CN203557394U - Swing type gripper and stacker crane equipped with swing type gripper - Google Patents
Swing type gripper and stacker crane equipped with swing type gripper Download PDFInfo
- Publication number
- CN203557394U CN203557394U CN201320596025.3U CN201320596025U CN203557394U CN 203557394 U CN203557394 U CN 203557394U CN 201320596025 U CN201320596025 U CN 201320596025U CN 203557394 U CN203557394 U CN 203557394U
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- China
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- swing type
- type gripper
- base plate
- pushing block
- paw
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Abstract
The utility mode discloses a swing type gripper. The gripper comprises a base plate and two paws which are mutually cooperated and hinged to the base plate; two linkage push blocks which operate synchronously in the reverse direction in the straight line, and a synchronous mechanism driving the two linkage push blocks are arranged on the base plate; and the linkage push blocks drive corresponding paws. The utility model also discloses a stacker crane equipped with the swing type gripper. According to the utility model, the two linkage push blocks are arranged to drive the paws to swing, so synchronous opening and closing of the paws is achieved, and motion stroke of the linkage push blocks is larger, so adjustability of opening degree dimension of the paws is enhanced.
Description
Technical field
The utility model relates to a kind of haulage equipment, particularly relates to a kind of swing type gripper and the stacking machine of this swing type gripper is installed.
Background technology
In modernization industry is produced, use automatic stacking machine that a large amount of products and material are transported and piled up, automatic stacking machine, by the difference of structure, can be divided into planer-type stacking machine, column stacking machine, mechanical arm type stacking machine.But no matter be the stacking machine of that form, the quality of its paw directly has influence on the quality of stacking machine work.
Notification number is that the patent documentation of CN100411830C discloses a kind of robot hand for carrying and piling bag package, by sky plate, left and right clamping plate, finger part and bag compression framework composition, the driving element being arranged on described left and right clamping plate forms fingers opening-closing mechanism with translating cam slide block mechanism together with four-bar mechanism, the folding of control finger, when finger is closed described in translating cam slide block mechanism in self-locking state; Left and right two leading screws that rotation direction is contrary are connected by leading screw connector, and form screw pair with the nut being fixed on described left and right clamping plate respectively, drive motors drives described left and right leading screw to rotate by transmission mechanism, thereby drive described left and right clamping plate to move in the opposite direction, automatically regulate the distance between them, complete the carrying piling task of different size specification packaging bags.
But above-mentioned robot hand for carrying and piling bag package exists following point in actual applications: the first, because its finger-joint position is the flexible connection of locking, so its weight ratio of bearing object is more limited; The second, in the time of its grabs bag class packing, by cylinder, drive fingers opening-closing to complete, the bag class device being placed on level land for crawl has certain difficulty.
In order to overcome above problem, notification number is a kind of stacking robot claw of CN201253849Y0 patent documentation, and it comprises top board, closed slide, left and right support plate, finger mechanism and press plate mechanism; Top board fixed mount is located at closed slide upper surface, and closed slide, left and right support plate form rectangular frame; Finger mechanism consists of left and right two symmetrical mechanisms, and wherein a side comprises some L shaped fingers, some connecting rods, pair of bearings frame and rotating shaft; Those L shaped fingers are parallel to be fixed on those connecting rods, and this is fixed on connecting rod bearing bracket stand, and rotating shaft is arranged between bearing bracket stand; On the support plate of left and right, be also fixed with respectively cylinder, and its tailpiece of the piston rod revolves linchpin axle described in being connected to; Press plate mechanism consists of vertical cylinder and pressing plate.
The finger of the paw in said apparatus is L shaped finger, its joint is not for mobilizable, therefore can bear larger weight, and grasping movement rotated under the drive of cylinder by finger mechanism around rotating shaft, it is also very light that it is placed in object on level land for crawl.
But said apparatus is to drive respectively two paw foldings by two push rod cylinders, because the stroke of cylinder is subject to the restriction of cylinder volume, make the aperture size adjustability of paw very little, underaction, be difficult to adapt to the material of different sizes, and two paws drive separately, and the sync rates of paw is low, impact captures effect.
Utility model content
The utility model provides a kind of swing type gripper and the stacking machine with this swing type gripper, to solve existing stacking machine by the corresponding folding of controlling a gripper of single cylinder, the low problem of aperture size adjustability sync rates very little and two grippers of gripper.
A kind of swing type gripper, two paws that comprise base plate and be hinged on base plate and cooperatively interact, are also provided with the interlock pushing block of two synchronous backward linear runnings on described base plate, and drive the lazy-tongs of two interlock pushing blocks; A paw of the corresponding driving of each interlock pushing block.
During work, lazy-tongs drive interlock pushing block synchronous backward linear running, and described interlock pushing block drives corresponding paw to swing, and realizes the folding of paw.
In said process, two paws synchronously swing, and have improved the sync rates of paw; The aperture of paw can be adjusted by the link stroke of pushing block of adjusting, makes the aperture size adjustability of paw become large.
Interlock pushing block is corresponding drives a paw to transmit by drive mechanism, and drive mechanism can be gear & rack structure, and slider-crank mechanism etc. are common, rectilinear motion changed into the structure of circular motion.For the ease of manufacturing, preferred, between interlock pushing block and the paw of correspondence, be hinged with pull bar.
Described paw comprises: with the rotating shaft of base plate hinged, and some be arranged in parallel and pawl that phase countershaft is fixedly connected with refers to, and be fixed on the swing arm in rotating shaft, the free end of swing arm is hinged with corresponding pull bar.
Two interlock pushing blocks pass through respectively pull bar applied thrust to corresponding swing arm, and the power that swing arm acts in rotating shaft drives L-type pawl to refer to swing along the component of rotating shaft tangential direction; Thereby by the positive and negative rotation of rotary cylinder, realize the folding of paw.By pull bar, the rectilinear motion of interlock pushing block is converted into the swing of gripper, simple in structure, transmission efficiency is high.Coordinate the concrete structure of paw to say
Simple in structure in order to pass through, stable lazy-tongs drive interlock pushing block synchronous backward linear running, preferably, described lazy-tongs are the flexible drives with the first driving mechanism, and described two interlock pushing blocks are fixedly mounted on respectively on two active sections that in flexible drives, traffic direction is contrary.Described the first driving mechanism is motor or rotary cylinder.
Flexible drives can be belt sheave structure or chain sprocket structure, and the first driving mechanism drives flexible drives running, and the interlock pushing block being fixed on two active sections that in flexible drives, traffic direction is contrary is realized synchronous backward linear running.
The stroke of interlock pushing block can be realized by the length that flexible drives is set, and adjustable range is larger.
In order to improve the stability of interlock pushing block linear running, preferred, on described base plate, be also provided with two slide rails, each interlock pushing block coordinates with a slide rail wherein.Described interlock pushing block moves back and forth along slide rail, and the interference of external force resistance is stronger, is difficult for departing from impulse stroke, thereby improves the job stability of paw.
Lazy-tongs can also be rigid structures, and preferred, described lazy-tongs comprise:
Be arranged on the driving gear on base plate, the second driving mechanism that drives described driving gear to rotate;
Each interlock pushing block is all with the tooth bar being meshed with driving gear.
In order to realize interlock pushing block synchronous backward linear running under condition simple in structure, described tooth bar is arranged on driving gear both sides.
The second driving mechanism drives driving gear rotation, and driving gear engages with the tooth bar on interlock pushing block, drives the operation of interlock pushing block reverse linear, can change by adjusting the length of tooth bar the formation of interlock pushing block, regulates the aperture of paw.
The utility model also provides a kind of stacking machine, comprises mechanical arm, and the working end of described mechanical arm is connected with described swing type gripper.
In order to improve flexibility and the operating efficiency of equipment, preferred, described base plate is connected with mechanical arm by boatswain chair; Described boatswain chair top is connected with mechanical arm.
The beneficial effects of the utility model:
Swing type gripper of the present utility model, drives corresponding paw to swing by the interlock pushing block of two synchronous backward linear runnings is set, thereby realizes paw synchronous on-off, improves the work sync rates of paw; And the movement travel controllability of interlock pushing block is larger, thereby effectively improve the aperture size adjustability of adjusting paw.
Accompanying drawing explanation
Fig. 1 is the structural representation of the stacking machine of embodiment 1.
Fig. 2 is the structural representation of swing type gripper in embodiment 1.
Fig. 3 is the structural representation of another angle of swing type gripper in embodiment 1.
Fig. 4 is the structural representation of lazy-tongs in embodiment 2.
The specific embodiment
The stacking machine of the present embodiment comprises: mechanical arm (not shown in FIG.), the working end of mechanical arm is connected with swing type gripper.
As shown in Figure 1, base plate 1 is connected with mechanical arm by boatswain chair 8, and boatswain chair 8 tops are connected with mechanical arm by ring flange 9.
As depicted in figs. 1 and 2, the swing type gripper of the present embodiment comprises:
On base plate 1, be also provided with two slide rails 6, each interlock pushing block 3 coordinates with a slide rail 6 wherein.Interlock pushing block 3 moves back and forth along slide rail 6, and the interference of external force resistance is stronger, is difficult for departing from impulse stroke, thereby improves the job stability of paw 2.
In described base plate, be also vertically installed with clutch end two telescopic cylinders 7 down, the clutch end of each telescopic cylinder 7 is connected with pressing plate 71.
During work, rotary cylinder 41 rotates, drive driving wheel 42 to rotate, driving wheel 42 drives Timing Belt 44 and driven pulley 43 to move, thereby make to be arranged on the interlock pushing block 3 synchronous backward linear runnings on two active sections that on Timing Belt 44, traffic direction is contrary, two interlock pushing blocks 3 pass through respectively pull bar 5 applied thrusts to corresponding swing arm 23; Act in swing arm 23, along the component of rotating shaft 22 tangential directions, drive L-type pawl to refer to 21 swings; Thereby by the positive and negative rotation of rotary cylinder 41, realize the folding of paw 2.
At paw 2, grab after material, telescopic cylinder 7 starts, and drives in pressing plate 71 vertical direction and props up material, thereby increase the frictional force between material and paw 2, prevents that material from dropping from the side of paw 2.
The stroke of interlock pushing block 3 can be realized by the length that flexible drives is set, and the adjustable in length scope of flexible drives is larger.The aperture of paw 2 can be can be adjusted by the link stroke of pushing block 3 of adjusting, thereby makes the aperture size adjustability of paw 2 become large.And two interlock pushing block 3 synchronous backwards move to drive paw 2 to swing, and realize two paw 2 synchronous on-offs, effectively improve synchronism and stability that paw 2 is worked.
In the present embodiment, except the structure of lazy-tongs is different from embodiment 1, all the other structures are all identical with embodiment 1.
As shown in Figure 4, in the present embodiment, lazy-tongs comprise:
Be arranged on the driving gear 45 on base plate, the second driving mechanism (not shown in FIG.) that drives driving gear 45 to rotate, two interlock pushing blocks 3 are all with the tooth bar 46 being meshed with driving gear 45, are arranged on two two tooth bars 46 that link on pushing block 3 and are positioned at the both sides of driving gear 45.
The second driving mechanism can be the common power sources such as rotary cylinder or motor.
During work, the second driving mechanism drives driving gear 45 to rotate, and driving gear 45 drives the tooth bar 46 engaging with it to move, thereby realizes two interlock pushing block 3 synchronous backward linear runnings with respective rack 46.
Claims (9)
1. a swing type gripper, two paws that comprise base plate and be hinged on base plate and cooperatively interact, is characterized in that, are also provided with the interlock pushing block of two synchronous backward linear runnings on described base plate, and drive the lazy-tongs of two interlock pushing blocks; A paw of the corresponding driving of each interlock pushing block.
2. swing type gripper as claimed in claim 1, is characterized in that, between interlock pushing block and the paw of correspondence, is hinged with pull bar.
3. swing type gripper as claimed in claim 2, is characterized in that, described lazy-tongs are the flexible drives with the first driving mechanism, and described two interlock pushing blocks are fixedly mounted on respectively on two active sections that in flexible drives, traffic direction is contrary.
4. swing type gripper as claimed in claim 3, is characterized in that, described the first driving mechanism is motor or rotary cylinder.
5. the swing type gripper as described in claim 1～4 any one, is characterized in that, is also provided with two slide rails on described base plate, and each interlock pushing block coordinates with a slide rail wherein.
6. swing type gripper as claimed in claim 2, it is characterized in that, described paw comprises: with the rotating shaft of base plate hinged, and some be arranged in parallel and pawl that phase countershaft is fixedly connected with refers to, and being fixed on the swing arm in rotating shaft, the free end of swing arm is hinged with corresponding pull bar.
7. swing type gripper as claimed in claim 1, is characterized in that, described lazy-tongs comprise:
Be arranged on the driving gear on base plate, the second driving mechanism that drives described driving gear to rotate;
Each interlock pushing block is all with the tooth bar being meshed with driving gear.
8. a stacking machine, comprises mechanical arm, it is characterized in that, the working end of described mechanical arm is connected with the swing type gripper as described in claim as arbitrary in claim 1～7.
9. stacking machine as claimed in claim 8, is characterized in that, described base plate is connected with mechanical arm by boatswain chair; Described boatswain chair top is connected with mechanical arm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320596025.3U CN203557394U (en) | 2013-09-25 | 2013-09-25 | Swing type gripper and stacker crane equipped with swing type gripper |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320596025.3U CN203557394U (en) | 2013-09-25 | 2013-09-25 | Swing type gripper and stacker crane equipped with swing type gripper |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203557394U true CN203557394U (en) | 2014-04-23 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201320596025.3U Expired - Lifetime CN203557394U (en) | 2013-09-25 | 2013-09-25 | Swing type gripper and stacker crane equipped with swing type gripper |
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| CN (1) | CN203557394U (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105150230A (en) * | 2015-07-28 | 2015-12-16 | 中国科学院自动化研究所（洛阳）机器人与智能装备创新研究院 | Novel clamp used for palletizing robot |
| CN105501958A (en) * | 2015-12-25 | 2016-04-20 | 罗志琼 | Plate clamping fixture |
| CN110282426A (en) * | 2019-07-17 | 2019-09-27 | 安图实验仪器(郑州)有限公司 | Can automatic identification pallet special-purpose machinery gripper |
| CN111994619A (en) * | 2020-08-08 | 2020-11-27 | 重庆五一高级技工学校(重庆五一技师学院) | Transfer robot |
| CN112499229A (en) * | 2020-11-17 | 2021-03-16 | 曲怡铃 | Single-upright-column plane coordinate mechanical arm on box filling machine |
| CN114772275A (en) * | 2022-06-27 | 2022-07-22 | 沈阳工业大学 | Gripper assembly and control method thereof |
| CN115399175A (en) * | 2022-08-29 | 2022-11-29 | 浙江理工大学 | Automatic tray placing device and method for flowerpot on seeding assembly line |
-
2013
- 2013-09-25 CN CN201320596025.3U patent/CN203557394U/en not_active Expired - Lifetime
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105150230A (en) * | 2015-07-28 | 2015-12-16 | 中国科学院自动化研究所（洛阳）机器人与智能装备创新研究院 | Novel clamp used for palletizing robot |
| CN105501958A (en) * | 2015-12-25 | 2016-04-20 | 罗志琼 | Plate clamping fixture |
| CN110282426A (en) * | 2019-07-17 | 2019-09-27 | 安图实验仪器(郑州)有限公司 | Can automatic identification pallet special-purpose machinery gripper |
| CN111994619A (en) * | 2020-08-08 | 2020-11-27 | 重庆五一高级技工学校(重庆五一技师学院) | Transfer robot |
| CN112499229A (en) * | 2020-11-17 | 2021-03-16 | 曲怡铃 | Single-upright-column plane coordinate mechanical arm on box filling machine |
| CN114772275A (en) * | 2022-06-27 | 2022-07-22 | 沈阳工业大学 | Gripper assembly and control method thereof |
| CN115399175A (en) * | 2022-08-29 | 2022-11-29 | 浙江理工大学 | Automatic tray placing device and method for flowerpot on seeding assembly line |
| CN115399175B (en) * | 2022-08-29 | 2023-09-01 | 浙江理工大学 | Automatic flowerpot tray placing device and method for seeding assembly line |
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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: 20140423 |
|
| CX01 | Expiry of patent term |