CN208020215U - A kind of intelligent stacking robot mechanical gripper - Google Patents
A kind of intelligent stacking robot mechanical gripper Download PDFInfo
- Publication number
- CN208020215U CN208020215U CN201820322136.8U CN201820322136U CN208020215U CN 208020215 U CN208020215 U CN 208020215U CN 201820322136 U CN201820322136 U CN 201820322136U CN 208020215 U CN208020215 U CN 208020215U
- Authority
- CN
- China
- Prior art keywords
- plate
- sliding
- crawl
- connecting plate
- article
- 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
Links
Abstract
The utility model discloses a kind of intelligent stacking robot mechanical grippers,It is related to Industrial Robot Technology field,It solves existing machinery handgrip and crawl is clamped to article using from top frictionally,Once Item Weight is larger to be easy to cause the problem of article slides damage,The utility model includes the connecting plate being vertically arranged,The left and right ends of one side surface of connecting plate are respectively arranged with the identical grasping plate mechanism of structure,Connecting plate other side surface bottom portion is horizontally disposed support plate,It is provided with horizontal sliding floor below support plate,Sliding floor is coordinated by sliding equipment and support plate,Grasping plate mechanism includes the baffle that one end is connected on connecting plate,The setting of baffle end is jagged,Vertical shaft is provided in notch,Rotating cylinder is arranged in shaft,It is provided with torsional spring between shaft outer wall and rotating cylinder inwall,Outer wall is connected with crawl plate on the inside of rotating cylinder,It is provided on connecting plate for pushing two crawl plates to rotate around the axis the double-rod cylinder of folding.
Description
Technical field
The utility model is related to Industrial Robot Technology fields, more particularly to a kind of intelligent stacking robot machine
Tool handgrip.
Background technology
With the development of social science and technology, in field of industrial production, hand labor is constantly by mechanized equipment institute's generation
It replaces, especially the appearance of industrial robot, further instead of hand labor even more in industrial process stream.Currently, industrial
Robot is widely used in various fields, in industrial manufacture, therapeutic treatment, entertainment service, military affairs, semiconductor manufacturing and too
The fields such as sky exploration can see its figure.Although their form is had nothing in common with each other, they all there are one common feature,
It is to receive instruction, accurately carries out positioning operation.Robot palletizer is the type in industrial robot, main to use
In article carrying, stack, and mechanical gripper is one of most important component part of robot palletizer, the taking, carry of article,
Stacking is realized by mechanical gripper.
Existing mechanical gripper is using several fixture blocks and article surface squeeze generating larger frictional force, to object
Product are taken, and are usually captured above article, and this grasp mode is very convenient to the crawl of article, still
Bottom of article is vacant state during crawl, thus capture some weight it is larger or the more smooth article in surface when, hold
It is also easy to produce the problem of article falls damage.
Utility model content
The purpose of this utility model is that：It is used from top frictionally to article progress to solve existing machinery handgrip
Clamp crawl, once Item Weight it is larger or article surface it is more smooth be easy to cause article slide damage the problem of, this practicality
A kind of novel intelligent stacking robot mechanical gripper of offer.
The utility model specifically uses following technical scheme to achieve the goals above：
A kind of intelligent stacking robot mechanical gripper, including the connecting plate that is vertically arranged, connecting plate side both ends difference
It is provided with the identical grasping plate mechanism of structure, connecting plate other side bottom level is provided with support plate, water is provided with below support plate
Flat sliding floor, sliding floor are coordinated by sliding equipment and support plate, and grasping plate mechanism includes that one end is connected on connecting plate
Baffle, the setting of baffle end is jagged, and vertical shaft is provided in notch, is arranged with rotating cylinder in shaft, shaft outer wall with
Torsional spring is provided between rotating cylinder inwall, outer wall is connected with crawl plate on the inside of rotating cylinder, is provided on connecting plate and is grabbed for pushing two
Plate is taken to rotate around the axis the double-rod cylinder of folding.
Further, sliding equipment includes the sliding slot for being opened in support plate lower surface, and sliding slot width of rebate is less than slot inner width
It spends, is provided with sliding block in sliding slot, sliding block is connect with one side surface of sliding floor, and support plate side lower surface is provided with for pushing and pulling
The actuating cylinder of sliding floor.
Further, sliding floor is inclined plane shape close to the edge of grasping plate mechanism side.
Further, crawl plate side end is provided with fingerboard, and the angle between fingerboard and crawl plate is obtuse angle.
The beneficial effects of the utility model are as follows：
1. when capturing article, sliding floor is slid into completely below support plate, and double-rod cylinder is shunk, and captures plate and rotating cylinder
It is whole to be rotated around the shaft under the action of torsional spring, it is entire under the drive of robot backend mechanism to which two crawl plates are opened
Handgrip travels forward, and two crawl plates is made to be moved to article both sides, and subsequent double-rod cylinder elongation keeps two crawl plate difference anti-
Extruding crawl is carried out to article to rotation, subsequent sliding floor slides out between two crawl plates, to be carried out to bottom of article
Support.The present apparatus effectively prevents existing handgrip and relies solely on frictional force capturing article, once Item Weight it is larger or
When outer surface is relatively smooth, it is easy to cause the problem of article falls damage.
2. easily realizing the push-and-pull to sliding floor using actuating cylinder, sliding is realized under the cooperation of sliding block and sliding slot
The sliding of bottom plate, while sliding slot width of rebate is less than slot insied width, realizes the clamping engagement for utilizing sliding block in sliding slot to sliding bottom
Plate carries out suspension strut.
3. sliding floor edge is set as inclined plane shape, facilitates sliding floor to slide into bottom of article and article is supported,
The possibility that may be collided with bottom of article when sliding floor sliding is reduced, the fluency of device operation is improved.
4. fingerboard can assist gripping article and playing the function of preventing article from falling, while fingerboard and crawl plate
Between between angle be obtuse angle, capture strip move fingerboard rotation when, fingerboard can to article edge apply a power, push object
Product enter between two crawl plates, the convenient crawl to article.
Description of the drawings
Fig. 1 is the structural schematic diagram of the utility model；
Fig. 2 is the vertical view of Fig. 1；
Reference numeral：1- fingerboards, 2- capture plate, 3- rotating cylinders, 4- torsional springs, 5- shafts, 6- baffles, 7- connecting plates, 8- double rods
Cylinder, 9- support plates, 10- bottom plates, 11- notches, 12- sliding equipments, 12.1- actuating cylinders, 12.2- sliding slots, 12.3- sliding blocks.
Specific implementation mode
In order to which those skilled in the art are better understood from the utility model, below in conjunction with the accompanying drawings with following embodiment to this
Utility model is described in further detail.
Embodiment 1
A kind of intelligent stacking robot mechanical gripper, including the connecting plate 7 that is vertically arranged, 7 side both ends of connecting plate point
It is not provided with the identical grasping plate mechanism of structure, 7 other side bottom level of connecting plate is provided with support plate 9,9 lower section setting of support plate
There are horizontal sliding floor 10, sliding floor 10 to coordinate by sliding equipment 12 and support plate 9, grasping plate mechanism includes one end connection
Baffle 6 on connecting plate 7,6 end of baffle are arranged jagged 11, are provided with vertical shaft 5 in notch 11, are covered in shaft 5
Equipped with rotating cylinder 3, torsional spring 4 is provided between 3 inner wall of 5 outer wall of shaft and rotating cylinder, 3 inside outer wall of rotating cylinder is connected with crawl plate 2, connection
The double-rod cylinder 8 for pushing two crawl plates 2,5 rotation foldings around the shaft is provided on plate 7.
Operation principle：First, control double-rod cylinder 8 is shunk, and crawl plate 2 rotates with 3 entirety of rotating cylinder under the action of torsional spring 4
Axis 5 rotates, to the leading portions Unscrew outward of two crawl plates 2, under the drive of robot rear end actuating unit, handgrip
It moves forward, the article both sides of two crawl 2 movements of plate, then controls double-rod cylinder 8 and extend, two crawl plates 2 is driven to distinguish
It reversely rotates, to be clamped to article, finally, sliding floor 10 slides out to two crawls under the action of sliding equipment 12
Between plate 2, to be supported to bottom of article.
For sliding floor 10 when stretch out just will not to remaining band crawl article impact, can further exist
Sliding floor installs sensor on 10 front end, when the crawl plate 2 on handgrip picks up article, can detect whether front has other
Article stops, then decides whether that controlling sliding floor 10 skids off.
When capturing article, sliding floor is slid into completely below support plate, and double-rod cylinder is shunk, and captures plate and rotating cylinder is whole
Body rotates around the shaft under the action of torsional spring, to which two crawl plates are opened, is entirely grabbed under the drive of robot backend mechanism
Hand travels forward, and two crawl plates is made to be moved to article both sides, and subsequent double-rod cylinder elongation keeps two crawl plate difference reversed
Rotation carries out extruding crawl to article, and subsequent sliding floor slides out between two crawl plates, to prop up bottom of article
Support.The present apparatus effectively prevents existing handgrip and relies solely on frictional force capturing article, once Item Weight is larger or outer
When surface is relatively smooth, it is easy to cause the problem of article falls damage.
Embodiment 2
The present embodiment is improved on the basis of embodiment 1：
Sliding equipment 12 includes the sliding slot 12.2 for being opened in 9 lower surface of support plate, and 12.2 width of rebate of sliding slot is less than in slot
Width is provided with sliding block 12.3 in sliding slot 12.2, and sliding block 12.3 is connect with 10 1 side surface of sliding floor, under 9 side of support plate
Surface is provided with the actuating cylinder 12.1 for pushing and pulling sliding floor 10.
The above advantage of improving is：The push-and-pull to sliding floor is easily realized using actuating cylinder, in sliding block and sliding slot
Cooperation under realize sliding floor sliding, while sliding slot width of rebate be less than slot insied width, realize using sliding block in sliding slot
It is engaged by clamping and suspension strut is carried out to sliding floor.
Embodiment 3
The present embodiment is improved on the basis of embodiment 1：
Sliding floor 10 is inclined plane shape close to the edge of grasping plate mechanism side.
The above advantage of improving is：Sliding floor edge is set as inclined plane shape, and sliding floor is facilitated to slide into bottom of article
Article is supported, the possibility that may be collided with bottom of article when sliding floor sliding is reduced, improves device operation
Fluency.
Embodiment 4
The present embodiment is improved on the basis of above example：
Crawl 2 side end of plate is provided with fingerboard 1, and the angle between fingerboard 1 and crawl plate 2 is obtuse angle.
The above advantage of improving is：Fingerboard can assist gripping article and playing the function of preventing article from falling,
Angle is obtuse angle between fingerboard and crawl plate simultaneously, and when crawl strip moves fingerboard rotation, fingerboard can apply article edge
One power pushes article to enter between two crawl plates, the convenient crawl to article.
The above, the only preferred embodiment of the utility model, are not intended to limit the utility model, the utility model
Scope of patent protection be subject to claims, it is equivalent made by every specification and accompanying drawing content with the utility model
Structure change similarly should be included in the scope of protection of the utility model.
Claims (4)
1. a kind of intelligent stacking robot mechanical gripper, including the connecting plate (7) that is vertically arranged, it is characterised in that：Connecting plate
(7) side both ends are respectively arranged with the identical grasping plate mechanism of structure, and connecting plate (7) other side bottom level is provided with support plate
(9), horizontal sliding floor (10) is provided with below support plate (9), sliding floor (10) passes through sliding equipment (12) and support
Plate (9) coordinates, and grasping plate mechanism includes the baffle (6) that one end is connected on connecting plate (7), and the setting of baffle (6) end is jagged
(11), it is provided with vertical shaft (5) in notch (11), rotating cylinder (3), shaft (5) outer wall and rotating cylinder are arranged in shaft (5)
(3) torsional spring (4) is provided between inner wall, outer wall is connected with crawl plate (2) on the inside of rotating cylinder (3), is provided with and is used on connecting plate (7)
Push the double-rod cylinder (8) of two crawl plates (2) (5) rotation folding around the shaft.
2. intelligent stacking robot mechanical gripper according to claim 1, it is characterised in that：Sliding equipment (12) includes
It is opened in the sliding slot (12.2) of support plate (9) lower surface, sliding slot (12.2) width of rebate is less than slot insied width, and sliding slot (12.2) is interior
It is provided with sliding block (12.3), sliding block (12.3) is connect with (10) one side surface of sliding floor, the setting of support plate (9) side lower surface
It is useful for the actuating cylinder (12.1) of push-and-pull sliding floor (10).
3. according to any intelligent stacking robot mechanical gripper of claims 1 or 2, it is characterised in that：Sliding floor
(10) it is inclined plane shape close to the edge of grasping plate mechanism side.
4. intelligent stacking robot mechanical gripper according to claim 3, it is characterised in that：Capture plate (2) side end
End is provided with fingerboard (1), and the angle between fingerboard (1) and crawl plate (2) is obtuse angle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820322136.8U CN208020215U (en) | 2018-03-09 | 2018-03-09 | A kind of intelligent stacking robot mechanical gripper |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820322136.8U CN208020215U (en) | 2018-03-09 | 2018-03-09 | A kind of intelligent stacking robot mechanical gripper |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208020215U true CN208020215U (en) | 2018-10-30 |
Family
ID=63906292
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820322136.8U Expired - Fee Related CN208020215U (en) | 2018-03-09 | 2018-03-09 | A kind of intelligent stacking robot mechanical gripper |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208020215U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110182576A (en) * | 2019-06-04 | 2019-08-30 | 武汉恩斯特机器人科技有限公司 | A kind of intelligent robot is used to convey the mechanism of article position adjusting |
| CN113335921A (en) * | 2021-07-12 | 2021-09-03 | 郑州铁路职业技术学院 | Intelligent robot |
-
2018
- 2018-03-09 CN CN201820322136.8U patent/CN208020215U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110182576A (en) * | 2019-06-04 | 2019-08-30 | 武汉恩斯特机器人科技有限公司 | A kind of intelligent robot is used to convey the mechanism of article position adjusting |
| CN110182576B (en) * | 2019-06-04 | 2020-11-13 | 武汉恩斯特机器人科技有限公司 | Intelligent robot is used for carrying mechanism of article position control |
| CN113335921A (en) * | 2021-07-12 | 2021-09-03 | 郑州铁路职业技术学院 | Intelligent robot |
| CN113335921B (en) * | 2021-07-12 | 2022-11-18 | 郑州铁路职业技术学院 | Intelligent robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108189066A (en) | A kind of intelligent stacking robot mechanical gripper | |
| CN206088332U (en) | Mechanism is got to multi -functional clamp of six axis robot multistation | |
| CN104772766B (en) | A kind of robot clamp handgrip | |
| CN105292544B (en) | A kind of tableware molded plastic package automatic manufacturing method and production system | |
| CN107055080A (en) | A kind of new type auto oily side machine and its feeding, drying mechanism | |
| CN103586873B (en) | Automatic tracking material grasping mechanical hand device | |
| CN104512575A (en) | Rotary type opening-tying and cramping integrated device | |
| CN208020215U (en) | A kind of intelligent stacking robot mechanical gripper | |
| CN203728217U (en) | Brick separator | |
| CN104858861A (en) | Stacking mechanical arm | |
| CN106348006B (en) | A kind of ceramic wine bottle sorting conveying device of automation | |
| CN106743550A (en) | Flexible compensation robot automatic loading and unloading system | |
| CN207344582U (en) | A kind of packed feed grabbing device | |
| CN107244547A (en) | A kind of brick holding machine chuck and brick holding machine | |
| CN205325311U (en) | Multifunctional machinery tongs | |
| CN208037523U (en) | Multi-functional handgrip | |
| CN203229216U (en) | Box body stacking tongs | |
| CN107415138A (en) | A kind of iron core automatic injection machine | |
| CN203650536U (en) | Automatic tracking and material grabbing mechanical arm device | |
| CN106395377B (en) | The medical bed of robot gripper and the application robot gripper goes out stockline and its discharging method | |
| CN204160485U (en) | A kind of robot hand fixture being applicable to the automatic de-stacking operation of battery | |
| CN204604347U (en) | A kind of robot clamp handgrip | |
| CN105800322B (en) | A kind of light-duty double adobe handgrip | |
| CN103203675A (en) | Automatic docking device and hydraulic drill polishing and burnishing machine with same and docking method thereof | |
| CN207078711U (en) | A kind of robot clip claw mechanism |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| 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: 20181030 |