CN202283720U - Claw hook device of manipulator tray - Google Patents
Claw hook device of manipulator tray Download PDFInfo
- Publication number
- CN202283720U CN202283720U CN2011203538003U CN201120353800U CN202283720U CN 202283720 U CN202283720 U CN 202283720U CN 2011203538003 U CN2011203538003 U CN 2011203538003U CN 201120353800 U CN201120353800 U CN 201120353800U CN 202283720 U CN202283720 U CN 202283720U
- Authority
- CN
- China
- Prior art keywords
- connecting rod
- grapple
- pallet
- claw hook
- manipulator
- 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.)
- Expired - Lifetime
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Abstract
The utility model discloses a claw hook device of a manipulator tray, comprising first, second, third, fourth connecting rods, and first and second shafts. The first connecting rod is connected to the fourth connecting rod through the first shaft. The first and fourth connecting rods rotate around the center line of the first shaft and are linked to each other. The second connecting rod is connected to the third connecting rod through the second shaft. The second and third connecting rods rotate around the center line of the second shaft, and the second and third connecting rods are linked to each other. One ends of the first, second, third and fourth connecting rods are respectively first, second, third and fourth claw hooks. The third connecting rod is connected to the fourth connecting rod through a fifth connecting rod, and one end of the fifth connecting rod is connected to one end of the third connecting rod, away from the third claw hook. The other end of the fifth connecting rod is connected to an intermediate section of the fourth connecting rod. The first and second connecting rods are both connected to a driving element. The claw hook device of a manipulator tray is advantageous in that the claw hook device is used for a robot clamp; inner and outer sides of the claw hook are linked to each other, which is realized by means of the fifth connecting rod; the synchronization of the fourth claw hook is ensured; the tray can be prevented from inclining or slipping off during the process of tray grabbing.
Description
Technical field
The utility model relates to a kind of manipulator pallet grapple device that is used for piling/de-stacking process.
Background technology
The situation that pallet tilts even drops takes place in existing pallet grapple poor stability easily in manipulator extracting process.In conjunction with Fig. 1, main deficiency have following some: 1) the grapple coupler body is the straight-plate-type structure, poor rigidity, to impact the back yielding receiving; 2) configuration design of coupler body and pallet profile applying degree are poor, and it is more shallow that eave tile stretches into the pallet entry, break off relations easily, see A circle among Fig. 1; 3) the synchronous employing chain drive of both sides grapple realizes that the grapple of both sides is asynchronous behind the chain wear, causes and grasps the reduction of pallet stability.
The utility model content
The technical problem that the utility model will solve provides a kind of manipulator pallet grapple device, can improve the stability that grasps empty pallet.
The utility model adopts following technical scheme:
A kind of manipulator pallet grapple device; Comprise first, second, third, fourth connecting rod; And first, second axle; Wherein said first connecting rod is connected with said the 4th connecting rod through first, and said the first, the 4th connecting rod links around first center line rotation and the first, the 4th connecting rod, and said second connecting rod is connected with said third connecting rod through second; Said second, third connecting rod links around second center line rotation and second, third connecting rod; One end of said first, second, third, fourth connecting rod respectively is first, second, third, fourth grapple, and said third connecting rod also is connected with said the 4th connecting rod through the 5th connecting rod, and the end away from the 3rd grapple on an end of said the 5th connecting rod and the said third connecting rod is connected; The other end of the 5th connecting rod is connected with the stage casing of the 4th connecting rod, and said first, second connecting rod all connects driving element.
Preferably, being shaped as of said grapple is L shaped, and fits with the entry of pallet.
Preferably, said first connecting rod is forging together with the 3rd grapple, said the 4th connecting rod together with the 4th grapple together with second grapple, said third connecting rod together with first grapple, said second connecting rod.
Preferably, said driving element comprises first, second cylinder, and the piston end of said first cylinder is connected with first connecting rod, and the piston end of said second cylinder is connected with second connecting rod.
The manipulator pallet grapple device that the utility model relates to is used for the robot anchor clamps; The speed synchronization and the position synchronous of interior outside grapple rely on the 5th connecting rod to realize; Guarantee the action of four grapples synchronously, avoided in grasping pallet process pallet to tilt or the situation of landing.In addition, because coupler body adopts forging member and polyhedral structure, intensity, rigidity increase, and is not yielding.The shape of grapple cooperates with the pallet entry, and eave tile can stretch into the degree of depth certain in the entry when grasping pallet, and it is stable, reliable that pallet is grasped.
Description of drawings
Fig. 1 is the structural representation of pallet grapple device in the prior art.
The structural representation of the manipulator pallet grapple device that Fig. 2 relates to for the utility model, this figure is a vertical view.
The structural representation of the manipulator pallet grapple device that Fig. 3 relates to for the utility model, this figure is a front view.
The specific embodiment
Referring to Fig. 2-Fig. 3; The manipulator pallet grapple device that relates to for the utility model; Comprise first, second, third, fourth connecting rod 11,12,13,14; Wherein said first connecting rod 11 is connected with said the 4th connecting rod 14 through first 21; Said the first, the 4th connecting rod 11,14 can be around first 21 center line rotation and 11,14 interlocks of the first, the 4th connecting rod; Said second connecting rod 12 is connected with said third connecting rod 13 through second 22, and said second, third connecting rod 12,13 can be around second 22 center line rotation and 12,13 interlocks of second, third connecting rod, and an end of said first, second, third, fourth connecting rod 11,12,13,14 respectively is first, second, third, fourth grapple 111,121,131,141; Said third connecting rod 13 also is connected with said the 4th connecting rod 14 through the 5th connecting rod 31; End 132 away from the 3rd grapple 131 on one end of said the 5th connecting rod 31 and the said third connecting rod 13 is connected, and the other end of the 5th connecting rod 31 is connected with the stage casing 142 of the 4th connecting rod 14, and said first, second connecting rod 11,12 all connects driving element.
Driving element is a driving link; Drive first, second connecting rod 11,12 respectively separately around first, second center line of 21,22 rotation; Because the first, the 4th connecting rod the 11, the 14th, interlock; Second, third connecting rod the 12, the 13rd, interlock, therefore the 4th, also and then rotation of third connecting rod 14,13.Said driving element comprises first, second identical cylinder 41,42; The piston end of said first cylinder 41 is connected with first connecting rod 11; The piston end of said second cylinder 42 is connected with second connecting rod 12, and is connected (link position is symmetrical) on the same position on two connecting rods 11,12.In order to ensure grapple synchronously, also be provided with the 5th connecting rod 31 and be connected with the 3rd, the 4th connecting rod 13,14 respectively, and outside being connected in two connecting rods 13,14 on the different position (link position apart from the axis of rotation equidistance, but be positioned at heteropleural).Guaranteed connecting rod 13,14 and the movement velocity of connecting rod 11,12 and the strict conformance of the anglec of rotation, grasping movement is more reliable and stable.
Preferably, being shaped as of said grapple 111～141 is L shaped, cooperates (entry is a rectangular opening) with the entry of pallet, and the terminal of grapple must have certain length, and when grapple 111～141 injects entries, eave tile can stretch into the degree of depth enough in the entry.
Preferably, said first connecting rod 11 is forging together with the 3rd grapple 131, said the 4th connecting rod 14 together with the 4th grapple 141 together with second grapple 121, said third connecting rod 13 together with first grapple 111, said second connecting rod 12.Forging has good mechanical performance, and each connecting rod 11～14 is polyhedral structure with grapple 111～141, and intensity, rigidity all increase, and is not yielding.
Claims (4)
1. manipulator pallet grapple device; Comprise first, second, third, fourth connecting rod (11,12,13,14); And first, second axle (21,22); Wherein said first connecting rod (11) is connected with said the 4th connecting rod (14) through first (21); Said the first, the 4th connecting rod (11,14) is around the center line rotation and the first, the 4th connecting rod (11, the 14) interlock of first (21); Said second connecting rod (12) is connected with said third connecting rod (13) through second (22); Said second, third connecting rod (12,13) is around center line rotation and second, third connecting rod (12,13) interlock of second (22); One end of said first, second, third, fourth connecting rod (11,12,13,14) respectively is first, second, third, fourth grapple (111,121,131,141), it is characterized in that: said third connecting rod (13) also is connected with said the 4th connecting rod (14) through the 5th connecting rod (31), and an end of said the 5th connecting rod (31) is connected with the end (132) that said third connecting rod (14) is gone up away from the 3rd grapple (131); The other end of the 5th connecting rod (31) is connected with the stage casing (142) of the 4th connecting rod (14), and said first, second connecting rod (11,12) all connects driving element.
2. manipulator pallet grapple device according to claim 1 is characterized in that: being shaped as of said grapple (111,121,131,141) is L shaped, and fits with the entry of pallet.
3. manipulator pallet grapple device according to claim 1 is characterized in that: said first connecting rod (11) is forging together with the 3rd grapple (131), said the 4th connecting rod (14) together with the 4th grapple (141) together with second grapple (121), said third connecting rod (13) together with first grapple (111), said second connecting rod (12).
4. according to each described manipulator pallet grapple device among the claim 1-3; It is characterized in that: said driving element comprises first, second cylinder (41,42); The piston end of said first cylinder (41) is connected with first connecting rod (11), and the piston end of said second cylinder (42) is connected with second connecting rod (12).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011203538003U CN202283720U (en) | 2011-09-20 | 2011-09-20 | Claw hook device of manipulator tray |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011203538003U CN202283720U (en) | 2011-09-20 | 2011-09-20 | Claw hook device of manipulator tray |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202283720U true CN202283720U (en) | 2012-06-27 |
Family
ID=46295254
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2011203538003U Expired - Lifetime CN202283720U (en) | 2011-09-20 | 2011-09-20 | Claw hook device of manipulator tray |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202283720U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103395624A (en) * | 2013-07-29 | 2013-11-20 | 江阴市锦明玻璃技术有限公司 | Robotic auto-handling combined gripping system |
| CN103615897A (en) * | 2013-12-05 | 2014-03-05 | 郑州市嵩阳煤机制造有限公司 | Automatic catching and pushing mechanism for material feeding |
| CN103879778A (en) * | 2014-04-08 | 2014-06-25 | 武汉文林科技有限公司 | Claw type automatic material transferring device for laminator |
-
2011
- 2011-09-20 CN CN2011203538003U patent/CN202283720U/en not_active Expired - Lifetime
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103395624A (en) * | 2013-07-29 | 2013-11-20 | 江阴市锦明玻璃技术有限公司 | Robotic auto-handling combined gripping system |
| CN103395624B (en) * | 2013-07-29 | 2015-06-03 | 江苏锦明工业机器人自动化有限公司 | Robotic auto-handling combined gripping system |
| CN103615897A (en) * | 2013-12-05 | 2014-03-05 | 郑州市嵩阳煤机制造有限公司 | Automatic catching and pushing mechanism for material feeding |
| CN103615897B (en) * | 2013-12-05 | 2015-04-22 | 郑州市嵩阳煤机制造有限公司 | Automatic catching and pushing mechanism for material feeding |
| CN103879778A (en) * | 2014-04-08 | 2014-06-25 | 武汉文林科技有限公司 | Claw type automatic material transferring device for laminator |
| CN103879778B (en) * | 2014-04-08 | 2015-12-16 | 武汉文林科技有限公司 | Pawl for laminating machine formula of grabbing turns materials device automatically |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CX01 | Expiry of patent term |
Granted publication date: 20120627 |
|
| CX01 | Expiry of patent term |