CN204382269U - A kind of robot gripper of packed object - Google Patents

A kind of robot gripper of packed object Download PDF

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Publication number
CN204382269U
CN204382269U CN201420850903.4U CN201420850903U CN204382269U CN 204382269 U CN204382269 U CN 204382269U CN 201420850903 U CN201420850903 U CN 201420850903U CN 204382269 U CN204382269 U CN 204382269U
Authority
CN
China
Prior art keywords
finger
packed
roll adjustment
turning cylinder
robot gripper
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 - Fee Related
Application number
CN201420850903.4U
Other languages
Chinese (zh)
Inventor
洪辉南
林明亮
陈海君
陈基峰
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Fujian Zheng De Intelligence Devices S R L
Original Assignee
Fujian Zheng De Intelligence Devices S R L
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Fujian Zheng De Intelligence Devices S R L filed Critical Fujian Zheng De Intelligence Devices S R L
Priority to CN201420850903.4U priority Critical patent/CN204382269U/en
Application granted granted Critical
Publication of CN204382269U publication Critical patent/CN204382269U/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

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Abstract

The utility model relates to a kind of robot gripper of packed object, comprises the finger arranged in opposite directions, and the end of finger is tip; Under original state, finger down; Under seized condition, finger overturns inwardly; Finger, by the control of drive unit, carries out flip-flop movement under original state and seized condition.Robot gripper described in the utility model, is provided with the finger that can inwardly overturn, under the control of drive unit, after the packed object of finger access, inwardly overturn, hold on to packed object, and by finger load-bearing, packed object Absorbable organic halogens captures on robot gripper.The utility model is also provided with the roll adjustment support portion of adjustable position, by regulating the distance of the roll adjustment support portion be oppositely arranged, thus realizing the distance between the finger be oppositely arranged, making the utility model be used in packed object as much as possible.

Description

A kind of robot gripper of packed object
Technical field
The utility model relates to a kind of manipulator, more particularly, relates to a kind of robot gripper of packed object.
Background technology
Robot piling is the single body that robot captures dispersion, stacks into buttress heap piecemeal accurately according to certain stacking rule; The process contrary with robot piling is robot destacking, be robot from buttress heap according to the stacking rule that buttress heap is original, accurate crawl single body piecemeal is also placed on assigned address.
Process the current visible various packed object handgrip supporting with robot of packed object, major part is for robot piling; Arrange closely between packed object and packed object because buttress heap is upper, the operating space of packed object handgrip is not enough, the packed object handgrip that robot piling uses all is not suitable for robot destacking, so the packed object handgrip of robot destacking generally adopts vacuum cup.And for thinner through knitting device, or there is no gluing, or the just hackly woven bag in face, vacuum cup may cannot be drawn completely, or the efficiency drawn is extremely low.The defect of packed object handgrip seriously hinders applying of robot destacking system.
Utility model content
The purpose of this utility model is to overcome the deficiencies in the prior art, provides a kind of robot gripper of packed object easily and effectively.
The technical solution of the utility model is as follows:
A robot gripper for packed object, comprises the finger arranged in opposite directions, and the end of finger is tip; Under original state, finger down; Under seized condition, finger overturns inwardly; Finger, by the control of drive unit, carries out flip-flop movement under original state and seized condition.
As preferably, the top of finger is fixed on turning cylinder, and drive unit drives turning cylinder to rotate, and then controls finger upset.
As preferably, turning cylinder is installed with catch bar, and the top of catch bar and the drive rod of drive unit are rotationally connected, by advance and the retrogressing of drive rod, drive catch bar to be that axle rotates with turning cylinder, and then drive turning cylinder to rotate, point and overturn with turning cylinder.
As preferably, also comprise roll adjustment support portion, turning cylinder rotates and is located on roll adjustment support portion, by regulating the distance between roll adjustment support portion, controls the crawl size of finger.
As preferably, each turning cylinder configures a roll adjustment support portion, and roll adjustment support portion comprises roll adjustment plate, at least one upper arm, and upper arm is arranged on the lower surface of roll adjustment plate, and upper arm is provided with rotation hole, and turning cylinder is located in rotation hole.
As preferably, roll adjustment plate is movably arranged on mounting rail, by changing the position of roll adjustment plate on mounting rail, and then changes the distance between the roll adjustment support portion that arranges in opposite directions.
As preferably, mounting rail is fixed on the lower surface of installing plate, is connected by robot gripper by installing plate with robot arm.
The beneficial effects of the utility model are as follows:
Robot gripper described in the utility model, is provided with the finger that can inwardly overturn, under the control of drive unit, after the packed object of finger access, inwardly overturn, hold on to packed object, and by finger load-bearing, packed object Absorbable organic halogens captures on robot gripper.
The utility model is also provided with the roll adjustment support portion of adjustable position, by regulating the distance of the roll adjustment support portion be oppositely arranged, thus realizing the distance between the finger be oppositely arranged, making the utility model be used in packed object as much as possible.
Accompanying drawing explanation
Fig. 1 is original state schematic diagram of the present utility model;
Fig. 2 is seized condition schematic diagram of the present utility model;
In figure: 10 is fingers, and 11 is turning cylinders, and 12 is roll adjustment support portions, and 13 is roll adjustment plates, and 14 is upper arms, and 15 is rotation holes, and 16 is drive units, and 17 is drive rods, and 18 is catch bars, and 19 is mounting rails, 20 installing plates, and 21 is bearings.
Detailed description of the invention
Below in conjunction with drawings and Examples, the utility model is described in further detail.
A robot gripper for packed object, comprises the finger 10 arranged in opposite directions, and the end of finger 10 is tip; Under original state, finger 10 down; Under seized condition, finger 10 overturns inwardly; Finger 10, by the control of drive unit 16, carries out flip-flop movement under original state and seized condition.In the present embodiment, two rows are set and point 10, as shown in Figure 1, under original state, all vertically downward, under the control of drive unit 16, finger 10 moves to seized condition to finger 10, two row's fingers 10 all inwardly turn over and turn 90 degrees, and as shown in Figure 2, realize the crawl to packed object.
Can synchronously overturn to make often to arrange finger 10, the utility model is also provided with turning cylinder 11, and the top of finger 10 is fixed on turning cylinder 11, and finger 10 is vertical with turning cylinder 11.Drive unit 16 drives turning cylinder 11 to rotate, and then control finger 10 overturns.
Turning cylinder 11 is installed with catch bar 18, and the top of catch bar 18 and the drive rod 17 of drive unit 16 are rotationally connected, and the bottom of catch bar 18 is fixedly connected on turning cylinder 11, catch bar 18 and turning cylinder 11 is produced and links in the same way.By advance and the retrogressing of drive rod 17, drive catch bar 18 with turning cylinder 11 for axle rotates, and then drive turning cylinder 11 to rotate, finger 10 overturns with turning cylinder 11.
In order to the packed object making the utility model be applicable to more sizes, the utility model also comprises roll adjustment support portion 12, and turning cylinder 11 rotates and is located on roll adjustment support portion 12, by regulating the distance between roll adjustment support portion 12, realize the distance adjustment between finger 10, control the crawl size of finger 10.
In order to make work more stable, each turning cylinder 11 configures a roll adjustment support portion 12, and roll adjustment support portion 12 comprises roll adjustment plate 13, at least one upper arm 14, and upper arm 14 is arranged on the lower surface of roll adjustment plate 13, upper arm 14 is provided with rotation hole 15, turning cylinder 11 is located in rotation hole 15.In the present embodiment, roll adjustment support portion 12 comprises a roll adjustment plate 13, two upper arms 14, two upper arms 14 are vertically mounted on two side positions of the lower surface of roll adjustment plate 13, be provided with bearing 21 in rotation hole 15, turning cylinder 11, under the effect of bearing 21, ensures that rotation is more smooth and easy.Two upper arms 14 also can more stably for installing turning cylinder 11.
Roll adjustment plate 13 is movably arranged on mounting rail 19, by changing the position of roll adjustment plate 13 on mounting rail 19, and then changes the distance between the roll adjustment support portion 12 that arranges in opposite directions.Conveniently adjust, the utility model is also provided with mounting rail 19, and roll adjustment plate 13 can change position arbitrarily on mounting rail 19, and fixing and locking, for adjusting the distance between two row's fingers 10 of arranging in opposite directions.
If need the utility model to be implemented on robot, then need mounting rail 19 upper surface is provided with fixture for connecting robot gripper and robot arm, the utility model is provided with installing plate 20, mounting rail 19 is fixed on the lower surface of installing plate 20, is connected by robot gripper by installing plate 20 with robot arm.
Workflow:
1) under the utility model original state, vertically downward, robot arm drives finger 10 vertical depression to finger 10, and finger 10 punctures packaging bag and inserts in pack object;
2) drive unit 16, as cylinder, promoting finger 10 turning cylinder 11 and does 90 ° of rotations, driving finger 10 also to do 90 ° of rotations, namely from becoming level vertically downward inwardly;
3) robot arm drives the utility model vertically to mention, and packed object is also mentioned by finger 10 load-bearing of level angle;
4) after arriving assigned address, drive unit 16 promotes the reverse 90 ° of rotations of turning cylinder 11, drives finger 10 also reverse 90 ° of rotations, namely becomes inwardly vertically downward from level, revert to original state;
5) robot arm drives finger 10 vertically to mention, and finger 10 and packed object depart from.
As the utility model being implemented on the robot automatic feeding system of beverage industry, robot arm drives robot gripper, according to the original stacking rule of buttress heap from raw material pile heap, accurate crawl single bag of raw material piecemeal and be placed on automatically cut bag, lowering equipment assigned address on.
Above-described embodiment is only used to the utility model is described, and is not used as restriction of the present utility model.As long as according to technical spirit of the present utility model, change above-described embodiment, modification etc. all will be dropped in the scope of claim of the present utility model.

Claims (7)

1. a robot gripper for packed object, is characterized in that, comprises the finger arranged in opposite directions, and the end of finger is tip; Under original state, finger down; Under seized condition, finger overturns inwardly; Finger, by the control of drive unit, carries out flip-flop movement under original state and seized condition.
2. the robot gripper of packed object according to claim 1, is characterized in that, the top of finger is fixed on turning cylinder, and drive unit drives turning cylinder to rotate, and then controls finger upset.
3. the robot gripper of packed object according to claim 2, it is characterized in that, turning cylinder is installed with catch bar, the top of catch bar and the drive rod of drive unit are rotationally connected, by advance and the retrogressing of drive rod, drive catch bar to be that axle rotates with turning cylinder, and then drive turning cylinder to rotate, point and overturn with turning cylinder.
4. the robot gripper of packed object according to claim 1, is characterized in that, also comprises roll adjustment support portion, and turning cylinder rotates and is located on roll adjustment support portion, by regulating the distance between roll adjustment support portion, controls the crawl size of finger.
5. the robot gripper of packed object according to claim 4, it is characterized in that, each turning cylinder configures a roll adjustment support portion, roll adjustment support portion comprises roll adjustment plate, at least one upper arm, upper arm is arranged on the lower surface of roll adjustment plate, upper arm is provided with rotation hole, and turning cylinder is located in rotation hole.
6. the robot gripper of packed object according to claim 4, is characterized in that, roll adjustment plate is movably arranged on mounting rail, by changing the position of roll adjustment plate on mounting rail, and then changes the distance between the roll adjustment support portion that arranges in opposite directions.
7. the robot gripper of packed object according to claim 6, is characterized in that, mounting rail is fixed on the lower surface of installing plate, is connected by robot gripper by installing plate with robot arm.
CN201420850903.4U 2014-12-29 2014-12-29 A kind of robot gripper of packed object Expired - Fee Related CN204382269U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201420850903.4U CN204382269U (en) 2014-12-29 2014-12-29 A kind of robot gripper of packed object

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201420850903.4U CN204382269U (en) 2014-12-29 2014-12-29 A kind of robot gripper of packed object

Publications (1)

Publication Number Publication Date
CN204382269U true CN204382269U (en) 2015-06-10

Family

ID=53355023

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201420850903.4U Expired - Fee Related CN204382269U (en) 2014-12-29 2014-12-29 A kind of robot gripper of packed object

Country Status (1)

Country Link
CN (1) CN204382269U (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110626810A (en) * 2019-09-27 2019-12-31 佛山市集知汇科技有限公司 Material bag carrying equipment and method

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110626810A (en) * 2019-09-27 2019-12-31 佛山市集知汇科技有限公司 Material bag carrying equipment and method
CN110626810B (en) * 2019-09-27 2021-01-19 东莞市恒荣机械股份有限公司 Material bag carrying equipment and method

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Legal Events

Date Code Title Description
GR01 Patent grant
C14 Grant of patent or utility model
CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20150610

Termination date: 20181229

CF01 Termination of patent right due to non-payment of annual fee