CN204341991U - A kind of drawer type carrier robot grasper - Google Patents
A kind of drawer type carrier robot grasper Download PDFInfo
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- CN204341991U CN204341991U CN201420752804.2U CN201420752804U CN204341991U CN 204341991 U CN204341991 U CN 204341991U CN 201420752804 U CN201420752804 U CN 201420752804U CN 204341991 U CN204341991 U CN 204341991U
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- grippers
- pedestal
- drawer type
- type carrier
- carrier robot
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Abstract
The utility model relates to a kind of drawer type carrier robot grasper, comprising the pedestal for being connected with arm mechanism of robot, being arranged on keep plate below pedestal, be arranged on the grippers below keep plate, the compression cylinder of the rear backup plate be connected in grippers, driving keep plate up-and-down movement and the mobile cylinder that drives grippers movable, be provided with crane between pedestal and keep plate; The lower surface of pedestal is provided with bearing seat, the linear bearing coordinating with it slip is provided with in bearing seat, the rear end of this linear bearing is connected with grippers by support, front end is connected with strut bar, the piston rod front end of mobile cylinder is connected on strut bar, and the flexible drive grippers of the piston rod of mobile cylinder moves forward and backward; Grippers is made up of a fixed link and the fixing grasping teeth be connected on fixed link.Compared with prior art, the utility model has the advantages such as structure is simple, lighter in weight, operation stability are high, applied widely.
Description
Technical field
The utility model relates to a kind of handgrip, especially relates to a kind of drawer type carrier robot grasper.
Background technology
At present, the robot gripper that many robot palletizer manufacturing enterprises manufacture is the crawl for packed feed and flour mostly, and the mode that packed rice does not generally adopt handgrip to capture is carried out, this major cause is, packed rice itself is heavier, the weight of adding handgrip itself is just very heavy, therefore load for transfer robot Yan Tai great.
Chinese patent CN 201923656 U discloses a kind of drawer type carrier robot grasper, drawer type carrier robot grasper comprises top board, base plate, the first drive configuration, the second drive configuration, rear plate, pedestal, top board is positioned at the below of pedestal, rear plate is fixed between base plate and pedestal, top board and rear plate sliding block joint, motor and the first drive configuration, the second drive configuration are electrically connected, first drive configuration, the second drive configuration are fixed on pedestal, first drive configuration drives outwards moving inward of base plate, and the second drive configuration drives moving up and down of top board.The multiple beverage bottle of the disposable carrying of above-mentioned utility model drawer type carrier robot grasper, increases work efficiency.But because its base plate adopts plank frame, and its base construction and drive configuration thereof arrange complexity, and weight is too heavy.And its operation stability is poor.Therefore, this is for robot body, and in crawl process, stability is very poor, and this directly can affect production efficiency, also can reduce the service life of robot palletizer.
Utility model content
The purpose of this utility model is exactly provide to overcome defect that above-mentioned prior art exists the drawer type carrier robot grasper that a kind of structure is simple, lighter in weight, operation stability are high.
The purpose of this utility model can be achieved through the following technical solutions:
A kind of drawer type carrier robot grasper, comprising the pedestal for being connected with arm mechanism of robot, being arranged on keep plate below pedestal, be arranged on the grippers below keep plate, the compression cylinder of the rear backup plate be connected in grippers, driving keep plate up-and-down movement and the mobile cylinder that drives grippers movable, be provided with crane between described pedestal and keep plate.
Described compression cylinder and mobile cylinder are all arranged on pedestal, and are all positioned at same electrical box, are connected after the piston rod of described compression cylinder runs through pedestal with keep plate.
The lower surface of described pedestal is provided with bearing seat, the linear bearing coordinating with it slip is provided with in described bearing seat, the rear end of this linear bearing is connected with grippers by support, front end is connected with strut bar, the piston rod front end of described mobile cylinder is connected on strut bar, and the flexible drive grippers of the piston rod of mobile cylinder moves forward and backward.
Described rear backup plate is connected on support, and is positioned at above grippers.
Described grippers is made up of a fixed link and the fixing grasping teeth be connected on fixed link, and described fixed link is connected to the below of support, and is horizontally disposed with, and described fixing grasping teeth is horizontally disposed with, and is vertically connected on the front side of fixed link.
Described fixing grasping teeth is cylindrical bar.
The fixing grasping teeth be connected on fixed link is spaced.
Described rear backup plate offers comb teeth-shaped opening.
Described crane is scissors type elevating frame.
Above-mentioned mobile cylinder and compression cylinder can pass through the same control of controller, and are provided with the element of the accurate control cylinder action such as electromagnetic valve, flow regulating valve.
Above-mentioned gripper equipment structure adopts aluminum alloy materials and carbon fibre material to make.
When drawer type carrier robot grasper of the present utility model uses, pedestal is connected on arm mechanism of robot, mobile cylinder drives support and grippers to move forward by mobile piston bar, the downside that fixing grasping teeth inserts material makes material be positioned at above fixing grasping teeth, now, backup plate is for limiting the position of material, prevent material from dropping, wherein linear bearing moves forward and backward stationarity in process for keeping grippers.Then compression cylinder drives keep plate to move down, and compressed by material, crane is for keeping operating steadily in keep plate moving process.Then after robot drives the material on this handgrip to move into place, compression cylinder drives keep plate reposition, mobile cylinder drives fixing grasping teeth to extract out below material, and realize the transfer of material, then robot drives this handgrip to proceed transfer or the piling of next batch material.
Compared with prior art, the utility model has the following advantages and beneficial effect:
(1) grippers adopts the form of fixing grasping teeth, reduces the weight of handgrip on the one hand, and the structure of fixing grasping teeth is convenient to the below of inserting material on the other hand, is easy to capture.
(2 is reliably light: wherein gripping structure adopts aluminum alloy materials and carbon fibre material to make, and material reduces its weight greatly, also keeps the intensity of its needs simultaneously, both beautiful and practical, operating cycles is long.Adopt support, strut bar on the other hand, and rear backup plate offers the vibrational power flow of comb teeth-shaped opening all in order to reduce the weight of handgrip self.
(3) stability is high: handgrip of the present utility model is provided with the structures such as linear bearing, bearing seat and crane, when grippers is movable and keep plate moves up and down, plays the effect of smooth operation, improves the stability that this handgrip runs.
(4) range of use is wide: this drawer type handgrip can adapt to multi items and capture, its great advantage to realize mixed grabbing, material for difformity or state is all applicable, load weight is high, product is reliable in crawl, strong adaptability, can make the change of corresponding functional parameter according to customer requirement, reach customer requirement.
(5) safe and reliable: in operation, cylinder can be controlled by controller, and the element of the accurate control cylinder action such as electromagnetic valve, flow regulating valve can be provided with, avoid the flattening because inside and outside differential pressure causes and damage phenomenon by pressure.
(6) part universality is good: this utility model structure is simple, and convenient disassembly, can directly change during damage of components, can not affect production.
Accompanying drawing explanation
Fig. 1 is perspective view of the present utility model.
Number in the figure: 1 is pedestal, 2 is keep plate, and 3 is rear backup plate, and 4 is fixed link, and 5 is fixing grasping teeth, 6 is piston rod, and 7 is strut bar, and 8 is linear bearing, and 9 is crane, and 10 is mobile cylinder, 11 is compression cylinder, and 12 is electrical box, and 13 is support, and 14 is bearing seat.
Detailed description of the invention
Below in conjunction with the drawings and specific embodiments, the utility model is described in detail.
Embodiment
A kind of drawer type carrier robot grasper, as shown in Figure 1, comprising the pedestal 1 for being connected with arm mechanism of robot, being arranged on keep plate 2 below pedestal 1, be arranged on the grippers below keep plate 2, the rear backup plate 3 be connected in grippers, the mobile cylinder 10 that drives the compression cylinder 11 of keep plate 2 up-and-down movement and drive grippers movable, compression cylinder 11 and mobile cylinder 10 are all arranged on pedestal 1, and being all positioned at same electrical box 12, the piston rod of compression cylinder 11 runs through pedestal 1 and is connected with keep plate 2 afterwards.Scissors type elevating frame 9 is provided with between pedestal 1 and keep plate 2.The lower surface of pedestal 1 is provided with bearing seat 14, the linear bearing 8 coordinating with it slip is provided with in bearing seat 14, the rear end of this linear bearing 8 is connected with grippers by support 13, front end is connected with strut bar 7, piston rod 6 front end of mobile cylinder 10 is connected on strut bar 7, and the flexible drive grippers of the piston rod 6 of mobile cylinder 10 moves forward and backward.Rear backup plate 3 is connected on support 13, and is positioned at above grippers.Rear backup plate 3 offers comb teeth-shaped opening.Grippers is made up of a fixed link 4 and the fixing grasping teeth 5 be connected on fixed link 4, and fixed link 4 is connected to the below of support 13, and is horizontally disposed with, and fixing grasping teeth 5 is horizontally disposed with, and is vertically connected on the front side of fixed link 4.Fixing grasping teeth 5 is cylindrical bar.The fixing grasping teeth 5 be connected on fixed link 4 is spaced.
Above-mentioned mobile cylinder 10 can pass through the same control of controller with compression cylinder 11, and is provided with the element of the accurate control cylinder action such as electromagnetic valve, flow regulating valve.
Above-mentioned gripper equipment structure adopts aluminum alloy materials and carbon fibre material to make.
When the drawer type carrier robot grasper of the present embodiment uses, pedestal 1 is connected on arm mechanism of robot, mobile cylinder 10 drives support 13 and grippers to move forward by mobile piston bar 6, the downside that fixing grasping teeth 5 inserts material makes material be positioned at above fixing grasping teeth 5, now, backup plate 3 is for limiting the position of material, prevent material from dropping, wherein linear bearing 8 moves forward and backward stationarity in process for keeping grippers.Then compression cylinder 11 drives keep plate 2 to move down, and compressed by material, crane 9 is for keeping operating steadily in keep plate 2 moving process.Then after robot drives the material on this handgrip to move into place, compression cylinder 11 drives keep plate 2 reposition, mobile cylinder 10 drives fixing grasping teeth 5 to extract out below material, and realize the transfer of material, then robot drives this handgrip to proceed transfer or the piling of next batch material.
Above-mentioned is can understand for ease of those skilled in the art and use utility model to the description of embodiment.Person skilled in the art obviously easily can make various amendment to these embodiments, and General Principle described herein is applied in other embodiments and need not through performing creative labour.Therefore, the utility model is not limited to above-described embodiment, and those skilled in the art, according to announcement of the present utility model, do not depart from improvement that the utility model category makes and amendment all should within protection domain of the present utility model.
Claims (9)
1. a drawer type carrier robot grasper, comprise the pedestal (1) for being connected with arm mechanism of robot, be arranged on pedestal (1) below keep plate (2), be arranged on keep plate (2) below grippers, the rear backup plate (3) be connected in grippers, drives the compression cylinder (11) of keep plate (2) up-and-down movement and drive grippers move forward and backward mobile cylinder (10), it is characterized in that, between described pedestal (1) and keep plate (2), be provided with crane (9).
2. a kind of drawer type carrier robot grasper according to claim 1, it is characterized in that, described compression cylinder (11) and mobile cylinder (10) are all arranged on pedestal (1), and being all positioned at same electrical box (12), the piston rod of described compression cylinder (11) runs through pedestal (1) and is connected with keep plate (2) afterwards.
3. a kind of drawer type carrier robot grasper according to claim 1, it is characterized in that, the lower surface of described pedestal (1) is provided with bearing seat (14), the linear bearing (8) coordinating with it slip is provided with in described bearing seat (14), the rear end of this linear bearing (8) is connected with grippers by support (13), front end is connected with strut bar (7), piston rod (6) front end of described mobile cylinder (10) is connected on strut bar (7), the flexible drive grippers of the piston rod (6) of mobile cylinder (10) moves forward and backward.
4. a kind of drawer type carrier robot grasper according to claim 3, is characterized in that, described rear backup plate (3) is connected on support (13), and is positioned at above grippers.
5. a kind of drawer type carrier robot grasper according to claim 1, it is characterized in that, described grippers is made up of a fixed link (4) and the fixing grasping teeth (5) be connected on fixed link (4), described fixed link (4) is connected to the below of support (13), and be horizontally disposed with, described fixing grasping teeth (5) is horizontally disposed with, and is vertically connected on the front side of fixed link (4).
6. a kind of drawer type carrier robot grasper according to claim 5, is characterized in that, described fixing grasping teeth (5) is cylindrical bar.
7. a kind of drawer type carrier robot grasper according to claim 5, is characterized in that, the fixing grasping teeth (5) be connected on fixed link (4) is spaced.
8. a kind of drawer type carrier robot grasper according to claim 1, is characterized in that, described rear backup plate (3) offers comb teeth-shaped opening.
9. a kind of drawer type carrier robot grasper according to claim 1, is characterized in that, described crane (9) is scissors type elevating frame.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420752804.2U CN204341991U (en) | 2014-12-03 | 2014-12-03 | A kind of drawer type carrier robot grasper |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420752804.2U CN204341991U (en) | 2014-12-03 | 2014-12-03 | A kind of drawer type carrier robot grasper |
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| Publication Number | Publication Date |
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| CN204341991U true CN204341991U (en) | 2015-05-20 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201420752804.2U Active CN204341991U (en) | 2014-12-03 | 2014-12-03 | A kind of drawer type carrier robot grasper |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105947611A (en) * | 2016-06-30 | 2016-09-21 | 苏州博众精工科技有限公司 | Transfer mechanism for adjusting product positions |
| CN106774141A (en) * | 2017-02-28 | 2017-05-31 | 曼盛包装（上海）有限公司 | A kind of automatic assembling restarting control improvement system |
-
2014
- 2014-12-03 CN CN201420752804.2U patent/CN204341991U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105947611A (en) * | 2016-06-30 | 2016-09-21 | 苏州博众精工科技有限公司 | Transfer mechanism for adjusting product positions |
| CN105947611B (en) * | 2016-06-30 | 2018-06-05 | 博众精工科技股份有限公司 | A kind of transmission mechanism for adjusting product space |
| CN106774141A (en) * | 2017-02-28 | 2017-05-31 | 曼盛包装（上海）有限公司 | A kind of automatic assembling restarting control improvement system |
| CN106774141B (en) * | 2017-02-28 | 2024-01-05 | 曼盛包装（上海）有限公司 | Automatic kludge restart control improves system |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |