CN206050806U - A kind of mechanical hand positions grasping mechanism - Google Patents

A kind of mechanical hand positions grasping mechanism Download PDF

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Publication number
CN206050806U
CN206050806U CN201620916115.XU CN201620916115U CN206050806U CN 206050806 U CN206050806 U CN 206050806U CN 201620916115 U CN201620916115 U CN 201620916115U CN 206050806 U CN206050806 U CN 206050806U
Authority
CN
China
Prior art keywords
roller
grasping mechanism
mechanical hand
way
plate
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
CN201620916115.XU
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Chinese (zh)
Inventor
郑贵军
杨金玉
郑建明
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.)
Suzhou Lang Kun Automation Equipment Co Ltd
Original Assignee
Suzhou Lang Kun Automation Equipment Co Ltd
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 Suzhou Lang Kun Automation Equipment Co Ltd filed Critical Suzhou Lang Kun Automation Equipment Co Ltd
Priority to CN201620916115.XU priority Critical patent/CN206050806U/en
Application granted granted Critical
Publication of CN206050806U publication Critical patent/CN206050806U/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

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Abstract

The utility model discloses a kind of mechanical hand positions grasping mechanism, including carrier pipeline, carrier pipeline includes the feeding roller table conveyer belt for setting gradually, driven roller-way and positioning roller bed conveyors, positioning roller bed conveyors include rack platform, rack platform surface is provided with some roller-ways, roller-way is connected with power drive mechanism, lifting body is provided with below some roller-ways, some top boards are provided with the top of lifting body, top board is arranged between two neighboring roller-way, clamping plate is provided with roller-way two ends also, two clamping plates are located on the first belt gear above carrier pipeline and are provided with dyestripping identification mechanism, positioning roller bed conveyors side is additionally provided with base, six axis robot is provided with base, grasping mechanism is provided with six axis robot.This utility model good positioning effect, high precision, and manpower intervention is reduced, little is injured to product.

Description

A kind of mechanical hand positions grasping mechanism
Technical field
This utility model is related to haulage equipment field, and in particular to a kind of mechanical hand positions grasping mechanism.
Background technology
In many large-scale product warehousings or using front, as outside carrier is packed all, so needing to be arranged And identification, artificial mode of operation is now typically adopted, but as product stacking is higher, there is larger inconvenience, and product There is layer protecting film, needs information can be found on the identification code on surface after tearing on surface, extremely inconvenience, and by hand Dyestripping is more difficult, easily damages product surface.And typically stronger work is needed also by a dead lift when carrying Power, although mechanical hand can replace manually, but nowadays mechanical hand cannot be competent at for larger article, grasp stability pole Difference, it is fragile.
The content of the invention
The purpose of this utility model is the problem above for overcoming prior art to exist, there is provided a kind of mechanical hand positioning crawl Mechanism, this utility model good positioning effect, high precision, and manpower intervention is reduced, little is injured to product.
To realize above-mentioned technical purpose, above-mentioned technique effect is reached, this utility model is achieved through the following technical solutions:
A kind of mechanical hand positions grasping mechanism, including carrier pipeline, and the carrier pipeline includes that what is set gradually enters Material roller bed conveyors, driven roller-way and positioning roller bed conveyors, the positioning roller bed conveyors include rack platform, the support Platform surface is provided with some roller-ways, and the roller-way is connected with power drive mechanism, is provided with jacking below some roller-ways Mechanism, is provided with some top boards at the top of the lifting body, the top board is arranged between two neighboring roller-way, on roller-way two ends Clamping plate is provided with also, the cleat surface is provided with some roller-ways and avoids hole, and two clamping plates are set on the axis of guide, Axle sleeve is provided between the axis of guide and clamping plate, and the axle sleeve is connected with Boards wall, fixation is additionally provided with the clamping plate Fixture block, the fixing clip are folded on the first belt gear, and the discharge end side of the positioning roller bed conveyors is arranged There is stop part, above the carrier pipeline, be provided with dyestripping identification mechanism, the positioning roller bed conveyors side is additionally provided with Base, is provided with six axis robot, is provided with grasping mechanism on the six axis robot on the base.
Further, guide wheel is evenly arranged with the top board, the guide wheel is rotated along roller-way axial direction and arranged.
Further, the dyestripping identification mechanism includes portal frame, is provided with what is moved in the X-axis direction on the portal frame Slip girder, is provided with the slip auxiliary girder moved along Z-direction, is provided with support on the slip auxiliary girder on the slip girder Installing plate, the support mounting plate bottom are provided with two detection beams moved along Y direction, are provided with two on the detection beam The individual mounting bracket for moving in the X-axis direction, is provided with sucker and barcode scanning camera in the mounting bracket.
Further, lift cylinder is provided between the mounting bracket and sucker, the lift cylinder bottom is provided with Horizontal adjustment plate, is provided with Long Circle hole, spring avoiding mechanism, institute is provided with the Long Circle hole on the horizontal adjustment plate State sucker and be arranged on spring avoiding mechanism bottom.
Further, the grasping mechanism includes basic framework, and the basic framework is along two sides of X-direction Guide rail is provided with, and the guide rail is arranged along Y direction, the first slide unit is provided with two guide rails With the second slide unit, two first slide units with first crawl frame be connected, two second slide units with second capture frame be connected, Grasping plate is provided with the first crawl frame and the second crawl frame, is also set up in the corresponding basic framework of the guide rail There is the second belt gear, sandwiched is fixed with the first transmission respectively with bottom on the belt top of second belt gear Jig arm and the second transmission jig arm, the first transmission jig arm are fixedly installed on the first crawl frame, and the second transmission jig arm sets Put on the second crawl frame.
Further, mounting plane plate is set in the middle part of the basic framework, and the mounting plane plate middle setting is weighed Sensor, is additionally provided with axle joined assemblies between the mounting plane plate and basic framework.
The beneficial effects of the utility model are:
Carrier is moved to by bottom by the conveyer belt of roller-way structure, its bottom is stopped by stop part, realizes rear and front end It is spacing, then by lifting body and clip board engagement, carrier can be made to lift up and realize the spacing of right position so that carry Tool position is always consistent, reduces the demand that mechanical hand is efficiently positioned, and accelerates grasp speed, lifts crawl effect.Using Power of the driving belt mechanism as clamping plate, it is ensured that two clamping plates synchronously mutually can be moved, and be driven by the second motor And proximity transducer, the carrier use of arbitrary dimension is can adapt to, the suitability is wide.By two lead screw gear and two The upper roof beam structure that lead screw gear bottom is respectively provided with realizes omnibearing movement on horizontal plane, can adapt to the product of various sizes Product are used, and dyestripping uses vacuum cup, and product surface will not be damaged, it is to avoid artificial bad generation, when by fixed After the roller bed conveyors positioning of position, the location positioning between support mounting plate and positioning roller bed conveyors can be removed from, positioning is reduced Mechanism intervenes, and improves precision.By the second belt gear arrange enable to both sides grasping plate can relative motion, can Capture various sizes of product.When axle joined assemblies cause crawl, there can be certain leeway of rocking, weight is reduced to mechanical hand Impulsive force, improves service life.
Described above is only the general introduction of technical solutions of the utility model, in order to better understand skill of the present utility model Art means, and being practiced according to the content of description, with preferred embodiment of the present utility model and coordinate accompanying drawing detailed below Describe in detail bright as after.Specific embodiment of the present utility model is shown in detail in by following examples and its accompanying drawing.
Description of the drawings
For the technical scheme being illustrated more clearly that in this utility model embodiment technology, embodiment technology will be retouched below Needed for stating, accompanying drawing to be used is briefly described, it should be apparent that, drawings in the following description are only this utility model Some embodiments, for those of ordinary skill in the art, on the premise of not paying creative work, can be with basis These accompanying drawings obtain other accompanying drawings.
Fig. 1 is overall structure diagram of the present utility model;
Fig. 2 is positioning roller-way conveyer structure schematic diagram of the present utility model;
Fig. 3 is clamping plate part-structure schematic diagram of the present utility model;
Fig. 4 is suction cup portion structural representation of the present utility model;
Fig. 5 is grasping mechanism part-structure schematic diagram of the present utility model.
Specific embodiment
Below in conjunction with the accompanying drawing in this utility model embodiment, the technical scheme in this utility model embodiment is carried out Clearly and completely describe, it is clear that described embodiment is only this utility model a part of embodiment, rather than whole Embodiment.Based on the embodiment in this utility model, those of ordinary skill in the art are not under the premise of creative work is made The every other embodiment for being obtained, belongs to the scope of this utility model protection.
Referring to figs. 1 to shown in Fig. 5, a kind of mechanical hand positions grasping mechanism, including carrier pipeline 1, carrier pipeline bag Feeding roller table conveyer belt 2, driven roller-way 3 and the positioning roller bed conveyors 4 for setting gradually are included, positioning roller bed conveyors include support Platform 5, rack platform surface are provided with some roller-ways 6, and roller-way is connected with power drive mechanism, and top is provided with below some roller-ways Mechanism is risen, some top boards 7 at the top of lifting body, are provided with, top board is arranged between two neighboring roller-way, it is also equal on roller-way two ends Be provided with clamping plate 8, cleat surface is provided with some roller-ways and avoids holes 9, two clamping plates are set on the axis of guide 10, the axis of guide with Axle sleeve 11 is provided between clamping plate, axle sleeve is connected with Boards wall, on clamping plate, is additionally provided with fixing clip 12, fixing clip sandwiched On the first belt gear 13, the discharge end side for positioning roller bed conveyors is provided with stop part 14, on carrier pipeline Side is provided with dyestripping identification mechanism 15, and positioning roller bed conveyors side is additionally provided with base 16, six shaft mechanicals are provided with base Handss 17, are provided with grasping mechanism 18 on six axis robot, six axis robot side is additionally provided with puts roller bed frame 44.
Wherein, roller bed conveyors are positioned carrier is sent on stop part, realizes that one end positions, then lifting body action Rise, top board can be made by carrier jack-up, after carrier departs from conveyer belt, driving belt mechanism action, driving belt are rotated and passed through Fixing clip makes two clamping plates mutually draw close, and the position of carrier is further limited adjustment by clamping plate, is folded in positioning roller-way transmission Centre, makes to be easy to detect beam and mounting bracket to carrier surface in same position on top board per a batch of carrier The thin film of product is adsorbed and is torn, and is identified information, also allows for grasping mechanism crawl.
Guide wheel 19 is evenly arranged with top board, guide wheel is rotated along roller-way axial direction and arranged, when guide wheel heads on carrier picking-up Afterwards, the pinching action of clamping plate can make carrier slide on guide wheel, and frictional force is little, therefore the active force of clamping plate can reduce, and move Make more smooth.
Dyestripping identification mechanism includes portal frame 20, and the slip girder 21 for moving in the X-axis direction is provided with portal frame, slides The slip auxiliary girder 22 moved along Z-direction is provided with girder, support mounting plate 23, support mounting plate on slip auxiliary girder, is provided with Bottom is provided with two detection beams 24 moved along Y direction, is provided with two installations for moving in the X-axis direction on detection beam Frame 25, is provided with sucker 26 and barcode scanning camera 27 in mounting bracket.Detection both beam and mounting bracket are mutually moved along X and Y-axis Cooperation realizes that horizontal plane is moved, and removes the thin film of product surface by sucker, is produced by barcode scanning camera while removing Product information.
Lift cylinder 28 is provided between mounting bracket and sucker, lift cylinder bottom is provided with horizontal adjustment plate 29, water Long Circle hole 30 is provided with flat adjustable plate, spring avoiding mechanism 31 in Long Circle hole, is provided with, sucker is arranged on spring avoidance Vacuum cup firmly can be pressed on the film of product by actuator base, lift cylinder, and spring avoiding mechanism then avoids vacuum from inhaling Pressure on disk crosses macrolesion product, improves stability in use.
Grasping mechanism includes basic framework 32, and basic framework is provided with guide rail 33 along two sides of X-direction, Guide rail is arranged along Y direction, is provided with the first slide unit and the second slide unit on two guide rails, two the first slide units with First crawl frame 36 connects, and two the second slide units are connected with the second crawl frame 37, is all provided with the first crawl frame and the second crawl frame Grasping plate 38 is equipped with, the second belt gear 39, the second belt transmission in the corresponding basic framework of guide rail, is additionally provided with Sandwiched is fixed with the first transmission jig arm 40 and the second transmission jig arm 41, the first transmission jig arm respectively with bottom on the belt top of mechanism It is fixedly installed on the first crawl frame, the second transmission jig arm is arranged on the second crawl frame.Integrated model can be extended along Y direction And shortening, adapt to the product gripping of all size.
Mounting plane plate 42 is set in the middle part of basic framework, and mounting plane plate middle setting has LOAD CELLS, mounting plane Axle joined assemblies 43 are additionally provided between plate and basic framework, the concrete weight of product just can be learnt in crawl, it is convenient fast Victory, and axle is when even group causes crawl, can have certain leeway of rocking, reduce impulsive force of the weight to mechanical hand, and raising makes Use the life-span.
The foregoing description of the disclosed embodiments, enables professional and technical personnel in the field to realize or use that this practicality is new Type.Various modifications to these embodiments will be apparent for those skilled in the art, determined herein The General Principle of justice can be realized in the case of without departing from spirit or scope of the present utility model in other embodiments.Cause This, this utility model is not intended to be limited to the embodiments shown herein, and is to fit to and principles disclosed herein The most wide scope consistent with features of novelty.

Claims (6)

1. a kind of mechanical hand positions grasping mechanism, it is characterised in that:Including carrier pipeline, the carrier pipeline is included successively The feeding roller table conveyer belt of setting, driven roller-way and positioning roller bed conveyors, the positioning roller bed conveyors include rack platform, The rack platform surface is provided with some roller-ways, and the roller-way is connected with power drive mechanism, sets below some roller-ways Lifting body is equipped with, some top boards at the top of the lifting body, are provided with, the top board is arranged between two neighboring roller-way, roller Clamping plate is provided with road two ends also, the cleat surface is provided with some roller-ways and avoids hole, and two clamping plates are set in On the axis of guide, axle sleeve between the axis of guide and clamping plate, is provided with, the axle sleeve is connected with Boards wall, is also set on the clamping plate Fixing clip is equipped with, the fixing clip is folded on the first belt gear, the discharge end of the positioning roller bed conveyors Side is provided with stop part, and dyestripping identification mechanism, the positioning roller bed conveyors side are provided with above the carrier pipeline Base is additionally provided with, six axis robot is provided with the base, on the six axis robot, grasping mechanism is provided with.
2. a kind of mechanical hand according to claim 1 positions grasping mechanism, it is characterised in that:It is uniformly arranged on the top board There is guide wheel, the guide wheel is rotated along roller-way axial direction and arranged.
3. a kind of mechanical hand according to claim 1 positions grasping mechanism, it is characterised in that:The dyestripping identification mechanism bag Portal frame is included, the slip girder for moving in the X-axis direction is provided with the portal frame, is provided with along Z axis on the slip girder The slip auxiliary girder of direction motion, is provided with support mounting plate on the slip auxiliary girder, the support mounting plate bottom is provided with two The individual detection beam moved along Y direction, is provided with two mounting brackets for moving in the X-axis direction, the peace on the detection beam Sucker and barcode scanning camera are provided with dress support.
4. a kind of mechanical hand according to claim 3 positions grasping mechanism, it is characterised in that:The mounting bracket and sucker Between be provided with lift cylinder, the lift cylinder bottom is provided with horizontal adjustment plate, is provided with length on the horizontal adjustment plate Circular port, is provided with spring avoiding mechanism in the Long Circle hole, the sucker is arranged on spring avoiding mechanism bottom.
5. a kind of mechanical hand according to claim 1 positions grasping mechanism, it is characterised in that:The grasping mechanism includes base Plinth framework, the basic framework are provided with guide rail along two sides of X-direction, and the guide rail is along Y direction Arrange, on two guide rails, be provided with the first slide unit and the second slide unit, two first slide units and the first crawl Frame connects, and two second slide units are connected with the second crawl frame, is provided with the first crawl frame and the second crawl frame Grasping plate, is additionally provided with the second belt gear, second belt transmission in the corresponding basic framework of the guide rail Sandwiched is fixed with the first transmission jig arm and the second transmission jig arm, the first transmission jig arm respectively with bottom on the belt top of mechanism It is fixedly installed on the first crawl frame, the second transmission jig arm is arranged on the second crawl frame.
6. a kind of mechanical hand according to claim 5 positions grasping mechanism, it is characterised in that:Set in the middle part of the basic framework Mounting plane plate is put, the mounting plane plate middle setting has LOAD CELLS, between the mounting plane plate and basic framework It is additionally provided with axle joined assemblies.
CN201620916115.XU 2016-08-22 2016-08-22 A kind of mechanical hand positions grasping mechanism Expired - Fee Related CN206050806U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201620916115.XU CN206050806U (en) 2016-08-22 2016-08-22 A kind of mechanical hand positions grasping mechanism

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201620916115.XU CN206050806U (en) 2016-08-22 2016-08-22 A kind of mechanical hand positions grasping mechanism

Publications (1)

Publication Number Publication Date
CN206050806U true CN206050806U (en) 2017-03-29

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Family Applications (1)

Application Number Title Priority Date Filing Date
CN201620916115.XU Expired - Fee Related CN206050806U (en) 2016-08-22 2016-08-22 A kind of mechanical hand positions grasping mechanism

Country Status (1)

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CN (1) CN206050806U (en)

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106144473A (en) * 2016-08-22 2016-11-23 苏州朗坤自动化设备有限公司 A kind of mechanical hand location grasping mechanism
CN110254764A (en) * 2019-06-12 2019-09-20 陆永翠 The automation quantitative separating weighing technique of rice
CN110605562A (en) * 2019-09-20 2019-12-24 苏州富强科技有限公司 Press-fit equipment
CN111645022A (en) * 2020-05-11 2020-09-11 哈尔滨工业大学 Flexible film on-orbit splicing device and splicing method
CN112059029A (en) * 2020-09-25 2020-12-11 安徽鲲鹏装备模具制造有限公司 Rotary formwork assembly folded at corner of anti-theft door and using method thereof

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106144473A (en) * 2016-08-22 2016-11-23 苏州朗坤自动化设备有限公司 A kind of mechanical hand location grasping mechanism
CN110254764A (en) * 2019-06-12 2019-09-20 陆永翠 The automation quantitative separating weighing technique of rice
CN110605562A (en) * 2019-09-20 2019-12-24 苏州富强科技有限公司 Press-fit equipment
CN111645022A (en) * 2020-05-11 2020-09-11 哈尔滨工业大学 Flexible film on-orbit splicing device and splicing method
CN112059029A (en) * 2020-09-25 2020-12-11 安徽鲲鹏装备模具制造有限公司 Rotary formwork assembly folded at corner of anti-theft door and using method thereof
CN112059029B (en) * 2020-09-25 2022-03-01 安徽鲲鹏装备模具制造有限公司 Rotary formwork assembly folded at corner of anti-theft door and using method thereof

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GR01 Patent grant
GR01 Patent grant
CF01 Termination of patent right due to non-payment of annual fee
CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20170329

Termination date: 20180822