CN205733738U - A kind of fixture for unloading Stuff (to) rotation lock - Google Patents
A kind of fixture for unloading Stuff (to) rotation lock Download PDFInfo
- Publication number
- CN205733738U CN205733738U CN201620701060.0U CN201620701060U CN205733738U CN 205733738 U CN205733738 U CN 205733738U CN 201620701060 U CN201620701060 U CN 201620701060U CN 205733738 U CN205733738 U CN 205733738U
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- China
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- fixture
- head
- chuck body
- jaw
- power transmission
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- Withdrawn - After Issue
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Abstract
The utility model discloses a kind of fixture for unloading Stuff (to) rotation lock, including chuck body, rotary switch device and clamping device；Rotary switch device and clamping device are fixedly installed in chuck body；Rotary switch device includes servomotor, drive mechanism and turns one's head；Servomotor is fixed in chuck body, and is connected with transmission of turning one's head by drive mechanism；Clamping device includes cylinder, jaw；Cylinder is fixedly installed in chuck body；Jaw is two, is horizontally placed on immediately below turning one's head, and controls folding by cylinder.This utility model utilizes jaw to carry out revolving locking catch and takes, and utilizing turns one's head carries out the handling that rotation is locked, it is possible to effectively carry out Automated condtrol, more safe efficient.
Description
Technical field
This utility model relates to a kind of grip device unloading Stuff (to) rotation lock, is specifically related to one and is equipped on industrial machine
People is upper can arbitrarily move, the grip device removed stage makeup and costume for container rotation lock.
Background technology
The world today, along with the continuous prosperity of trade, transportation by land and water all has great demand to container, and rotation lock is for collection
Vanning plays important fixation in transportation.But (standard made by rotation lock to rotation lock of removing stage makeup and costume when unloading Stuff (to)
Pattern, concrete principle can be found in patent CN200510091010.1), the most all it is dependent on artificial or automanual equipment.Along with
The continuous rising of human cost, the most with high costs, artificial safety is also had threat greatly.Continuous along with automatization
Universal, it is necessary to find a kind of automation equipment liberation manpower.
Summary of the invention
The purpose of this utility model is to solve defect present in prior art, it is provided that one can automatically, accurately
The grip device of dismounting rotation lock effectively.
In order to achieve the above object, this utility model provides a kind of fixture for unloading Stuff (to) rotation lock, including folder
Tool body, rotary switch device and clamping device；Rotary switch device and clamping device are fixedly installed in chuck body；Rotary switch device includes
Servomotor, drive mechanism and turn one's head；Servomotor is fixed in chuck body, and by drive mechanism and transmission phase of turning one's head
Even；Clamping device includes cylinder, jaw；Cylinder is fixedly installed in chuck body；Jaw is two, is horizontally placed on and just turns one's head
Lower section, and control folding by cylinder.
Wherein, clamping device also includes connecting rod, floating junction；Cylinder pass sequentially through connecting rod and floating junction with wherein
One jaw transmission is connected, and this jaw is connected with another jaw transmission by reverse actuating device.
Reverse actuating device includes gear, two tooth bars, two guide rails；Two guide rails are respectively and fixedly installed to chuck body
On；Gear is fixedly installed in chuck body by bearing；Two parallel gear both sides of being located at of tooth bar, and nibble mutually with gear respectively
Close；Jaw is separately mounted on the tooth bar of correspondence；Freely slidable slide block it is respectively equipped with on guide rail；Tooth bar and corresponding guide rail
On slide block be fixedly linked.
Above-mentioned drive mechanism has two kinds of kinds of drive: the drive mechanism that a kind of mode uses includes power transmission shaft, bearing, axle
Set；Axle sleeve is fixed in chuck body；Power transmission shaft is arranged on axle sleeve by bearing, and shaft coupling and servomotor phase are passed through in one end
Even, the other end is fixedly linked with turning one's head.
The drive mechanism of another way drive mechanism includes two power transmission shafts, two bearings, two axle sleeves, two cone teeth
Wheel；Axle sleeve is fixed in chuck body；Two power transmission shafts are fixed on by corresponding bearing on the axle sleeve of correspondence respectively；One biography
One end of moving axis is connected with servomotor by shaft coupling, and the other end is fixedly linked with corresponding bevel gear；Another power transmission shaft
One end be fixedly linked with corresponding bevel gear, the other end is fixedly linked with turning one's head；Two bevel gears are meshed.
Fixture also includes adpting flange, sighting device；Adpting flange is fixed on chuck body one end, and fixture passes through connection method
Orchid is connected with industrial robot；The central shaft of this adpting flange and the described central axis coaxial turned one's head or vertical, as upper
It is vertical when stating the first drive mechanism mode, is coaxial during for above-mentioned the second drive mechanism mode.Sighting device is fixed
It is arranged in chuck body, between visual direction and the centerline axis parallel turned one's head, and two jaws of vision alignment.
Sighting device includes vision camera and air nozzle；The nozzle of air nozzle is facing to the camera lens position of vision camera.
Two jaws are provided with photoelectric sensor, can detect clamping rotation lock with or without.
Fixture also includes upper cover and lower closure；Upper cover and lower closure are fixedly linked and form the shell of fixture
Body, and be located at outside chuck body；Servomotor, cylinder are positioned at housing；Turn one's head and jaw is positioned at hull outside；Drive mechanism
One end is positioned at enclosure interior, and the other end stretches out and is connected with turning one's head outside housing.
This utility model has the advantage that compared to existing technology
1, this utility model utilize jaw carry out revolve locking catch take, utilize turn one's head carries out rotation lock handling, it is possible to effectively carry out
Automated condtrol, more safe efficient.
2, jaw is controlled by cylinder simultaneously, and movable stroke is big, can be suitable for capturing multiple rotation lock.Owing to also setting on jaw
The photoelectric sensor being equipped with, can detect in real time between two jaws and have irrotationality to lock, and increases a kind of industrial robot and obtains jaw working position
The information of rotation lock situation, improves the system reliability to rotation lock job control.
3, turn one's head by Serve Motor Control, can arbitrarily control angle, and rotate angle of unblanking and can adjust, be suitable for difference
Rotation lock；Serve Motor Control rotates and can be prevented effectively from, with information such as induced moments, the rotation lock that rust is dead.
4, by mounting flange by fixture integral installation on industrial robot, by the control to industrial robot, can
Multi-pose is removed stage makeup and costume lock, is adapted to diverse location, the lock work of removing stage makeup and costume of different container.
5, utilize sighting device simultaneously, accurately can be directed at container lockhole by guide clamp.
6 it addition, some transmissions are respectively provided with upper cover and lower cover with connection member and Primary Component by this utility model
Inside the shell that shell and final result body are formed, not only increase the security protection to dust rainwater etc. of the fixture intraware, further increase
Product design attractive in appearance.
Accompanying drawing explanation
Fig. 1 is the structural representation of fixture in this utility model embodiment 1；
Fig. 2 is the structural representation of chuck body in Fig. 1；
Fig. 3 is the structural representation of rotary switch device in Fig. 1；
The structural representation of clamping device in Fig. 4 Fig. 1；
Fig. 5 is the overall appearance figure of fixture in this utility model embodiment 1；
Fig. 6 is the structural representation of fixture in this utility model embodiment 2；
Fig. 7 is the structural representation of rotary switch device in Fig. 6；
Fig. 8 is the overall appearance figure of fixture in this utility model embodiment 2.
In figure, 1--chuck body I, 2-rotary switch device I, 2.1-turns one's head, 2.2-drive mechanism I, 2.2.1-power transmission shaft,
2.2.2-bearing, 2.2.3-axle sleeve, 2.3-shaft coupling, 2.4-servomotor, 3-clamping device, 3.1-jaw 1,3.2-jaw 2,
3.3-photoelectric sensor, 3.4-tooth bar, 3.5-gear, 3.6-guide rail, 3.7-connecting rod, 3.8-floating junction, 3.9-cylinder, 4-
Sighting device, 4.1-vision camera, 4.2-air nozzle, 5-upper cover I, 6-lower closure I, 1a-chuck body II, 2a-
Rotary switch device II, 2.2a-drive mechanism II, 2.2a.1-power transmission shaft 1,2.2a.2-power transmission shaft 2,2.2a.3-bearing, 2.2a.4-
Axle sleeve, 2.2a.5-bevel gear, 5a-upper cover II, 6a-lower closure II.
Detailed description of the invention
Below in conjunction with the accompanying drawings this utility model is described in detail.
Embodiment 1
This utility model for the fixture unloading Stuff (to) include chuck body I 1, rotary switch device I 2, clamping device 3,
Sighting device 4, upper cover I 5 and lower closure I 6.As it is shown in figure 1, rotation locker tool I includes that chuck body I 1, turn-knob fill
Putting I 2, clamping device 3, sighting device 4, described rotary switch device I 2, clamping device 3, sighting device 4 are all loaded on chuck body
On I 1, sighting device 4 and clamping device 3 are respectively arranged at the left and right sides of rotary switch device 2.As in figure 2 it is shown, chuck body I
1 is provided with various interface is provided with for rotary switch device I 2, clamping device 3, the installation of sighting device 4, chuck body I 1 side
Adpting flange, adpting flange axis is vertical with the axis of rotary switch device I 2, and adpting flange can be connected with robot end's flange.
As it is shown on figure 3, described rotary switch device I 2 includes turning one's head 2.1, drive mechanism 2.2, shaft coupling 2.3, servomotor
2.4, drive mechanism 2.2 includes power transmission shaft 2.2.1, bearing 2.2.2, axle sleeve 2.2.3, and power transmission shaft 2.2.1 passes through bearing
2.2.2 in being fixed on axle sleeve 2.2.3 free to rotate, axle sleeve 2.2.3 is fixedly installed in chuck body I 1 by flange, watches
Take motor 2.4 be installed in chuck body I 1 also through flange and with drive mechanism 2.2 axis coaxle, power transmission shaft 2.2.1 with watch
Take motor 2.4 shaft coupling 2.3 to be connected.Turning one's head and 2.1 be installed on power transmission shaft 2.2.1 end by screw, turning one's head 2.1 can basis
Rotation lock situation is replaced.
As shown in Figure 4, this utility model clamping device 3 includes jaw 3.1 and 3.2, tooth bar 3.4,3.5,2 guide rails of gear
3.6, connecting rod 3.7, floating junction 3.8, cylinder 3.9.Being equipped with slide block on 2 guide rails 3.6, slide block can be along slide, 2
Guide rail 3.6 is fixed in chuck body I 1, and gear 3.5 is fixed in chuck body I 1 free to rotate by bearing, gear
It is positioned in the middle of 2 guide rails；Jaw 3.1 and 3.2 is separately mounted on the tooth bar 3.4 of correspondence, and it is right that 2 tooth bars 3.4 are respectively arranged in
Answering on the slide block of guide rail 3.6,2 tooth surface of rack are relative and parallel, and now 2 tooth bars are while simultaneously engaging on gear 3.5；Connecting rod
3.7 one end are connected with jaw 3.1 by floating junction 3.8, and one end is connected with cylinder 3.9.Cylinder 3.9 is fixedly installed in fixture originally
On body I 1, cylinder 3.9 stretches out and jaw 3.1 can be driven to open, and jaw 3.1 passes sequentially through tooth bar, gear, rack drives folder simultaneously
Pawl 3.2 adverse movement, such 2 jaws are and open.Otherwise cylinders retract can make 2 jaws realize pinching action.Jaw
3.1, being respectively arranged with photoelectric sensor on 3.2,2 photoelectric sensors form correlation, can block correlation, when not having when there being rotation lock workpiece
When having rotation lock workpiece, can correlation sense, to detect whether fixture is clamped with rotation lock.
In conjunction with Fig. 1, Fig. 5, sighting device 4 is installed in chuck body I 1, is in close proximity to rotary switch device I 2, sighting device 4
Including vision camera 4.1 and air nozzle 4.2.Vision camera 4.1 uses infrared imaging, its alignment lens clamping rotation lock side to
(between i.e. two jaws 3.1,3.2), can carry out vision to the tool of putting of the container lockhole or placement rotation lock of installing rotation lock
Location, can guide the industrial robot alignment lockhole that rotation locker tool is installed.Air nozzle 4.2, is fitted in chuck body
On, it is directed at vision camera 4.1 camera lens, for blowing away dust and other impurity of camera lens, it is ensured that sighting device normally works.
As it is shown in figure 5, whole fixture all uses upper cover I 5, lower closure I 6 to protect formation shell body, rotation
Locker tool only have the drive mechanism end in turn-knob I 2 device and be connected to drive mechanism end turn one's head 2.1, sighting device 4
Vision camera 4.1 camera lens, air nozzle 4.2；2 jaws of clamping device 3 are exposed outside device, and remaining equipment is the most outside
Enclosure interior.
Embodiment 2
In the present embodiment fixture include chuck body II 1a, rotary switch device II 2a, clamping device 3, sighting device 4, on
Portion case I 5a and lower closure I 6a.Clamping device 3, sighting device 4, chuck body II 1a, upper cover 5a and lower cover
The position relationship of shell 6a is with embodiment 1.Clamping device 3, the same embodiment of structure of sighting device 4.This embodiment is used for removing stage makeup and costume 20
20 chi container groups internal rotation lock, robot need to be arranged in container group, so removing stage makeup and costume rotation lock action the most not
With and inner space narrow and small, so develop rotation locker tool II, this rotation locker tool II servomotor 2.4 with turn one's head axis hang down
Directly, below in conjunction with Fig. 6 ~ Fig. 8, example 2 is revolved locker tool II to be described.
As shown in Figure 6, ultimate principle is identical with rotation locker tool I, and chuck body structure and rotary switch device are different.Fixture
The axis of the robot mounting flange of body II 1a and the axis coaxle turned one's head, servomotor 2.4 axis hangs down with turn-knob axis
Directly；Clamping device, rotary switch device, sighting device are all arranged on chuck body II 1a.
As it is shown in fig. 7, described rotary switch device II 2a includes power transmission shaft 1 2.2a.1, power transmission shaft 2 2.2a.2,2 bearings
2.2a.3,2 axle sleeve 2.2a.4,2 bevel gear 2.2a.5, servomotor 2.4 and turn one's head 2.1.Power transmission shaft 1 2.2a.1 leads to
Crossing bearing 2.2a.3 to be installed in axle sleeve 2.2a.4 and free to rotate, transmission shaft end is equipped with bevel gear 2.2a.5；Power transmission shaft
In 2 2.2a.2 are installed on axle sleeve 2.2a.4 again by bearing 2.2a.3 and free to rotate, axle head is equipped with bevel gear；2 axles
Set is installed on chuck body II 1a by flange；2 bevel gears engage each other, servomotor 2.4 and power transmission shaft 1 2.2a.1
Being connected by shaft coupling 2.3, turning one's head 2.1 is installed on power transmission shaft 2 2.2a.2 axle head, and servomotor 2.4 rotates can be by passing
Moving axis, Bevel Gear Transmission, to turning one's head on 2.1, realize unlocking action, servomotor 2.4 and 2.1 axles of turning one's head to rotation lock pin turn-knob
Line is vertical.
As shown in Figure 8, rotation locker tool II uses upper cover 5a, lower closure 6a to protect equally, rotation locker tool II
Only have as rotation locker tool I that part-structure is naked is exposed on the external, be so that whole fixture can use out of doors, have the most dust-proof,
Waterproof safeguard function.
Claims (9)
1. the fixture revolving lock for unloading Stuff (to), it is characterised in that: include chuck body, rotary switch device and clamping dress
Put；Described rotary switch device and clamping device are fixedly installed in described chuck body；Described rotary switch device includes servomotor, biography
Motivation structure and turning one's head；Described servomotor is fixed in described chuck body, and is connected with transmission of turning one's head by drive mechanism；Institute
State clamping device and include cylinder, jaw；Described cylinder is fixedly installed in described chuck body；Described jaw is two, level
Immediately below turning one's head described in being arranged at, and control folding by described cylinder.
Fixture the most according to claim 1, it is characterised in that: described clamping device also includes connecting rod, floating junction；Institute
State cylinder to pass sequentially through connecting rod and be connected with one of them jaw transmission with floating junction, this jaw by reverse actuating device with
Another jaw transmission is connected.
Fixture the most according to claim 2, it is characterised in that: described reverse actuating device include gear, two tooth bars, two
Root guide rail；Described guide rail is fixedly mounted in described chuck body；Described gear is fixedly installed in described fixture originally by bearing
On body；Two tooth bars are parallel is located at described gear both sides, and is meshed with described gear respectively；It is right that described jaw is separately mounted to
On the tooth bar answered；Freely slidable slide block it is respectively equipped with on described guide rail；Described tooth bar is solid with the slide block on corresponding guide rail
Fixed connected.
Fixture the most according to claim 3, it is characterised in that: described drive mechanism includes power transmission shaft, bearing, axle sleeve；Institute
State axle sleeve to be fixed in described chuck body；Described power transmission shaft is arranged on axle sleeve by described bearing, and shaft coupling is passed through in one end
Being connected with described servomotor, the other end is fixedly linked with described turning one's head.
Fixture the most according to claim 3, it is characterised in that: described drive mechanism include two power transmission shafts, two bearings,
Two axle sleeves, two bevel gears；Described axle sleeve is fixed in described chuck body；Said two power transmission shaft is respectively by correspondence
Bearing is fixed on the axle sleeve of correspondence；One end of one power transmission shaft is connected with described servomotor by shaft coupling, the other end and
Corresponding bevel gear is fixedly linked；One end of another power transmission shaft is fixedly linked with corresponding bevel gear, the other end and described torsion
Head is fixedly linked；Said two bevel gear is meshed.
Fixture the most according to claim 1, it is characterised in that: described fixture also includes adpting flange, sighting device；Described
Adpting flange is fixed on described chuck body one end, and described fixture is connected with industrial robot by described adpting flange；Described
Adpting flange, its central shaft and the described central axis coaxial turned one's head or vertical；Described sighting device is fixedly mounted on described folder
On tool body, between visual direction Yu the described centerline axis parallel turned one's head, and two jaws of vision alignment.
Fixture the most according to claim 6, it is characterised in that: described sighting device includes vision camera and air nozzle；
The nozzle of described air nozzle is facing to the camera lens position of described vision camera.
Fixture the most according to claim 1, it is characterised in that: said two jaw is provided with photoelectric sensor.
Fixture the most according to claim 1, it is characterised in that: described fixture also includes upper cover and lower closure；Institute
State upper cover and lower closure is fixedly linked and forms the housing of described fixture, and be located at outside described chuck body；Described watch
Take motor, cylinder is positioned at described housing；Described turn one's head and jaw be positioned at described hull outside；Described drive mechanism one end is positioned at
Described enclosure interior, the other end stretches out and is connected with described turning one's head outside described housing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620701060.0U CN205733738U (en) | 2016-07-06 | 2016-07-06 | A kind of fixture for unloading Stuff (to) rotation lock |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620701060.0U CN205733738U (en) | 2016-07-06 | 2016-07-06 | A kind of fixture for unloading Stuff (to) rotation lock |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205733738U true CN205733738U (en) | 2016-11-30 |
Family
ID=57380968
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620701060.0U Withdrawn - After Issue CN205733738U (en) | 2016-07-06 | 2016-07-06 | A kind of fixture for unloading Stuff (to) rotation lock |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205733738U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105945558A (en) * | 2016-07-06 | 2016-09-21 | 南京科远自动化集团股份有限公司 | Clamp for disassembling spin lock for container |
| CN108161960A (en) * | 2018-02-07 | 2018-06-15 | 南京科远自动化集团股份有限公司 | A kind of high reliability fixture for loading and unloading container lockset |
| WO2021026861A1 (en) * | 2019-08-15 | 2021-02-18 | Abb Schweiz Ag | Gripper for handling twistlock |
-
2016
- 2016-07-06 CN CN201620701060.0U patent/CN205733738U/en not_active Withdrawn - After Issue
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105945558A (en) * | 2016-07-06 | 2016-09-21 | 南京科远自动化集团股份有限公司 | Clamp for disassembling spin lock for container |
| CN105945558B (en) * | 2016-07-06 | 2018-04-27 | 南京科远自动化集团股份有限公司 | A kind of fixture for being used to unload Stuff (to) rotation lock |
| CN108161960A (en) * | 2018-02-07 | 2018-06-15 | 南京科远自动化集团股份有限公司 | A kind of high reliability fixture for loading and unloading container lockset |
| CN108161960B (en) * | 2018-02-07 | 2023-05-09 | 南京科远智慧科技集团股份有限公司 | High-reliability clamp for loading and unloading container lockset |
| WO2021026861A1 (en) * | 2019-08-15 | 2021-02-18 | Abb Schweiz Ag | Gripper for handling twistlock |
| CN114269510A (en) * | 2019-08-15 | 2022-04-01 | Abb瑞士股份有限公司 | Gripper for actuating a twist lock |
| CN114269510B (en) * | 2019-08-15 | 2023-04-18 | Abb瑞士股份有限公司 | Gripper for actuating a twist lock |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20161130 Effective date of abandoning: 20180427 |
|
| AV01 | Patent right actively abandoned |