CN204604345U - A kind of robot hand capturing cardboard - Google Patents

Abstract

The utility model relates to a robot claw for grabbing cardboard, which relates to a robotic hand for grabbing objects, in particular to a pneumatic robot claw for grabbing cardboard, including a fixed plate (1), a baffle plate (2), and an inserting plate. (3) and the hand plate (4), the baffle plate (2) is a positioning plate; the inserting plate (3) is a telescopic flat plate, and the inserting plate (3) is located below the fixed plate (1); the hand plate (4) is a pressing plate (41), the pressing plate is located on one side of the baffle (2), above the fixed plate (1), and the inserting plate (3) is pushed by the driving cylinder (5) fixed on the fixed plate (1) Parallel telescopic movement, the hand plate (4) is driven by the pressure plate fixed on the fixed plate (1) to push and pull the cylinder (6) to move up and down, and the up and down movement of the hand plate (4) corresponds to the parallel telescopic movement of the insert plate (3). motion to form a robotic gripper that hinges to grab cardboard. When the utility model grasps the cardboard, the grasping is more precise and the function is more stable.

Description

A robotic gripper that grabs cardboard

technical field

The utility model relates to a robot hand for grabbing objects, in particular to a pneumatic robot hand claw for grabbing cardboard.

Background technique

At present, the technology of using robots to grab cardboard includes: as the invention patent application published by the State Intellectual Property Office "a feeding gripper for cardboard (publication number is CN103659827A)", the robotic hand relies on the suction cup on the arm to grab cardboard, This manipulator can only be used for the grasping function of a single cardboard, and the use of the grasping function has certain limitations; another example is the invention patent application "multifunctional palletizing robot gripper (publication number CN103264397A) published by the State Intellectual Property Office, The gripper of this machine has complex functions, poor operability, and low stability; there are also grippers that use multiple grippers and connecting rods to form a gripper arm for operation, but its structure is also complicated and its stability is not strong. And the positioning of grabbing is poor.

Utility model content

The purpose of this utility model is to provide a robot claw for grabbing cardboard with simple structure, good positioning performance and strong stability in order to solve the above-mentioned shortcomings of the existing robot claw for grabbing cardboard.

A robot gripper for grabbing cardboard includes a fixed plate, a baffle, an inserting plate and a hand plate, the baffle plate is a positioning plate; the inserting plate is a telescopic flat plate, and the inserting plate is located below the fixed plate; the hand plate is a pressing plate, The pressing plate is located on one side of the baffle plate and above the fixed plate. The inserting plate is driven by the cylinder fixed on the dial to push the parallel telescopic movement, and the hand plate is pushed and pulled up and down by the cylinder driven by the pressing plate fixed on the fixed plate. Movement, the up and down movement of the hand plate and the parallel telescopic movement of the inserting plate correspond to each other to form a hinged robot gripper for grabbing cardboard.

The above-mentioned inserting plate and the fixing plate are also fixed by a pair of parallel sliding devices. The sliding device is composed of a linear track and a sliding block. The linear track and the sliding block are respectively fixed on the fixing plate and the inserting plate. The sliding blocks cooperate with each other, so that the inserting plate and the fixing plate are connected to each other to form a telescopic sliding structure.

The above-mentioned linear track is a T-shaped groove fixing seat, and the sliding block matched with the T-shaped groove is a T-shaped sliding block, so that the inserting plate is fixed on the fixing plate through the cooperation of the sliding block and the linear track.

The telescoping rod of the above-mentioned shifting plate driving cylinder is connected with a V-shaped shifting rod. The V-shaped shifting rod is provided with a pushing shaft and a fixed shaft. The fixed shaft is installed at one end of the V-shaped shifting rod and fixed on the lower side of the fixing plate; The push shaft is installed in the middle of the V-shaped toggle rod and fixed on the plug-in plate. The other end of the V-shaped toggle rod is connected with the telescopic rod of the dial-driven cylinder, so that when the telescopic rod moves telescopically, it is fixed by the V-shaped toggle rod. The shaft is a fixed point, and the push-and-pull rotating shaft is used as a push-pull active point to pull the plate for telescopic movement.

The above-mentioned hand plate and the fixed plate are connected by a connecting rod driving device. The connecting rod driving device includes two connecting pieces with grooves. The first groove connecting piece is fixed on the pressure plate, and the second groove connecting piece is fixed on the fixing plate. The groove connecting piece 1 is connected with the groove connecting piece 2 through two connecting rods, one connecting rod is a connecting rod, and the other connecting rod is a linkage rod. The push-pull rod pulls the linkage rod to drive the hand plate to move up and down in parallel at four points on the two connecting pieces with grooves.

The above-mentioned fixing connector with groove is an L-shaped groove fixing piece or a U-shaped fixing piece.

An extension part is provided on the linkage rod, and the extension part is movably connected with the push-pull rod of the pressing plate driving cylinder.

The above-mentioned pressure plate driving cylinder is movably installed on the fixed plate through a base.

A magnetic signaling device is installed in the above-mentioned pressure plate driving cylinder.

Reinforcing ribs are respectively provided on the four sides of the above-mentioned fixing plate.

The beneficial effects of the utility model:

1. The utility model includes a fixed plate, a baffle plate, an inserting plate and a hand plate. The baffle plate is used for positioning, the inserting plate is a telescopic flat plate, and the hand plate is a pressing plate movable up and down to form a robot hand for grabbing cardboard, thus the structure is simple. The inserting plate and the fixing plate are fixed by a pair of parallel sliding devices, so that the utility model grasps the cardboard more accurately and has more stable functions.

2. In the utility model, the telescopic rod of the utility model drives the telescopic rod of the cylinder to push the parallel telescopic movement. The hand plate is pushed and pulled up and down by the push-pull rod of the cylinder driven by the pressure plate. The robotic gripper that grabs the cardboard has a simple telescopic structure and stable gripping performance, and a magnetic signaling device is installed in the drive cylinder of the pressing plate, so that the movement of the gripper can be confirmed, effectively improving the reliability of the work.

3. The telescoping rod of the plate drive cylinder of the utility model is connected with a V-shaped toggle rod. The V-shaped toggle rod is provided with a pushing shaft and a fixed shaft. The fixed shaft is installed at one end of the V-shaped shift rod and fixed on the The lower side of the fixed plate; the push shaft is installed in the middle of the V-shaped toggle rod and fixed on the plug-in plate. The other end of the V-shaped toggle rod is connected with the telescopic rod of the dial-driven cylinder, so that when the telescopic rod stretches, it passes through the V-shaped The toggle rod takes the fixed shaft as the fixed point, and the push shaft as the push-pull active point to pull the plug-in board for telescopic movement, thus, the plug-in board shifter drives the cylinder to rotate at a certain angle through the telescopic rod and the tail of the V-shaped shift rod, and the plug-in board moves at a certain angle. The plate rotates around the fixed shaft on the fixed plate, which drives the push shaft on the plug-in board to rotate (circular motion), so that the plug-in board moves along the linear guide rail instead of being directly driven by the driving cylinder of the shifting board to play a buffering effect. Therefore, not only the movement performance and the service life of the plug board can be improved, but also the space can be greatly saved.

4. The hand plate and the fixed plate of the utility model are connected by a connecting rod driving device, which includes two connecting parts with grooves, the first groove connecting part is fixed on the pressure plate, and the second groove connecting part is fixed on the fixed On the board, there are two connecting rods on the grooves of the groove connecting piece 1 and the groove connecting piece 2 to rotate and connect with each other. One connecting rod is a connecting rod, and the other connecting rod is a linkage rod. The hand plate is driven by the pressing plate. The push-pull rod of the cylinder is connected with the linkage rod, and the push-pull rod pulls the linkage rod to drive the hand plate to form four points on the two grooved connectors to move up and down in parallel to clamp the cardboard. Therefore, the structure is simple and compact, the movement speed of the hand plate is fast, the working pressure is adjustable, and the holding force is stable.

5. The four sides of the fixed plate of the utility model are respectively provided with reinforcing ribs, which not only help to improve the structural strength of the fixed plate, but also reduce the overall weight of the fixed plate.

6. Based on the above-mentioned results: the utility model has the advantages of simple structure, reliable control, good motion performance, and light weight. It can be connected to the mechanical arm (robot) in various ways, and it is more widely used.

Description of drawings

Fig. 1 and Fig. 2 are the structural representations of the utility model.

Fig. 3 is the bottom view of the utility model.

Fig. 4 is a schematic front view of grabbing cardboard.

Fig. 5 is a schematic front view of placing cardboard.

Detailed ways

Below in conjunction with accompanying drawing, the utility model is further described.

As shown in Figures 1 to 5, a robot gripper for grabbing cardboard includes a fixed plate 1, a baffle plate 2, an inserting plate 3 and a hand plate 4 made of light materials such as aluminum alloy. The fixed plate 1 is a mounting plate with reinforcement ribs 9 on the four sides; Pressing plate 41, this pressing plate is arranged on the side of baffle plate 2, is positioned at the top of fixed plate 1, and described plug-in plate 3 is driven parallel telescopic movement by the dial drive cylinder 5 that is fixed on fixed plate 1, and described hand plate 4 is fixed on The pressure plate driving cylinder 6 on the fixed plate 1 pushes and pulls to move up and down. The pressure plate driving cylinder 6 is movably installed on the fixed plate 1 through a base 62. A magnetic signaling device is installed in the pressure plate driving cylinder 6. The up and down movement of the hand plate 4 and the inserting plate The parallel telescopic movement of 3 corresponds to the combined movement, and the vertical installation of the baffle plate 2 and the fixed plate 1, the inserting plate 3 and the hand plate 4 are parallel to each other, forming a hinged robot gripper for grabbing cardboard.

The inserting plate 3 and the fixed plate 1 are fixed by a pair of parallel sliding devices 7, the sliding device 7 is composed of a linear track 71 and a sliding block 72, and the linear track 71 and the sliding block 72 are respectively fixed on the fixed plate. 1 and the board 3, that is, the linear track 71 is installed on the fixed board 1, the sliding block 72 is installed on the board 3, or the linear track 71 is installed on the board 3, and the sliding block 72 is installed on the fixed board 1, Through the mutual cooperation of the linear track 71 and the sliding block 72, the inserting plate 3 and the fixing plate 1 are connected and fixed to form a telescopic sliding structure. The linear track 71 is a T-shaped groove fixing seat, and the sliding block 72 matched with the T-shaped groove is a T-shaped sliding block, so that the inserting plate 3 is fixed on the fixed plate 1 through the cooperation of the sliding block 72 and the linear track 71. superior.

The telescoping rod 51 of the plate drive cylinder 5 is connected with a V-shaped toggle rod 8, and the V-shaped toggle rod 8 is provided with a pushing shaft 81 and a fixed shaft 82, and the fixed shaft 82 is installed on the V-shaped shift rod 8. One end is fixed on the lower side of the fixed plate 1; the push shaft 81 is installed in the middle of the V-shaped toggle rod 8 and fixed on the insert plate 3, and the other end of the V-shaped toggle rod 8 is connected with the telescopic rod 51 of the dial-driven cylinder 5 , when the telescopic rod 51 is telescopically moved, the fixed shaft 82 is used as a fixed point by the V-shaped toggle rod 8, and the push-pull active point is used to push the rotating shaft 81 to pull the plate 3 to move telescopically.

The hand plate 4 and the fixed plate 1 are connected to each other through a connecting rod driving device. The connecting rod driving device includes two connecting pieces with grooves. Fixed on the fixed plate 1, the groove connector one 42 is connected with the groove connector two 43 through two connecting rods, one connecting rod is a connecting rod 44, and the other connecting rod is a linkage rod 45, and the hand plate 4 Drive the push-pull rod 61 of the cylinder 6 by the pressing plate to connect with the linkage rod 45, and the push-pull rod 61 pulls the linkage rod 45 to drive the hand plate 4 to move up and down in parallel at four points on the two grooved connectors.

When the utility model is in use: the two robot claws are respectively symmetrically installed on the robot, and when grabbing the cardboard, the two robot claws work synchronously, as shown in Figure 4, the telescopic rod 51 of the board-driven cylinder 5 pushes the V Shape toggle lever 8, V-shaped toggle lever 8 takes the fixed shaft 82 on the fixed plate 1 as a fixed point, and pushes the rotating shaft 81 on the plate 3 as a push-pull active point. When pushing the V-shaped toggle lever 8, the fixed The position of the shaft 82 is fixed, and the rotating shaft 81 is pushed to pull the flashboard 3 to move relative to the fixed shaft 82. The flashboard 3 forms a telescopic movement through the cooperation of the linear track 71 and the sliding block 72, and the flashboard 3 is inserted into the bottom of the cardboard layer 10. The baffle plate 2 is used to limit the position, and the cardboard 10 is aligned. At the same time, the hand plate 4 is connected with the linkage rod 45 through the push-pull rod 61 of the pressure plate driving cylinder 6, and the extension part 46 of the linkage rod 45 is pulled by the push-pull rod 61 to connect. The rod 44 drives the hand plate 4 to move up and down in parallel at four points on the two connecting parts with grooves, pushes the pressure plate 41 of the hand plate 4 to move downward, and presses the cardboard 10 on the insertion plate 3, thus forming the cardboard grabbing function. The grabbing function is confirmed by the magnetic signaling device before proceeding to the next step. In the same way, on the contrary, the board 3 of the gripper shrinks, and the pressing plate 41 of the hand board 4 moves upwards, as shown in Figure 5, the cardboard 10 is placed in a designated position.

Claims (10)

1. capture a robot hand for cardboard, it is characterized in that: include fixed head (1), baffle plate (2), plate (3) and palm (4), described baffle plate (2) is location-plate; Plate (3) is for flexible dull and stereotyped, and this plate (3) is positioned at the below of fixed head (1); Palm (4) is pressing plate (41), this pressing plate is located at baffle plate (2) side, be positioned at the top of fixed head (1), described plate (3) drives cylinder (5) to promote parallel stretching motion by the plate be fixed on fixed head (1), described palm (4) drives cylinder (6) push-and-pull to move up and down by the pressing plate be fixed on fixed head (1), the corresponding Union Movement mutual to the parallel stretching motion of plate (3) that move up and down of palm (4), forms the robot hand that hinge type captures cardboard.

2. a kind of robot hand capturing cardboard according to claim 1, it is characterized in that: also coordinated fixing between described plate (3) with fixed head (1) by pair of parallel carriage (7), this carriage (7) is made up of rectilinear orbit (71) and sliding shoe (72), described rectilinear orbit (71) and sliding shoe (72) are separately fixed on fixed head (1) and plate (3), cooperatively interacted by rectilinear orbit (71) and sliding shoe (72), plate (3) and fixed head (1) is made to be interconnected to form telescopic slide formula structure.

3. a kind of robot hand capturing cardboard according to claim 2, it is characterized in that: described rectilinear orbit (71) is T-shaped groove holder, be T-shaped sliding shoe with the sliding shoe (72) of this T-shaped groove fit, plate (3) is fixed on fixed head (1) with coordinating of rectilinear orbit (71) by sliding shoe (72).

4. a kind of robot hand capturing cardboard according to claim 1, it is characterized in that: described plate drives the expansion link (51) of cylinder (5) to be connected with a V-arrangement poke rod (8), this V-arrangement poke rod (8) is provided with a promotion rotating shaft (81) and a fixed rotating shaft (82), this fixed rotating shaft (82) is arranged on V-arrangement poke rod (8) one end, is fixed on fixed head (1) downside; Promote rotating shaft (81) and be arranged on V-arrangement poke rod (8) centre position, be fixed on plate (3), V-arrangement poke rod (8) other end and plate drive the expansion link of cylinder (5) (51) to connect, when making expansion link (51) stretching motion, by V-arrangement poke rod (8) with fixed axis (82) for fixing point, pull plate (3) stretching motion to promote rotating shaft (81) for sliding active point.

5. a kind of robot hand capturing cardboard according to claim 1, it is characterized in that: described palm (4) is connected by a driving rod drive with fixed head (1), this driving rod drive includes two band groove connectings, groove connecting one (42) is fixed on pressing plate (41), groove connecting two (43) is fixed on fixed head (1), described groove connecting one (42) is connected with groove connecting two (43) by two connecting rods, one connecting rod is connecting rod (44), another connecting rod is gangbar (45), described palm (4) drives the pull bar of cylinder (6) (61) to connect with gangbar (45) by pressing plate, by pull bar (61) pull gangbar (45) drive palm (4) two band groove connectings on formed 4 parallel up and down.

6. a kind of robot hand capturing cardboard according to claim 5, is characterized in that: described band groove fixed connecting piece is L-type groove fixture or U-shaped fixture.

7. a kind of robot hand capturing cardboard according to claim 5, it is characterized in that: described gangbar (45) is provided with a prolongation (46), this prolongation (46) and pressing plate drive the pull bar of cylinder (6) (61) to be flexibly connected.

8. a kind of robot hand capturing cardboard according to claim 1, is characterized in that: described pressing plate drives cylinder (6) to be movably arranged on fixed head (1) by a base (62).

9. a kind of robot hand capturing cardboard according to claim 1, is characterized in that: described pressing plate drives in cylinder (6) and is provided with magnetic signal transmitter.

10. a kind of robot hand capturing cardboard according to claim 1, is characterized in that: described fixed head (1) four side is respectively equipped with reinforcement (9).