CN207290138U - Handling gripper manipulator - Google Patents

Handling gripper manipulator Download PDF

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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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China
Prior art keywords
gripping
fixed plate
rotary screw
gear reducer
seat
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CN201720766307.1U
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Chinese (zh)
Inventor
刘赞恩
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Shanghai Yuzhuang Machinery Technology Co Ltd
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Shanghai Yuzhuang Machinery Technology Co Ltd
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Priority to CN201720766307.1U priority Critical patent/CN207290138U/en
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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

Handling gripper manipulator
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)

  1. 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. 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. 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.
CN201720766307.1U 2017-06-28 2017-06-28 Handling gripper manipulator Active CN207290138U (en)

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

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Application Number Title Priority Date Filing Date
CN201720766307.1U Active CN207290138U (en) 2017-06-28 2017-06-28 Handling gripper manipulator

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CN (1) CN207290138U (en)

Cited By (6)

* Cited by examiner, † Cited by third party
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
CN109081100A (en) * 2018-08-01 2018-12-25 李斌山 A kind of robot gripper for packing case
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
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

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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
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
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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