CN206748460U - A kind of combined type carrying and piling tool hand end effector mechanism - Google Patents
A kind of combined type carrying and piling tool hand end effector mechanism Download PDFInfo
- Publication number
- CN206748460U CN206748460U CN201720421292.5U CN201720421292U CN206748460U CN 206748460 U CN206748460 U CN 206748460U CN 201720421292 U CN201720421292 U CN 201720421292U CN 206748460 U CN206748460 U CN 206748460U
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- China
- Prior art keywords
- plate
- connecting plate
- combined type
- end effector
- tool hand
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Abstract
The utility model discloses a kind of combined type carrying and piling tool hand end effector mechanism, it is characterized in that, it includes manipulator connecting plate, bearing plate, connecting plate, sucker stand, vacuum cup, vacuum generator, lift cylinder, supporting plate and clamping device, described manipulator connecting plate is bolted in the middle part of bearing plate, described bearing plate end face is bolted with connecting plate upper end, connecting plate lower end is connected with sucker stand, and described vacuum cup and vacuum generator are installed on sucker stand.Combined type carrying and piling tool hand end effector mechanism of the present utility model, clipping executing agency and vacuum adsorption type executing agency are integrated in an end Zhi Jin mechanism, the work of original two mechanical arms is only completed with a mechanical arm, the operating efficiency of manipulator is improved, while saves space.
Description
Technical field
It the utility model is related to a kind of carrying and piling tool hand, more particularly to a kind of combined type carrying and piling tool hand end
Executing agency.
Background technology
With the development of industrial automation, robot turns into important instrument in industrial production, due to it has can
Dangerous, heavy, dull work is completed instead of people, improves production efficiency, production cost etc. is reduced and holds a little, therefore obtained extensively
Ground application.In stacking work is carried, compared to traditional mode of operation, manipulator being capable of more efficient, more accurately completion production
The carrying stacking work of workpiece on line.
In traditional sheet material subdivision process, large size plate is generally entered by vacuum adsorption type end effector mechanism before subdivision
Go and carry work, the slab of small size is far because its quantity is more than large format whole plate after subdivision, the clipping end of generally use
Executing agency is carried.Manipulator carries out sheet material loading and unloading work according to the program set in advance, to respond productive temp, is located at
The vacuum adsorption type manipulator of subdivision saw front end is sent into subdivision saw in large format whole plate and is waited for this period, treats sheet material
Into in saw during subdivision, second block of sheet material is just placed on roller conveyor structure by vacuum adsorption type manipulator.In sheet material subdivision and
This period that slab is sent out, the clamping type manipulator at subdivision sawdust end are waited for, and treat that slab is transported to specific bit
After putting and putting in a pile, clamping type manipulator is just picked up and is placed on the skilful position of the code specified, and this production technology causes
Resource, production cost, time and the waste in space.
It is poor currently used for the conveying robot end effector mechanism versatility in composite floor board production line subdivision process,
In face of different size, different parameters sheet material when, conveying robot can not be well adapted for changing, and can not adapt to a machine multi-product
Needs, so as to cause the application of manipulator that there is certain limitation.
Utility model content
In order to solve the above technical problems, technical scheme provided by the utility model is a kind of combined type carrying and piling tool hand
End effector mechanism.
Concrete technical scheme is realized as follows：A kind of combined type carrying and piling tool hand end effector mechanism, it includes machinery
Hand connecting plate, bearing plate, connecting plate, sucker stand, vacuum cup, vacuum generator, lift cylinder, supporting plate and clamping machine
Structure, described manipulator connecting plate are bolted in the middle part of bearing plate, and described bearing plate end face leads to connecting plate upper end
Bolt connection is crossed, connecting plate lower end is connected with sucker stand, and described vacuum cup and vacuum generator are installed in sucker branch
On frame, and vacuum cup is arranged symmetrically in the both sides of bearing plate, and described lift cylinder is arranged on the medial surface of connecting plate, institute
The sliding block for the lift cylinder stated is connected with supporting plate, and described clamping device is bolted on the supporting plate, vertical to place.
Above-mentioned, described clamping device includes slide rail, drive cylinder, pedestal, mechanical jig arm, clamping plate, drive block and biography
Lever, described slide rail and drive cylinder are fixed on pedestal, and the sliding block of described slide rail is connected with mechanical jig arm upper end, institute
The clamping plate stated is connected to the lower end of mechanical jig arm, and drive block, described drive block are provided with described drive cylinder piston rod
It is connected by drive link with mechanical jig arm.
Preferably, described sucker stand is welded by four pieces of stripe board head and the tail.
Preferably, described lift cylinder is Rodless cylinder.
Combined type carrying and piling tool hand end effector mechanism of the present utility model, clipping executing agency and vacuum are inhaled
Fu Shi executing agencies are integrated in an end Zhi Jin mechanism, only complete original two mechanical arms with a mechanical arm
Work, improves the operating efficiency of manipulator, while save space.
Brief description of the drawings
Fig. 1 is the overall structure diagram of the utility model embodiment.
Fig. 2 is the front-view schematic diagram of the utility model embodiment.
Mark in accompanying drawing for：1- manipulator connecting plates, 2- bearing plates, 3- connecting plates, 4- sucker stands, 5- vacuum are inhaled
Disk, 6- vacuum generators, 7- lift cylinders, 8- supporting plates, 9- clamping devices, 901- slide rails, 902- drive cylinders, 903- bases
Seat, 904- machinery jig arm, 905- clamping plates, 906- drive blocks, 907- drive links.
Embodiment
The preferable technical scheme of the utility model is described further with reference to the accompanying drawings and examples.
As shown in Fig. 1~2, the utility model provides a kind of combined type carrying and piling tool hand end effector mechanism, it
Including manipulator connecting plate 1, bearing plate 2, connecting plate 3, sucker stand 4, vacuum cup 5, vacuum generator 6, lift cylinder 7,
Supporting plate 8 and clamping device 9, described manipulator connecting plate 1 are bolted in the middle part of bearing plate 2, described bearing plate 2
End face is bolted with the upper end of connecting plate 3, and the lower end of connecting plate 3 is connected with sucker stand 4, described vacuum cup 5 and true
Empty generator 6 is installed on sucker stand, and vacuum cup 5 is arranged symmetrically in the both sides of bearing plate 2, described lift cylinder
7 are arranged on the medial surface of connecting plate 3, and the sliding block of described lift cylinder 7 is connected with supporting plate 8, and described clamping device 9 is logical
Cross and be bolted in supporting plate 8, it is vertical to place.
Above-mentioned, described clamping device 9 includes slide rail 901, drive cylinder 902, pedestal 903, mechanical jig arm 904, folder
Plate 905, drive block 906 and drive link 907, described slide rail 901 and drive cylinder 902 are fixed on pedestal 903, described
The sliding block of slide rail 901 is connected with the mechanical upper end of jig arm 904, and described clamping plate 905 is connected to the lower end of mechanical jig arm 904, described
The piston rod of drive cylinder 902 on drive block 906 is installed, described drive block 906 passes through drive link 907 and mechanical jig arm
904 connections.
Preferably, described sucker stand 4 is welded by four pieces of stripe board head and the tail.
Preferably, described lift cylinder 7 is Rodless cylinder.
Specifically, before sheet material subdivision, in the presence of lift cylinder 7, supporting plate 8 is made to be risen with clamping device 9；So
Afterwards, the bottom surface of vacuum cup 5 on conveying robot end effector mechanism is bonded the surface of whole plate sheet material, now vacuum generator 6
Make to form negative pressure in vacuum cup 5, sheet material is firmly attached on vacuum cup 5 under atmospheric pressure, then sheet material is hung
Rise and put on roller conveyer, sheet material is decontroled in the inflation of vacuum cup 5, is sent into by transport establishment in saw；When whole plate sheet material
When being sent out in a pile in being sawed after subdivision by roller transport mechanism by subdivision, lift cylinder 7 is acted supporting plate 8 and clamping device 9
Put down, drive cylinder 902, which pushes up transmission mechanism, opens clamping plate 905, and mechanical jig arm 904 is moved, and makes clamping plate 905 as ground
Plate slab both sides, and then, drive cylinder 902, which pulls up transmission mechanism, clamps clamping plate 905, so as to carry slab to specify
Stacking position is simultaneously decontroled, and then under the effect of lift cylinder 7, supporting plate 8 rises again with clamping device 9, and zero load returns, and completes
One working cycles.
Embodiment described above only expresses preferred embodiment of the present utility model, and its description is more specific and detailed,
But therefore it can not be interpreted as the limitation to the utility model patent scope.It should be pointed out that for the common of this area
For technical staff, without departing from the inventive concept of the premise, some deformations can also be made, improves and substitutes, these are all
Belong to the scope of protection of the utility model.Therefore, the protection domain of the utility model patent should be determined by the appended claims.
Claims (4)
1. a kind of combined type carrying and piling tool hand end effector mechanism, it is characterised in that it includes manipulator connecting plate, load-bearing
Plate, connecting plate, sucker stand, vacuum cup, vacuum generator, lift cylinder, supporting plate and clamping device, described manipulator
Connecting plate is bolted in the middle part of bearing plate, and described bearing plate end face is bolted with connecting plate upper end, connection
Plate lower end is connected with sucker stand, and described vacuum cup and vacuum generator are installed on sucker stand, and vacuum cup
The both sides of bearing plate are arranged symmetrically in, described lift cylinder is arranged on the medial surface of connecting plate, described lift cylinder
Sliding block is connected with supporting plate, and described clamping device is bolted on the supporting plate, vertical to place.
2. combined type carrying and piling tool hand end effector mechanism according to claim 1, it is characterised in that described folder
Holding mechanism includes slide rail, drive cylinder, pedestal, mechanical jig arm, clamping plate, drive block and drive link, described slide rail and driving gas
Cylinder is fixed on pedestal, and the sliding block of described slide rail is connected with mechanical jig arm upper end, and described clamping plate is connected to mechanical jig arm
Lower end, drive block is installed, described drive block passes through drive link and connected with mechanical jig arm on described drive cylinder piston rod
Connect.
3. combined type carrying and piling tool hand end effector mechanism according to claim 1, it is characterised in that described suction
Disc carrier is welded by four pieces of stripe board head and the tail.
4. combined type carrying and piling tool hand end effector mechanism according to claim 1, it is characterised in that described liter
Sending down abnormally ascending cylinder is Rodless cylinder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720421292.5U CN206748460U (en) | 2017-04-21 | 2017-04-21 | A kind of combined type carrying and piling tool hand end effector mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720421292.5U CN206748460U (en) | 2017-04-21 | 2017-04-21 | A kind of combined type carrying and piling tool hand end effector mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206748460U true CN206748460U (en) | 2017-12-15 |
Family
ID=60614379
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720421292.5U Expired - Fee Related CN206748460U (en) | 2017-04-21 | 2017-04-21 | A kind of combined type carrying and piling tool hand end effector mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206748460U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108163262A (en) * | 2017-12-20 | 2018-06-15 | 辰星（天津）自动化设备有限公司 | A kind of food crawl manipulator |
| CN109719224A (en) * | 2019-01-23 | 2019-05-07 | 刘云峰 | A kind of three-D stamping mechanical arm |
| CN111673782A (en) * | 2020-06-12 | 2020-09-18 | 西安外事学院 | Mechanical automation grabbing device |
-
2017
- 2017-04-21 CN CN201720421292.5U patent/CN206748460U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108163262A (en) * | 2017-12-20 | 2018-06-15 | 辰星（天津）自动化设备有限公司 | A kind of food crawl manipulator |
| CN109719224A (en) * | 2019-01-23 | 2019-05-07 | 刘云峰 | A kind of three-D stamping mechanical arm |
| CN111673782A (en) * | 2020-06-12 | 2020-09-18 | 西安外事学院 | Mechanical automation grabbing device |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20171215 Termination date: 20190421 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |