet
Rectangular arranged has the first spring between spring limit plate and protective plate apparent surface；First spring and the first threaded post are concentric；
The first threaded post threaded one end is connected with adjusting nut.
Further, the protective plate lower surface is fixed with pressure-strain piece, and sensing chip and control device are electrically connected.
Further, the frame upper surface is fixed with mechanical wall connecting plate.
Further, the side folder riser one side linear array is fixed with several gussets；The gusset is chamfer ladder
Shape structure.
Further, the extensible member includes hydraulic cylinder, cylinder or electric telescopic rod.
The invention has the following advantages:
1, the present invention adjusts side clip assembly and adjustment component in component by the side folder designed and is combined, when grabbing inner wrapping
Component is adjusted without operation, in crawl packaging greatly, adjustment component operation rectangle extends support bar stretching and extends bearing length,
Increase an end execution and change hands the range that can be grabbed, improves crawl efficiency, improve production efficiency.
2, design robot gripping structure of the present invention is simple, can mass production, manufacturing cost is low.
Certainly, it implements any of the products of the present invention and does not necessarily require achieving all the advantages described above at the same time.
Detailed description of the invention
In order to illustrate the technical solution of the embodiments of the present invention more clearly, will be described below to embodiment required
Attached drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for ability
For the those of ordinary skill of domain, without creative efforts, it can also be obtained according to these attached drawings other attached
Figure.
Fig. 1 is a kind of structural schematic diagram of adjust automatically gripper of industrial robot of the present invention；
Fig. 2 is the structural schematic diagram of frame；
Fig. 3 is the structural schematic diagram of side folder adjustment component；
Fig. 4 is the structural schematic diagram of side clip assembly；
In attached drawing, parts list represented by the reference numerals are as follows:
1- frame, the side 2- folder adjustment component, the side 3- clip assembly, 4- adjust component, 5- loading shovel board, 6- first to penetrate switch, 7-
Protective plate component, 8- extensible member, 9- adjusting nut, 10- guide rail, 11- sliding block, 12- second to penetrate switch, 13- lead screw motor,
101- cylindrical sleeves, 102- spring limiting board, 103- machinery wall connecting plate, 301- long plates of rectangular shape, the first free bearing of 302-, the side 303-
Riser, 304- gusset are pressed from both sides, 401- drives end plate, and 402- rectangle extends support bar, 403- guide post, 501- rectangular straight slot, 701-
Protective plate, the first spring of 702-, the first threaded post of 703-, 131- export screw rod, 132- screw rod sliding block.
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.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts all other
Embodiment shall fall within the protection scope of the present invention.
It please refers to shown in Fig. 1-4, the present invention is a kind of adjust automatically gripper of industrial robot, including frame 1, frame 1 one
Surface is fixed with two guide rails 10 disposed in parallel；Two guide rails 10 are sliding combined with two symmetrically arranged side folder adjustment components 2；
Side folder adjustment component 2 includes side clip assembly 3 and adjustment component 4；
Side clip assembly 3 includes long plates of rectangular shape 301；301 1 surface of long plates of rectangular shape is fixed with the first free bearing 302；First free bearing 302 hinge
It is connected to extensible member 8；8 other end of extensible member is hinged by the second free bearing and 1 one surface of frame；301 1 surface of long plates of rectangular shape is fixed
There are two sliding blocks 11；Sliding block 11 is slidably matched with guide rail 10；301 both ends of long plates of rectangular shape fluting is at L-shaped, L-shaped groove and 11 bottom of sliding block
Face and one side are connected by screw to；Another surface of long plates of rectangular shape 301 is fixed with side folder riser 303；Side presss from both sides 303 other end of riser
It is fixed with two loading shovel boards 5；5 one end of loading shovel board is equipped with slope and arc-shaped transitional surface；The arrangement of 5 one surface linear of loading shovel board is opened
There are three rectangular straight slot 501；First pair wherein, which is fixed with, between two loading shovel boards 5 in side folder adjustment component 2 penetrates switch 6；It is another
Second pair, which is fixed with, between two loading shovel boards 5 in the folder adjustment component 2 of side penetrates switch 12；First pair is penetrated switch 6 and second pair is penetrated switch
12 are electrical connected with control device；
Adjusting component 4 includes lead screw motor 13, screw rod sliding block 132, two guide posts 403 and driving end plate 401；Lead screw motor 13 1
End is fixed on side folder 303 one side of riser；Two guide posts, 403 one end is fixed on side folder 303 table of riser of 13 two sides of lead screw motor
Face；Driving end plate 401 is slidably matched with guide post 403；Screw rod sliding block 132 is fixed on driving 401 1 surface of end plate；Screw rod sliding block
132 are rotatably assorted with the output screw rod 131 of lead screw motor 13；Driving the arrangement of 401 1 surface linear of end plate to fix, there are three rectangles
Extend support bar 402；Rectangle extends 402 one end of support bar and is equipped with slope and arc-shaped transitional surface, reduces resistance when stretching out；Rectangle prolongs
Stay 402 of drawing money on credit is slidably matched with rectangular straight slot 501.
Wherein as depicted in figs. 1 and 2,1 one opposed inner walls of frame are respectively and fixedly provided with two cylindrical sleeves 101；Cylindrical sleeves 101 1
End is fixed with spring limiting board 102；Four 101 clearance fits of cylindrical sleeves have protective plate component 7；Protective plate component 7 includes anti-
Backplate 701；The arrangement of 701 1 surface rectangle of protective plate is fixed with the first threaded post 703；First threaded post 703 and cylindrical sleeves 101
Clearance fit；Rectangular arranged has the first spring 702 between 701 apparent surface of spring limiting board 102 and protective plate；First spring 702
It is concentric with the first threaded post 703；First threaded post, 703 threaded one end is connected with adjusting nut 9.
Wherein, 701 lower surface of protective plate is fixed with pressure-strain piece, and sensing chip and control device are electrically connected.
Wherein as depicted in figs. 1 and 2,1 upper surface of frame is fixed with mechanical wall connecting plate 103.
Wherein as shown in figure 3, side folder 303 one side linear array of riser is fixed with gusset 304；Gusset 304 is chamfer
Trapezium structure.
Wherein, extensible member 8 includes hydraulic cylinder, cylinder or electric telescopic rod.
One concrete application of the present embodiment are as follows: robot gripper is mounted on mechanical wall, it is same by two extensible members 8
Step operation driving two sides clip assembly 3 scoops up packaging bag, when the pressure-strain piece of 701 lower surface of protective plate senses pressure,
First pair is penetrated switch 6 and second pair is penetrated the start-up operation of switch 12, and first pair is penetrated switch 6 and second pair is penetrated between switch 12 signal
Component 4 is adjusted when transmission to be failure to actuate；When first pair penetrate switch 6 and second pair is penetrated between switch 12 there is no signal transmission when, screw rod
Motor 13 is powered, and the driving driving drive rectangle extension support bar 402 of end plate 401 slides in rectangular straight slot 501 reaches packaging bag
Lower part prevents packaging bag from sliding, and when putting down packaging bag, first passes through the energization driving rectangle extension support bar 402 of lead screw motor 13 and exists
Rectangular straight slot 501 slides back into original place, drives two sides clip assembly 3 to open by two 8 simultaneously operatings of extensible member and puts packaging bag
Under.
In the description of this specification, the description of reference term " one embodiment ", " example ", " specific example " etc. means
Particular features, structures, materials, or characteristics described in conjunction with this embodiment or example are contained at least one implementation of the invention
In example or example.In the present specification, schematic expression of the above terms may not refer to the same embodiment or example.
Moreover, particular features, structures, materials, or characteristics described can be in any one or more of the embodiments or examples to close
Suitable mode combines.
Present invention disclosed above preferred embodiment is only intended to help to illustrate the present invention.There is no detailed for preferred embodiment
All details are described, are not limited the invention to the specific embodiments described.Obviously, according to the content of this specification,
It can make many modifications and variations.These embodiments are chosen and specifically described to this specification, is in order to better explain the present invention
Principle and practical application, so that skilled artisan be enable to better understand and utilize the present invention.The present invention is only
It is limited by claims and its full scope and equivalent.
Claims (6)
1. a kind of adjust automatically gripper of industrial robot, including frame (1), it is characterised in that: (1) one surface of frame is fixed
There are two guide rails (10) disposed in parallel；Two guide rails (10) are sliding combined with two symmetrically arranged side folder adjustment component (2)；
Side folder adjustment component (2) includes side clip assembly (3) and adjustment component (4)；
The side clip assembly (3) includes long plates of rectangular shape (301)；(301) one surface of long plates of rectangular shape is fixed with the first free bearing
(302)；First free bearing (302) is hinged with extensible member (8)；Extensible member (8) other end passes through the second free bearing and frame
(1) one surface is hinged；(301) one surface of long plates of rectangular shape is fixed with two sliding blocks (11)；The sliding block (11) and guide rail (10)
It is slidably matched；Another surface of the long plates of rectangular shape (301) is fixed with side folder riser (303)；The side presss from both sides riser (303) other end
It is fixed with two loading shovel boards (5)；(5) one surface linear of the loading shovel board arrangement is provided with several rectangular straight slot (501)；Wherein one
First pair, which is fixed with, between two loading shovel boards (5) in side folder adjustment component (2) penetrates switch (6)；Another side presss from both sides adjustment group
Second pair, which is fixed with, between two loading shovel boards (5) in part (2) penetrates switch (12)；
The adjustment component (4) includes lead screw motor (13), screw rod sliding block (132), two guide posts (403) and driving end plate
(401)；Described lead screw motor (13) one end is fixed on side folder riser (303) one side；Two described guide post (403) one end are fixed
Riser (303) surface is pressed from both sides in the side of lead screw motor (13) two sides；The driving end plate (401) is slidably matched with guide post (403)；
The screw rod sliding block (132) is fixed on driving (401) one surface of end plate；The screw rod sliding block (132) and lead screw motor (13)
Output screw rod (131) is rotatably assorted；(401) one surface linear of the driving end plate arrangement is fixed with several rectangles and extends support bar
(402)；The rectangle extends support bar (402) and is slidably matched with rectangular straight slot (501).
2. a kind of adjust automatically gripper of industrial robot according to claim 1, which is characterized in that the frame (1) one
Opposed inner walls are respectively and fixedly provided with two cylindrical sleeves (101)；Described cylindrical sleeves (101) one end is fixed with spring limiting board (102)；Four
A cylindrical sleeves (101) clearance fit has protective plate component (7)；The protective plate component (7) includes protective plate (701)；
(701) one surface rectangle of the protective plate arrangement is fixed with the first threaded post (703)；First threaded post (703) and cylinder
Sleeve (101) clearance fit；Rectangular arranged has the first bullet between the spring limiting board (102) and protective plate (701) apparent surface
Spring (702)；First spring (702) and the first threaded post (703) are concentric；First threaded post (703) threaded one end
It is connected with adjusting nut (9).
3. a kind of adjust automatically gripper of industrial robot according to claim 2, which is characterized in that the protective plate
(701) lower surface is fixed with pressure-strain piece.
4. a kind of adjust automatically gripper of industrial robot according to claim 1, which is characterized in that on the frame (1)
Surface is fixed with mechanical wall connecting plate (103).
5. a kind of adjust automatically gripper of industrial robot according to claim 1, which is characterized in that the side presss from both sides riser
(303) one side linear array is fixed with several gussets (304)；The gusset (304) is chamfer trapezium structure.
6. a kind of adjust automatically gripper of industrial robot according to claim 1, which is characterized in that the extensible member (8)
Including hydraulic cylinder, cylinder or electric telescopic rod.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910531182.8A CN110228706B (en) | 2019-06-19 | 2019-06-19 | Automatic adjusting industrial robot gripper |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910531182.8A CN110228706B (en) | 2019-06-19 | 2019-06-19 | Automatic adjusting industrial robot gripper |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110228706A true CN110228706A (en) | 2019-09-13 |
| CN110228706B CN110228706B (en) | 2020-12-18 |
Family
ID=67856201
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910531182.8A Active CN110228706B (en) | 2019-06-19 | 2019-06-19 | Automatic adjusting industrial robot gripper |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110228706B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111252654A (en) * | 2020-02-18 | 2020-06-09 | 合肥市春华起重机械有限公司 | Automatic crane cargo falling prevention device and using method thereof |
| CN112141689A (en) * | 2020-09-08 | 2020-12-29 | 浙江特力再生资源股份有限公司 | Dangerous waste ton bag grabbing method and ton bag grabbing mechanism |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5125706A (en) * | 1988-12-06 | 1992-06-30 | Matsushita Electric Industrial Co., Ltd. | Article holding apparatus |
| CN104310071A (en) * | 2014-10-20 | 2015-01-28 | 佛山市万世德机器人技术有限公司 | Grabbing mechanism and method for box stacking |
| CN205274722U (en) * | 2015-12-31 | 2016-06-01 | 上海烨得自动化科技股份有限公司 | Whole laminar pile up neatly device |
| CN206088398U (en) * | 2016-10-10 | 2017-04-12 | 无锡大东机械制造有限公司 | Grab case hacking machine elasticity clamping device |
| CN206703051U (en) * | 2017-03-23 | 2017-12-05 | 广东省智能制造研究所 | A kind of Palletizing robot |
| CN107756427A (en) * | 2017-11-23 | 2018-03-06 | 叶词贵 | A kind of damping and slide-prevention type automatic mechanical hand |
| CN108861628A (en) * | 2018-07-16 | 2018-11-23 | 杨开村 | A kind of medical device package carton stacking robot gripping apparatus |
| CN109436822A (en) * | 2018-10-27 | 2019-03-08 | 合肥雄鹰自动化工程科技有限公司 | A kind of classifiable automatic docking device |
-
2019
- 2019-06-19 CN CN201910531182.8A patent/CN110228706B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5125706A (en) * | 1988-12-06 | 1992-06-30 | Matsushita Electric Industrial Co., Ltd. | Article holding apparatus |
| CN104310071A (en) * | 2014-10-20 | 2015-01-28 | 佛山市万世德机器人技术有限公司 | Grabbing mechanism and method for box stacking |
| CN205274722U (en) * | 2015-12-31 | 2016-06-01 | 上海烨得自动化科技股份有限公司 | Whole laminar pile up neatly device |
| CN206088398U (en) * | 2016-10-10 | 2017-04-12 | 无锡大东机械制造有限公司 | Grab case hacking machine elasticity clamping device |
| CN206703051U (en) * | 2017-03-23 | 2017-12-05 | 广东省智能制造研究所 | A kind of Palletizing robot |
| CN107756427A (en) * | 2017-11-23 | 2018-03-06 | 叶词贵 | A kind of damping and slide-prevention type automatic mechanical hand |
| CN108861628A (en) * | 2018-07-16 | 2018-11-23 | 杨开村 | A kind of medical device package carton stacking robot gripping apparatus |
| CN109436822A (en) * | 2018-10-27 | 2019-03-08 | 合肥雄鹰自动化工程科技有限公司 | A kind of classifiable automatic docking device |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111252654A (en) * | 2020-02-18 | 2020-06-09 | 合肥市春华起重机械有限公司 | Automatic crane cargo falling prevention device and using method thereof |
| CN111252654B (en) * | 2020-02-18 | 2021-07-13 | 合肥市春华起重机械有限公司 | Automatic crane cargo falling prevention device and using method thereof |
| CN112141689A (en) * | 2020-09-08 | 2020-12-29 | 浙江特力再生资源股份有限公司 | Dangerous waste ton bag grabbing method and ton bag grabbing mechanism |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110228706B (en) | 2020-12-18 |
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Effective date of registration: 20201201 Address after: 224762 Jianjiang Road, jiulhu Town, Jianhu County, Yancheng City, Jiangsu 777 Applicant after: JIANHU GUOCHUANG MACHINERY MANUFACTURING Co.,Ltd. Address before: 310000 Rusong Village, Guali Town, Xiaoshan District, Hangzhou City, Zhejiang Province Applicant before: Kong Xiaoxiao |
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