CN203245884U - Round cup picking mechanism - Google Patents
Round cup picking mechanism Download PDFInfo
- Publication number
- CN203245884U CN203245884U CN 201320282470 CN201320282470U CN203245884U CN 203245884 U CN203245884 U CN 203245884U CN 201320282470 CN201320282470 CN 201320282470 CN 201320282470 U CN201320282470 U CN 201320282470U CN 203245884 U CN203245884 U CN 203245884U
- Authority
- CN
- China
- Prior art keywords
- clamp
- pressing plate
- connecting rod
- grasping mechanism
- circle cup
- 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
Links
- 238000003825 pressing Methods 0.000 claims abstract description 25
- 235000013618 yogurt Nutrition 0.000 claims abstract description 7
- 235000021262 sour milk Nutrition 0.000 description 13
- 238000000034 method Methods 0.000 description 3
- 238000009423 ventilation Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
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- Dairy Products (AREA)
Abstract
The utility model discloses a round cup picking mechanism which comprises a pressing plate, an air cylinder, a connecting rod, idler wheels, a clamp, hinge pins and extension springs, wherein the air cylinder is arranged in the middle of the pressing plate, a square block which is arranged in the middle of the connecting rod is connected to an executing end of the air cylinder, bearings are arranged at the two ends of the connecting rod, the clamp is arranged with the connecting rod through the bearings, the lower ends of the clamp are provided with through holes, the hinge pins penetrate through the through holes, thin through holes are formed in the front ends of the hinge pins, the two ends of the extension springs are installed on the hinge pins which penetrate through the thin through holes of the two rod piece pin shafts of the clamp respectively, the idler wheels are arranged at the upper ends of two rod pieces of the clamp, and when picking hands are closed together, the idler wheels are tightly attached to the bottom face of the pressing plate. The round cup picking mechanism has the advantages that the structure is simple, round cups of yoghourt can be picked individually and placed simultaneously under the condition that only one air cylinder is used, efficiency can be improved to a very large extent, and cost is saved.
Description
Technical field
The utility model relates to the Robotics field, particularly relates to a kind of circle cup grasping mechanism.
Background technology
Nowadays parallel robot is widely used in every field, but the grasping mechanism complex structure of existing robot, production cost is high, the crawl inefficiency, and therefore being necessary to propose a kind of new crawl structure solves the problems referred to above.
Summary of the invention
In order to overcome above-mentioned the deficiencies in the prior art, the utility model provides a kind of circle cup grasping mechanism.
The technical scheme that the utility model adopts is: a kind of circle cup grasping mechanism, comprise pressing plate, cylinder, connecting rod, roller, clamp, bearing pin and extension spring consist of, described pressing plate medium position is equipped with cylinder, the mid portion of connecting rod is the actuating station that a square connects cylinder, the two ends of connecting rod are equipped with bearing, clamp is installed together by bearing and connecting rod, the clamp lower end has through hole, penetrate bearing pin in the through hole, the front end of bearing pin has thin through hole, the two ends of extension spring are installed in respectively on the bearing pin of thin through hole of two rod member bearing pins that penetrate clamp, roller is equipped with in the upper end of two rod members of clamp, when handgrip was closed, the bottom surface of roller and pressing plate fitted tightly.
As preferably, the both sides, bottom surface of described pressing plate are processed as smooth flat, and roller can smooth and easyly roll thereon, the width the when width of pressing plate opens fully greater than handgrip.
As preferably, the centre position of described pressing plate is provided with installing hole, and cylinder is installed together by screw and pressing plate.
As preferably, described square is provided with installing hole, and the actuating station of cylinder links together by screw and connecting rod.
As preferably, described clamp is comprised of two duplicate rod members, and each rod member can rotate around connecting rod by bearing.
As preferably, two rod member lower ends of described clamp have groove, and groove shapes matches with the profile on circle cup Yogurt container limit.
As preferably, be the inclined-plane below the described groove, in order to guiding.
As preferably, when described handgrip was closed, the lower opening size of clamp was slightly less than the external diameter on circle cup Yogurt container limit.
As preferably, described clamp is at least 2 groups.
Compared with prior art, the beneficial effects of the utility model are: features simple structure, in the situation of only using a cylinder, can realize independent crawl and the simultaneously placement of circle cup sour milk, and can raise the efficiency significantly, save cost.
Description of drawings
In order to be illustrated more clearly in the technical solution of the utility model, the accompanying drawing of required use was done to introduce simply during the below will describe embodiment, apparently, accompanying drawing in the following describes only is embodiment more of the present utility model, for those of ordinary skills, under the prerequisite of not paying creative work, can also obtain according to these accompanying drawings other accompanying drawing.
Fig. 1 is the structure chart of a kind of embodiment of the present utility model.
The specific embodiment
In order more clearly to understand the technical solution of the utility model, below in conjunction with accompanying drawing the utility model is further specified.
A kind of circle cup grasping mechanism as shown in Figure 1, consisted of by pressing plate 1, cylinder 2, connecting rod 3, roller 4, clamp 5, bearing pin 6 and extension spring 7, the both sides, bottom surface of pressing plate 1 are processed with two smooth flat, so that roller 4 smooth and easy rolling thereon, simultaneously the width of pressing plate 1 is wanted enough so that sour milk handgrip when opening, roller still can not leave pressing plate 1 bottom surface, and the mid portion of pressing plate 1 leaves installing hole, and cylinder 2 is installed together by screw and pressing plate 1.Connecting rod 3 mid portions are a square, and the above leaves installing hole, and the actuating station of cylinder 2 links together by screw and connecting rod 3.So when cylinder 2 ventilation, can drive connecting rod 3 and move up and down.When handgrip was in closure state, the actuating station of cylinder 2 was in bottom.The two ends of connecting rod 3 are equipped with bearing, and clamp 5 is installed together by bearing and connecting rod 3.Clamp 5 is comprised of two duplicate rod members, and each rod member can rotate around connecting rod 3 by bearing.Each rod member lower end has through hole, penetrates bearing pin 6, and the front end of bearing pin 6 has through hole, and the two ends of extension spring 7 penetrate respectively and are installed in 5 two rod member bearing pin 6 through holes of clamp.When handgrip was closed, extension spring 7 was in the state that slight pretightning force is arranged.Roller 4 is equipped with in the upper end of 5 two rod members of clamp, and when the sour milk handgrip was closed, roller 4 fitted tightly with the bottom surface of pressing plate 1.The lower end of 5 two rod members of clamp has groove, and groove shapes matches with the profile on circle cup Yogurt container limit, and the groove below is the inclined-plane, in order to guiding.When the sour milk handgrip was closed, the lower opening size of clamp 5 was slightly less than the external diameter on circle cup Yogurt container limit.Be symmetrically installed with two clamps 5 on the sour milk handgrip, thereby realize grasping simultaneously the purpose of two boxes circle cup sour milk.
During crawl, handgrip is in closure state, from top to bottom vertical contact circle cup sour milk.In this process, the lower opening of clamp 5 can be strutted by the box limit of circle cup sour milk, until the box checkpost enters in the groove of clamp 5, this moment is under the pulling force effect of extension spring 7, circle cup sour milk is grasped firmly among clamp 5, in like manner can pick up another circle cup sour milk with another clamp 5, in the crawl process, do not need the gas circuit action, the actuating station of cylinder 2 is in bottom all the time.
During placement, robot drives the sour milk handgrip to assigned address, and cylinder 2 ventilations move up to topmost its actuating station.Under the drive of cylinder 2, connecting rod 3 also can move up, and the upper end of clamp 5 can strut to both sides under the extruding of pressing plate 1, thereby so that also open simultaneously the lower end of clamp 5, puts down circle cup sour milk.In this process, two clamps 5 move simultaneously, thereby can place simultaneously two circle cup sour milks.
The above only is preferred embodiments of the present utility model, so all equivalences of doing according to the described structure of the utility model patent claim, feature and principle change or modify, is included in the utility model patent claim.
Claims (9)
1. justify the cup grasping mechanism for one kind, it is characterized in that: comprise pressing plate, cylinder, connecting rod, roller, clamp, bearing pin and extension spring consist of, described pressing plate medium position is equipped with cylinder, the mid portion of connecting rod is the actuating station that a square connects cylinder, the two ends of connecting rod are equipped with bearing, clamp is installed together by bearing and connecting rod, the clamp lower end has through hole, penetrate bearing pin in the through hole, the front end of bearing pin has thin through hole, the two ends of extension spring are installed in respectively on the bearing pin of thin through hole of two rod member bearing pins that penetrate clamp, roller is equipped with in the upper end of two rod members of clamp, the lower end is provided with handgrip, and when handgrip was closed, the bottom surface of roller and pressing plate fitted tightly.
2. a circle cup grasping mechanism according to claim 1, it is characterized in that: the both sides, bottom surface of described pressing plate are processed as smooth flat, and roller can smooth and easyly roll thereon, the width the when width of pressing plate opens fully greater than handgrip.
3. a circle cup grasping mechanism according to claim 1, it is characterized in that: the centre position of described pressing plate is provided with installing hole, and cylinder is installed together by screw and pressing plate.
4. a circle cup grasping mechanism according to claim 1, it is characterized in that: described square is provided with installing hole, and the actuating station of cylinder links together by screw and connecting rod.
5. a circle cup grasping mechanism according to claim 1, it is characterized in that: described clamp is comprised of two duplicate rod members, and each rod member can rotate around connecting rod by bearing.
6. circle cup grasping mechanism according to claim 1, it is characterized in that: two rod member lower ends of described clamp have groove, and groove shapes matches with the profile on circle cup Yogurt container limit.
7. circle cup grasping mechanism according to claim 6 is characterized in that: be the inclined-plane below the described groove, in order to guiding.
8. circle cup grasping mechanism according to claim 1, it is characterized in that: when described handgrip was closed, the lower opening size of clamp was slightly less than the external diameter on circle cup Yogurt container limit.
9. a circle cup grasping mechanism according to claim 1, it is characterized in that: described clamp is at least 2 groups.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320282470 CN203245884U (en) | 2013-05-22 | 2013-05-22 | Round cup picking mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320282470 CN203245884U (en) | 2013-05-22 | 2013-05-22 | Round cup picking mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203245884U true CN203245884U (en) | 2013-10-23 |
Family
ID=49372344
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201320282470 Expired - Lifetime CN203245884U (en) | 2013-05-22 | 2013-05-22 | Round cup picking mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203245884U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105108629A (en) * | 2015-09-15 | 2015-12-02 | 陈楚均 | Stone material line polisher and polishing method thereof |
| CN108190383A (en) * | 2017-12-29 | 2018-06-22 | 上海君屹工业自动化股份有限公司 | A kind of cylinder clamping guiding mechanism |
| CN108996226A (en) * | 2018-08-22 | 2018-12-14 | 中国兵器装备集团自动化研究所 | A kind of lossless handling device of cylinder batch |
| WO2019214751A1 (en) * | 2018-05-08 | 2019-11-14 | 深圳市黎子科技有限公司 | On-board mobile phone holder |
-
2013
- 2013-05-22 CN CN 201320282470 patent/CN203245884U/en not_active Expired - Lifetime
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105108629A (en) * | 2015-09-15 | 2015-12-02 | 陈楚均 | Stone material line polisher and polishing method thereof |
| CN108190383A (en) * | 2017-12-29 | 2018-06-22 | 上海君屹工业自动化股份有限公司 | A kind of cylinder clamping guiding mechanism |
| WO2019214751A1 (en) * | 2018-05-08 | 2019-11-14 | 深圳市黎子科技有限公司 | On-board mobile phone holder |
| CN108996226A (en) * | 2018-08-22 | 2018-12-14 | 中国兵器装备集团自动化研究所 | A kind of lossless handling device of cylinder batch |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of utility model: Round cup picking mechanism Effective date of registration: 20171020 Granted publication date: 20131023 Pledgee: Qilu bank Limited by Share Ltd. branch of the southern suburbs of Ji'nan Pledgor: Robotphoenix LLC Registration number: 2017990000973 |
|
| PC01 | Cancellation of the registration of the contract for pledge of patent right |
Date of cancellation: 20181031 Granted publication date: 20131023 Pledgee: Qilu bank Limited by Share Ltd. branch of the southern suburbs of Ji'nan Pledgor: Robotphoenix LLC Registration number: 2017990000973 |
|
| PC01 | Cancellation of the registration of the contract for pledge of patent right | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of utility model: Round cup picking mechanism Effective date of registration: 20181113 Granted publication date: 20131023 Pledgee: Qilu bank Limited by Share Ltd. branch of the southern suburbs of Ji'nan Pledgor: Robotphoenix LLC Registration number: 2018990001064 |
|
| PE01 | Entry into force of the registration of the contract for pledge of patent right | ||
| PC01 | Cancellation of the registration of the contract for pledge of patent right |
Date of cancellation: 20181210 Granted publication date: 20131023 Pledgee: Qilu bank Limited by Share Ltd. branch of the southern suburbs of Ji'nan Pledgor: Robotphoenix LLC Registration number: 2018990001064 |
|
| PC01 | Cancellation of the registration of the contract for pledge of patent right | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of utility model: Round cup picking mechanism Effective date of registration: 20181210 Granted publication date: 20131023 Pledgee: Qilu bank Limited by Share Ltd. branch of the southern suburbs of Ji'nan Pledgor: Robotphoenix LLC Registration number: 2018990001175 |
|
| PE01 | Entry into force of the registration of the contract for pledge of patent right | ||
| PC01 | Cancellation of the registration of the contract for pledge of patent right |
Date of cancellation: 20191224 Granted publication date: 20131023 Pledgee: Qilu bank Limited by Share Ltd. branch of the southern suburbs of Ji'nan Pledgor: Robotphoenix LLC Registration number: 2018990001175 |
|
| PC01 | Cancellation of the registration of the contract for pledge of patent right | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of utility model: Round cup picking mechanism Effective date of registration: 20191231 Granted publication date: 20131023 Pledgee: Qilu bank Limited by Share Ltd. branch of the southern suburbs of Ji'nan Pledgor: Robotphoenix LLC Registration number: Y2019370000137 |
|
| PE01 | Entry into force of the registration of the contract for pledge of patent right | ||
| PC01 | Cancellation of the registration of the contract for pledge of patent right |
Date of cancellation: 20210324 Granted publication date: 20131023 Pledgee: Qilu bank Limited by Share Ltd. branch of the southern suburbs of Ji'nan Pledgor: Robotphoenix LLC Registration number: Y2019370000137 |
|
| PC01 | Cancellation of the registration of the contract for pledge of patent right | ||
| CX01 | Expiry of patent term |
Granted publication date: 20131023 |
|
| CX01 | Expiry of patent term |