CN203495969U - Robot grip used for clamping multiple basket pieces to turn - Google Patents
Robot grip used for clamping multiple basket pieces to turn Download PDFInfo
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- CN203495969U CN203495969U CN201320637166.5U CN201320637166U CN203495969U CN 203495969 U CN203495969 U CN 203495969U CN 201320637166 U CN201320637166 U CN 201320637166U CN 203495969 U CN203495969 U CN 203495969U
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Abstract
Thee utility model discloses a robot grip used for clamping multiple basket pieces to turn, and relates to the technical field of de-stacking equipment in order to solve the technical problem that an existing grip can not turn the basket pieces. The grip comprises a grip body, a clamping cylinder and a turning cylinder, wherein a left clamping frame capable of sliding left and right and a right clamping frame capable of sliding left and right are arranged on the left and the right of the grip body respectively, and a cylinder body and a power arm of the clamping cylinder are fixedly connected with the two clamping frames respectively; synchronous belt wheels which are in transmission connection through a synchronous belt and angle adjusting disks are arranged on the clamping frames, a rotary turning shaft is arranged on the grip body, and the two ends of the turning shaft are connected with the synchronous belt wheels on the two clamping frames respectively; the turning cylinder is installed on the grip body, and a power arm of the turning cylinder is fixedly connected with the synchronous belt on the right clamping frame; the two clamping frames are respectively provided with a clamping assembly rotating along with the corresponding angle adjusting disk. The grip is applicable to de-stacking operation of the rectangular basket pieces.
Description
Technical field
The utility model relates to destacking equipment and technology, particularly relates to a kind of for clamping the technology of the robot gripper of many baskets of part upsets.
Background technology
Industrial robot, as the important component part of high-end equipment manufacturing industry, is applied increasingly extensive.In the application of robot, capture facility essential, need be to there being different crawl facility for different job tasks.
In basket part destacking operation, often the article of being grabbed in basket part need to be poured out, and existing basket part gripping apparatus all only possesses crawl function, gripping apparatus itself cannot make to be grabbed a basket part and overturn, although spherical coordinates humanoid robot can be realized upset basket part by self mechanical arm, but the mechanical arm of spherical coordinates humanoid robot is subject to the restriction of structure, flip angle does not reach 180 degree, cannot guarantee the article of being grabbed in basket part thoroughly to pour out.
Utility model content
For the defect existing in above-mentioned prior art, technical problem to be solved in the utility model is to provide a kind ofly can upset be grabbed a basket part, and can guarantee the robot gripper overturning for clamping many baskets of parts thoroughly poured out grabbing article in basket part.
In order to solve the problems of the technologies described above, provided by the utility model a kind of for clamping the robot gripper of many baskets of part upsets, it is characterized in that: comprise handgrip matrix, gripper cylinder, upset cylinder;
On described handgrip matrix, be fixed with clamping guide rail, described clamping guide rail is straight rail, is fixed with each locating part of left and right on clamping guide rail, and is provided with the sliding part that an energy slides along clamping guide rail;
Described handgrip matrix is provided with each holding frame that can horizontally slip of left and right, and the cylinder body of described gripper cylinder and left holding frame are affixed, and the power arm of gripper cylinder and right holding frame are affixed, and the power arm telescopic shaft line parallel of gripper cylinder is in clamping guide rail;
Described sliding part is between two locating parts, and sliding part or affixed with left holding frame, or affixed with right holding frame;
On each holding frame, be equipped with the synchronous pulley of each rotation up and down, two synchronous pulleys on same holding frame are in transmission connection by a Timing Belt, the rotating shaft of each synchronous pulley is all parallel to clamping guide rail, in same holding frame, the synchronous pulley that is positioned at upside is upper synchronous pulley, the synchronous pulley that is positioned at downside is the same below step belt wheel, on each lower synchronous pulley, is equipped with an angle modulation dish;
Described angle modulation dish comprises disk body, and the rotating shaft that can rotate and can lock with disk body relative to disk body, and the disk body of described angle modulation dish and lower synchronous pulley are affixed, and the shaft parallel of angle modulation dish is in clamping guide rail;
Described handgrip matrix is provided with the trip shaft of a rotation, and described trip shaft is that one to be parallel to clamping guide rail and radial section be non-circular d-axis;
Upper synchronous pulley and trip shaft on one of them holding frame are coaxially affixed, and the upper synchronous pulley on another holding frame is coaxially socketed with gap fiting mode and trip shaft, synchronous pulley on this can be slided along trip shaft, and can synchronously rotate with trip shaft;
The cylinder body of described upset cylinder is fixed on right holding frame, and the flexible axis of power arm of upset cylinder is perpendicular to clamping guide rail, and the Timing Belt on right holding frame is affixed with the power arm of upset cylinder;
On two holding frames, be respectively provided with a clamp assemblies, described clamp assemblies comprises clamping matrix, width conversion cylinder, the rotating shaft of the angle modulation dish on described clamping matrix and holding frame is affixed, on clamping matrix, be fixed with width conversion guide pillar, described width conversion guide pillar is perpendicular to the right cylinder of clamping guide rail, on width conversion guide pillar, be provided with successively vertically the grip block that two energy slide along width conversion guide pillar, the cylinder body of grip block wherein and width conversion cylinder is affixed, the power arm of another piece grip block and width conversion cylinder is affixed, the power arm telescopic shaft line parallel of described width conversion cylinder converts guide pillar in width.
The robot gripper overturning for clamping many baskets of parts that the utility model provides, utilize the cooperation of upset cylinder, synchronous pulley, trip shaft, Timing Belt, can drive two clamp assemblies on holding frame synchronously to rotate, making to be grabbed basket part can overturn thereupon, and flip angle is unrestricted, can guarantee the article of being grabbed in basket part thoroughly to pour out.
Accompanying drawing explanation
Fig. 1 be the utility model embodiment for clamping the stereogram of the robot gripper of many baskets of parts upset;
Fig. 2 be the utility model embodiment for clamping the top view of the robot gripper of many baskets of parts upset;
Fig. 3 be the utility model embodiment for clamping the left view of the robot gripper of many baskets of parts upset;
Fig. 4 be the utility model embodiment for clamping the top view of left holding frame of the robot gripper of many baskets of parts upset;
Fig. 5 be the utility model embodiment for clamping the master of left holding frame of the robot gripper of many baskets of parts upset, look cut away view;
Fig. 6 be the utility model embodiment for clamping the stereogram of clamp assemblies of the robot gripper of many baskets of parts upset.
The specific embodiment
Below in conjunction with accompanying drawing explanation, embodiment of the present utility model is described in further detail, but the present embodiment is not limited to the utility model, every employing analog structure of the present utility model and similar variation thereof, all should list protection domain of the present utility model in.
As shown in Fig. 1-Fig. 6, what the utility model embodiment provided is a kind of for clamping the robot gripper of many baskets of part upsets, it is characterized in that: comprise handgrip matrix 1, gripper cylinder 21, upset cylinder 4;
On described handgrip matrix 1, be fixed with clamping guide rail 11, described clamping guide rail 11 is straight rail, is fixed with each locating part 12 of left and right on clamping guide rail, and is provided with the sliding part 13 that an energy slides along clamping guide rail;
Described handgrip matrix 1 is provided with each holding frame that can horizontally slip 2 of left and right, the cylinder body of described gripper cylinder 21 and left holding frame 2 are affixed, the power arm of gripper cylinder 21 is affixed with right holding frame 2 through push pedal 22 and clamping pull bar 23, and the power arm telescopic shaft line parallel of gripper cylinder 21 is in clamping guide rail 11;
Described sliding part 13 is between two locating parts 12, and sliding part 13 or affixed with left holding frame 2, or affixed with right holding frame 2, and the spacing between two locating parts 12 is half of cylinder stroke of gripper cylinder 21;
On each holding frame 2, be equipped with the synchronous pulley 31 of each rotation up and down, two synchronous pulleys 31 on same holding frame 2 are in transmission connection by a Timing Belt, the rotating shaft of each synchronous pulley 31 is all parallel to clamping guide rail, in same holding frame 2, the synchronous pulley 31 that is positioned at upside is upper synchronous pulley, the synchronous pulley 31 that is positioned at downside is the same below step belt wheel, on each lower synchronous pulley, is equipped with an angle modulation dish 32;
Described angle modulation dish 32 is prior art, and angle modulation dish 32 comprises disk body, and the rotating shaft that can rotate and can lock with disk body relative to disk body, and the disk body of described angle modulation dish 32 and lower synchronous pulley are affixed, and the shaft parallel of angle modulation dish 32 is in clamping guide rail;
Described handgrip matrix 1 is provided with the trip shaft 6 of a rotation, and described trip shaft 6 is that one to be parallel to clamping guide rail 11 and radial section be non-circular d-axis;
Upper synchronous pulley 31 on one of them holding frame is coaxially affixed with trip shaft 6, upper synchronous pulley 31 on another holding frame is coaxially socketed with gap fiting mode and trip shaft 6, synchronous pulley 31 on this can be slided along trip shaft 6, and can synchronously rotate with trip shaft 6;
The cylinder body of described upset cylinder 4 is fixed on right holding frame 2, and the flexible axis of power arm of upset cylinder 4 is perpendicular to clamping guide rail 11, and the Timing Belt 33 on right holding frame is affixed with the power arm of upset cylinder 4 through clamp 41;
On two holding frames 2, be respectively provided with a clamp assemblies, described clamp assemblies comprises clamping matrix 51, width conversion cylinder 53, the rotating shaft of the angle modulation dish 32 on described clamping matrix 51 and holding frame is affixed, on clamping matrix 51, be fixed with width conversion guide pillar, described width conversion guide pillar is perpendicular to the right cylinder of clamping guide rail, on width conversion guide pillar, be provided with successively vertically the grip block 52 that two energy slide along width conversion guide pillar, a grip block 52 is wherein affixed with the cylinder body of width conversion cylinder 53, another piece grip block 52 is affixed with the power arm of width conversion cylinder 53, the power arm telescopic shaft line parallel of described width conversion cylinder 53 converts guide pillar in width.
The utility model embodiment is applicable to being arranged in destacking robot and uses, and by handgrip matrix 1, is connected with destacking robot, and its workflow is as follows:
First adjust the rotating shaft of angle modulation dish 32, make two clamping matrixes 51 on holding frame 2 parallel;
During destacking, destacking robot drive handgrip move to target basket part directly over, now the power arm of gripper cylinder 21 is in retracted mode, handgrip is also open-shaped, the spacing between two holding frames 2 is maximum;
Then destacking robot drives handgrip to drop to the bottom position that grip block 52 arrives target basket part, then according to target basket part, adjust the spacing between two grip blocks 52 on each holding frame, the power arm of the width conversion cylinder 53 in clamp assemblies stretches out, the spacing between two grip blocks 52 in this assembly is pulled open, thereby strengthen the width of clamping face, when pulling open to maximum, the spacing between two grip blocks 52 in same clamp assemblies can implement three baskets of clampings together, the power arm of the width conversion cylinder 53 in clamp assemblies is retracted, the spacing between two grip blocks 52 in this assembly furthers, thereby reduce the width of clamping face, to adapt to the little width of clamping face, can avoid again not getting with layer the clamping interference of three baskets simultaneously, realize two baskets of situations of clamping together,
Then the power arm of gripper cylinder 21 stretches out, two holding frames 2 are drawn close mutually, until the grip block 52 on two holding frames 2 clamps target basket part, and then drive handgrip to move to landing by destacking robot, then the power arm of cylinder 4 of overturning stretches out, thereby drive the Timing Belt 33 on right holding frame to move, drive the lower synchronous pulley 31 on right holding frame to rotate thereupon, and by the upper synchronous pulley 31 on trip shaft 6 and two holding frames, lower synchronous pulley 31 on two holding frames is synchronously rotated, angle modulation dish 32 on two holding frames also synchronously rotates thereupon, and then drive the clamping matrix 51 on two holding frames synchronously to rotate, make the target basket part upset of grip block 52 clampings, object in target basket part is poured out,
Then destacking robot drive again handgrip move to next target basket part directly over, complete to destacking and so forth.
Claims (1)
1. for clamping a robot gripper for many baskets of part upsets, it is characterized in that: comprise handgrip matrix, gripper cylinder, upset cylinder;
On described handgrip matrix, be fixed with clamping guide rail, described clamping guide rail is straight rail, is fixed with each locating part of left and right on clamping guide rail, and is provided with the sliding part that an energy slides along clamping guide rail;
Described handgrip matrix is provided with each holding frame that can horizontally slip of left and right, and the cylinder body of described gripper cylinder and left holding frame are affixed, and the power arm of gripper cylinder and right holding frame are affixed, and the power arm telescopic shaft line parallel of gripper cylinder is in clamping guide rail;
Described sliding part is between two locating parts, and sliding part or affixed with left holding frame, or affixed with right holding frame;
On each holding frame, be equipped with the synchronous pulley of each rotation up and down, two synchronous pulleys on same holding frame are in transmission connection by a Timing Belt, the rotating shaft of each synchronous pulley is all parallel to clamping guide rail, in same holding frame, the synchronous pulley that is positioned at upside is upper synchronous pulley, the synchronous pulley that is positioned at downside is the same below step belt wheel, on each lower synchronous pulley, is equipped with an angle modulation dish;
Described angle modulation dish comprises disk body, and the rotating shaft that can rotate and can lock with disk body relative to disk body, and the disk body of described angle modulation dish and lower synchronous pulley are affixed, and the shaft parallel of angle modulation dish is in clamping guide rail;
Described handgrip matrix is provided with the trip shaft of a rotation, and described trip shaft is that one to be parallel to clamping guide rail and radial section be non-circular d-axis;
Upper synchronous pulley and trip shaft on one of them holding frame are coaxially affixed, and the upper synchronous pulley on another holding frame is coaxially socketed with gap fiting mode and trip shaft, synchronous pulley on this can be slided along trip shaft, and can synchronously rotate with trip shaft;
The cylinder body of described upset cylinder is fixed on right holding frame, and the flexible axis of power arm of upset cylinder is perpendicular to clamping guide rail, and the Timing Belt on right holding frame is affixed with the power arm of upset cylinder;
On two holding frames, be respectively provided with a clamp assemblies, described clamp assemblies comprises clamping matrix, width conversion cylinder, the rotating shaft of the angle modulation dish on described clamping matrix and holding frame is affixed, on clamping matrix, be fixed with width conversion guide pillar, described width conversion guide pillar is perpendicular to the right cylinder of clamping guide rail, on width conversion guide pillar, be provided with successively vertically the grip block that two energy slide along width conversion guide pillar, the cylinder body of grip block wherein and width conversion cylinder is affixed, the power arm of another piece grip block and width conversion cylinder is affixed, the power arm telescopic shaft line parallel of described width conversion cylinder converts guide pillar in width.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320637166.5U CN203495969U (en) | 2013-10-15 | 2013-10-15 | Robot grip used for clamping multiple basket pieces to turn |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320637166.5U CN203495969U (en) | 2013-10-15 | 2013-10-15 | Robot grip used for clamping multiple basket pieces to turn |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203495969U true CN203495969U (en) | 2014-03-26 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201320637166.5U Withdrawn - After Issue CN203495969U (en) | 2013-10-15 | 2013-10-15 | Robot grip used for clamping multiple basket pieces to turn |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203495969U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103568018A (en) * | 2013-10-15 | 2014-02-12 | 上海星派自动化科技有限公司 | Robot gripper for clamping multi-basket member to overturn |
| CN105798894A (en) * | 2016-04-11 | 2016-07-27 | 哈尔滨理工大学 | Grabbing manipulator capable of turning over box body |
| CN109573611A (en) * | 2019-01-22 | 2019-04-05 | 辽宁科技大学 | A kind of adjustable carrier robot grasper |
| CN106211887B (en) * | 2016-07-26 | 2019-04-30 | 北京工业大学 | A kind of clamping device for rectangular soil matrix mass |
| CN113877829A (en) * | 2021-10-13 | 2022-01-04 | 广东顺力智能物流装备股份有限公司 | Rotary logistics disinfection sorting device for intelligent logistics and using method thereof |
-
2013
- 2013-10-15 CN CN201320637166.5U patent/CN203495969U/en not_active Withdrawn - After Issue
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103568018A (en) * | 2013-10-15 | 2014-02-12 | 上海星派自动化科技有限公司 | Robot gripper for clamping multi-basket member to overturn |
| CN103568018B (en) * | 2013-10-15 | 2015-09-09 | 上海星派自动化科技有限公司 | For clamping the robot gripper of many baskets of part upsets |
| CN105798894A (en) * | 2016-04-11 | 2016-07-27 | 哈尔滨理工大学 | Grabbing manipulator capable of turning over box body |
| CN106211887B (en) * | 2016-07-26 | 2019-04-30 | 北京工业大学 | A kind of clamping device for rectangular soil matrix mass |
| CN109573611A (en) * | 2019-01-22 | 2019-04-05 | 辽宁科技大学 | A kind of adjustable carrier robot grasper |
| CN109573611B (en) * | 2019-01-22 | 2023-08-22 | 辽宁科技大学 | Transfer robot tongs with adjustable |
| CN113877829A (en) * | 2021-10-13 | 2022-01-04 | 广东顺力智能物流装备股份有限公司 | Rotary logistics disinfection sorting device for intelligent logistics and using method thereof |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20140326 Effective date of abandoning: 20150909 |
|
| AV01 | Patent right actively abandoned |
Granted publication date: 20140326 Effective date of abandoning: 20150909 |
|
| RGAV | Abandon patent right to avoid regrant |