CN207290138U - Handling gripper manipulator - Google Patents
Handling gripper manipulator Download PDFInfo
- Publication number
- CN207290138U CN207290138U CN201720766307.1U CN201720766307U CN207290138U CN 207290138 U CN207290138 U CN 207290138U CN 201720766307 U CN201720766307 U CN 201720766307U CN 207290138 U CN207290138 U CN 207290138U
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- gripping
- fixed plate
- rotary screw
- right rotary
- gear reducer
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Abstract
The utility model discloses a kind of handling gripper manipulator, including：Rack, servomotor, gear reducer, left-right rotary screw, gripping and fixed plate mechanism and grip block；Rack is equipped with adjustment screw rodb base, adjusts and is provided with left-right rotary screw on screw rodb base；Servomotor connection gear reducer, driving gear reducer work；Gear reducer connection left-right rotary screw, drive the rotation of left-right rotary screw；Grip block connects the right-handed thread section of left-right rotary screw；Gripping and fixed plate mechanism includes connecting seat, gripping and fixed plate, sliding block and clamping cylinder；Connecting seat connects the left-handed thread section of left-right rotary screw；Connecting seat is equipped with the slide parallel to left-right rotary screw, and sliding block is nested on slide；Gripping and fixed plate is fixed on sliding block；Clamping cylinder is fixed on connecting seat, and the output terminal of clamping cylinder is connected with gripping and fixed plate.The carton that the utility model can be directed to different size accordingly adjusts its grip block width, increases transporting capacity, reduces equipment cost, improves production efficiency.
Description
Technical field
Canned process line technical field is the utility model is related to, relates in particular to a kind of handling gripper manipulator.
Background technology
With progress of the epoch, canned milk powder has been come into the daily life of huge numbers of families.Existing canned milk powder processing
Assembly line includes unloading tank, and tank body cleaning, milk powder are canned, and tank body wraps up in multiple independent manufacturing procedures such as bag, transport shunting, stacking.
Wherein, wherein, the carton that bag is wrapped up in completion carries out stacking to stack being an important link.What existing carton stacking used removes
Manipulator, including rigidity rack are transported, grip block, clamps the component such as driving cylinder, adjustment cylinder；Its course of work is as follows：Clamp
Cylinder drives grip block to move along slide and moves horizontally, and clamps babinet, and the width of cylinder adjustment grip block is adjusted by multi-product
Degree.But adjustment cylinder only has two stations.Therefore, this structure disposably can only at most select to clamp at the same time transport one or
Two cartons of person.The problem of it is caused be：Due to the restrictive condition of air cylinder structure, the conveying robot of this structure is intelligently directed to
The carton of two kinds of width specifications is carried, and can not adapt to increasingly diversified box paper product, causes that different size must be directed to
Carton configure the cylinders of different length output shafts, cause great equipment cost, reduce the production efficiency of assembly line.Cause
How this, develop a kind of new handling gripper manipulator, and the carton that can be directed to different size accordingly adjusts its grip block
Width, increases transporting capacity, reduces equipment cost, improves production efficiency.It is the direction that those skilled in the art need to study.
Utility model content
The utility model provides a kind of handling gripper manipulator, and the carton that can be directed to different size accordingly adjusts its folder
Plate width is held, increases transporting capacity, reduces equipment cost, improves production efficiency.
The concrete technical scheme that it is used is as follows：
A kind of handling gripper manipulator, including：Rack, servomotor, gear reducer, left-right rotary screw, grips trigger
Structure and grip block；The rack is equipped with adjustment screw rodb base, and left-right rotary screw is provided with the adjustment screw rodb base；The servo
Motor connection gear reducer, driving gear reducer work；The gear reducer connection left-right rotary screw, drive the rotation of left-right rotary screw；Institute
State the right-handed thread section of grip block connection left-right rotary screw；The gripping and fixed plate mechanism includes connecting seat, and gripping and fixed plate is sliding
Block and clamping cylinder；The left-handed thread section of the connecting seat connection left-right rotary screw；The connecting seat is equipped with parallel to left and right
The slide of screw is revolved, the sliding block is nested on slide；The gripping and fixed plate is fixed on sliding block；The clamping cylinder is fixed
In on connecting seat, and the output terminal of the clamping cylinder is connected with gripping and fixed plate.
Using this technical solution：Gear reducer is driven to work by servomotor, gear reducer drives the rotation of left-right rotary screw,
Left-right rotary screw drives opposite/opposite movement of grip block and gripping and fixed plate mechanism, until grip block and folder in rotation process
Holding the spacing between fixed plate mechanism can be adapted with being actually needed the carton specification of clamping.Then, clamping cylinder starts, and draws
Dynamic gripping and fixed plate is moved along slide so that the spacing between gripping and fixed plate and grip block further shortens, and order grips
Plate and clamping board clamping carton.
Preferably, in above-mentioned handling gripper manipulator：The grip block mechanism further includes friction plate, the friction plate peace
Loaded on gripping and fixed plate towards on the side of grip block.
Using this technical solution：By setting friction plate to increase grip block mechanism in clamp operation to carton side institute
The stiction of generation, order clamping is more stable, reduces the phenomenon that carton is clamped not strongly and dropped.
It is further preferred that in above-mentioned handling gripper manipulator：Further include drop preventing mechanism；The drop preventing mechanism includes installation
Seat, drives cylinder, rotary gemel and anti-lost hook；The mounting base is fixed in gripping and fixed plate；The driving cylinder installation
In in mounting base；With driving the output terminal of cylinder to be connected, the other end is connected with anti-lost hook for described rotary gemel one end.
Using this technical solution：By driving the flexible of cylinder, make rotary gemel drive anti-lost hook to grab and rotate,
Prevent carton from inadvertently falling off.
Compared with prior art, the utility model is simple in structure, easily prepared.Possess space is small, conveying speed is fast,
The characteristics of Adjustment precision is high, error range is small.
Brief description of the drawings
The utility model is described in further detail with embodiment below in conjunction with the accompanying drawings：
Fig. 1 is first dimensional structure diagram of the utility model embodiment 1；
Fig. 2 is second dimensional structure diagram of the utility model embodiment 1；
Fig. 3 is the 3rd dimensional structure diagram of the utility model embodiment 1；
Fig. 4 is the partial enlarged view of a-quadrant in Fig. 3；
Fig. 5 is the main view view of Fig. 1；
Fig. 6 is the plan view of Fig. 1.
Each reference numeral and component names correspondence are as follows：
1st, rack；2nd, servomotor；3rd, gear reducer；4th, left-right rotary screw；5th, gripping and fixed plate mechanism；6th, grip block；7、
Drop preventing mechanism；11st, screw rodb base is adjusted；12nd, left-right rotary screw；51st, connecting seat；52nd, gripping and fixed plate；53rd, sliding block；54th, clamp
Cylinder；55th, slide；56th, friction plate；71st, mounting base；72nd, cylinder is driven；73rd, rotary gemel；74th, anti-lost hook.
Embodiment
In order to illustrate more clearly of the technical solution of the utility model, the utility model is made below in conjunction with attached drawing 1- 6
Further describe.
A kind of handling gripper manipulator, including：Rack 1, servomotor 2, gear reducer 3, left-right rotary screw 4, grips
Trigger structure 5, grip block 6 and drop preventing mechanism 7.
Wherein, the rack 1 is equipped with adjustment screw rodb base 11, and left-right rotary screw is provided with the adjustment screw rodb base 11
12；The servomotor 2 connects gear reducer 3, driving gear reducer 3 works；The gear reducer 3 connects left-right rotary screw 12, drives
Left-right rotary screw 12 rotates；The grip block 6 connects the right-handed thread section of left-right rotary screw 12；
The gripping and fixed plate mechanism 5 includes connecting seat 51, gripping and fixed plate 52, sliding block 53, clamping cylinder 54 and friction
Plate 55；The connecting seat 51 connects the left-handed thread section of left-right rotary screw 12；The connecting seat 51 is equipped with parallel to left-right rotary
The slide 55 of screw 12, the sliding block 53 are nested on slide 55；The gripping and fixed plate 52 is fixed on sliding block 53；The folder
Tight cylinder 54 is fixed on connecting seat 51, and the output terminal of the clamping cylinder 54 is connected with gripping and fixed plate 52.The friction
Plate 55 is installed on gripping and fixed plate 52 towards on the side of grip block 6.
The drop preventing mechanism 7 includes mounting base 71, drives cylinder 72, rotary gemel 73 and anti-lost hook 74；The installation
Seat 71 is fixed in gripping and fixed plate 52；The driving cylinder 72 is installed in mounting base 71；Described 73 one end of rotary gemel with
The output terminal case connection of cylinder 72 is driven, the other end is connected with anti-lost hook 74.
In practice, its course of work is as follows：
The carton specification adjustment servomotor 2 that staff clamps as needed, servomotor 2 start, drive gear reducer 3
Work, gear reducer 3 drive left-right rotary screw 12 to rotate, and left-right rotary screw 12 drives grip block 6 and clamping solid in rotation process
Opposite/opposite movement of fixed board mechanism 5, until the spacing between grip block 6 and gripping and fixed plate mechanism 5 can be pressed from both sides with being actually needed
The carton specification held is adapted.Then, clamping cylinder 54 starts, and pulls gripping and fixed plate 52 to be moved along slide 55 so that clamping
Spacing between fixed plate 52 and grip block 6 further shortens, and makes gripping and fixed plate 52 clamp carton jointly with grip block 6.With
Afterwards, drive cylinder 72 to start work, make rotary gemel 73 drive dynamic anti-lost hook 74 to rotate, prevent carton from surprisingly falling
Fall.
The above, is only specific embodiment of the utility model, but the scope of protection of the utility model is not limited to
This, any those skilled in the art is in the change that in technical scope, can be readily occurred in disclosed in the utility model
Or replace, it should be covered within the scope of the utility model.The scope of protection of the utility model is with claims
Subject to protection domain.
Claims (3)
- A kind of 1. handling gripper manipulator, it is characterised in that including：Rack（1）, servomotor（2）, gear reducer（3）, left-right rotary Screw（4）, gripping and fixed plate mechanism（5）And grip block（6）；The rack（1）It is equipped with adjustment screw rodb base（11）, the adjustment screw rodb base（11）On left-right rotary screw is installed（12）； The servomotor（2）Connect gear reducer（3）, driving gear reducer（3）Work；The gear reducer（3）Connect left-right rotary screw （12）, drive left-right rotary screw（12）Rotation；The grip block（6）Connect left-right rotary screw（12）Right-handed thread section；It is described Gripping and fixed plate mechanism（5）Including connecting seat（51）, gripping and fixed plate（52）, sliding block（53）And clamping cylinder（54）；The company Joint chair（51）Connect left-right rotary screw（12）Left-handed thread section；The connecting seat（51）It is equipped with parallel to left-right rotary screw （12）Slide（55）, the sliding block（53）It is nested in slide（55）On；The gripping and fixed plate（52）It is fixed on sliding block（53） On；The clamping cylinder（54）It is fixed on connecting seat（51）On, and the clamping cylinder（54）Output terminal and gripping and fixed plate （52）Connection.
- 2. handling gripper manipulator as claimed in claim 1, it is characterised in that：The grip block mechanism（5）Further include friction plate （56）, the friction plate（56）It is installed on gripping and fixed plate（52）Towards grip block（6）Side on.
- 3. handling gripper manipulator as claimed in claim 2, it is characterised in that：Further include drop preventing mechanism（7）；The drop preventing mechanism （7）Including mounting base（71）, drive cylinder（72）, rotary gemel（73）With anti-lost hook（74）；The mounting base（71）It is fixed In gripping and fixed plate（52）On；The driving cylinder（72）It is installed on mounting base（71）On；The rotary gemel（73）One end with Drive cylinder（72）Output terminal connection, the other end and anti-lost hook（74）Connection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720766307.1U CN207290138U (en) | 2017-06-28 | 2017-06-28 | Handling gripper manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720766307.1U CN207290138U (en) | 2017-06-28 | 2017-06-28 | Handling gripper manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207290138U true CN207290138U (en) | 2018-05-01 |
Family
ID=62450486
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720766307.1U Active CN207290138U (en) | 2017-06-28 | 2017-06-28 | Handling gripper manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207290138U (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108792055A (en) * | 2018-08-01 | 2018-11-13 | 李斌山 | It is a kind of can dynamic regulation packaging robot handgrip |
| CN108861628A (en) * | 2018-07-16 | 2018-11-23 | 杨开村 | A kind of medical device package carton stacking robot gripping apparatus |
| CN109019017A (en) * | 2018-08-16 | 2018-12-18 | 唐山贺祥机电股份有限公司 | Intelligent closestool automatic adhesive sleeve clamp |
| CN109081100A (en) * | 2018-08-01 | 2018-12-25 | 李斌山 | A kind of robot gripper for packing case |
| CN109129537A (en) * | 2017-06-28 | 2019-01-04 | 上海昱庄机械科技有限公司 | Handling gripper manipulator |
| CN109174571A (en) * | 2018-09-27 | 2019-01-11 | 广东创智智能装备有限公司 | The dedicated clamping jaw of wheel hub coating |
| CN109650022A (en) * | 2018-12-29 | 2019-04-19 | 佛山市顺德区天键包装材料机械有限公司 | XY axis transfer machine |
| CN109807916A (en) * | 2019-02-20 | 2019-05-28 | 中机国际工程设计研究院有限责任公司 | Racetrack-type rotor coil grabbing device |
| CN111547486A (en) * | 2020-05-14 | 2020-08-18 | 瑞安市智造科技有限公司 | Loading and unloading device for automatic wharf container |
-
2017
- 2017-06-28 CN CN201720766307.1U patent/CN207290138U/en active Active
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109129537A (en) * | 2017-06-28 | 2019-01-04 | 上海昱庄机械科技有限公司 | Handling gripper manipulator |
| CN108861628A (en) * | 2018-07-16 | 2018-11-23 | 杨开村 | A kind of medical device package carton stacking robot gripping apparatus |
| CN108792055A (en) * | 2018-08-01 | 2018-11-13 | 李斌山 | It is a kind of can dynamic regulation packaging robot handgrip |
| CN109081100A (en) * | 2018-08-01 | 2018-12-25 | 李斌山 | A kind of robot gripper for packing case |
| CN109019017A (en) * | 2018-08-16 | 2018-12-18 | 唐山贺祥机电股份有限公司 | Intelligent closestool automatic adhesive sleeve clamp |
| CN109174571A (en) * | 2018-09-27 | 2019-01-11 | 广东创智智能装备有限公司 | The dedicated clamping jaw of wheel hub coating |
| CN109650022A (en) * | 2018-12-29 | 2019-04-19 | 佛山市顺德区天键包装材料机械有限公司 | XY axis transfer machine |
| CN109650022B (en) * | 2018-12-29 | 2023-12-05 | 广东天键智能包装设备股份有限公司 | XY axis transfer machine |
| CN109807916A (en) * | 2019-02-20 | 2019-05-28 | 中机国际工程设计研究院有限责任公司 | Racetrack-type rotor coil grabbing device |
| CN109807916B (en) * | 2019-02-20 | 2020-08-28 | 中国机械设备工程股份有限公司 | Track-shaped coil grabbing device |
| CN111547486A (en) * | 2020-05-14 | 2020-08-18 | 瑞安市智造科技有限公司 | Loading and unloading device for automatic wharf container |
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