CN208086823U - Gripper equipment - Google Patents
Gripper equipment Download PDFInfo
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- CN208086823U CN208086823U CN201820167802.5U CN201820167802U CN208086823U CN 208086823 U CN208086823 U CN 208086823U CN 201820167802 U CN201820167802 U CN 201820167802U CN 208086823 U CN208086823 U CN 208086823U
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- arm
- fixed
- handgrip
- fixed arm
- rocking arm
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Abstract
The utility model discloses a kind of gripper equipment, including：One end of crossbeam, crossbeam is equipped with fixed arm carrier base, and the other end is equipped with rocker arm support seat；Fixed arm handgrip mechanism, fixed arm handgrip mechanism include being connected to the fixed arm of fixed arm carrier base and being connected to the rotary hand grip of the end of fixed arm；Rocking arm handgrip mechanism, rocking arm handgrip mechanism include rotary shaft, linking arm and rocking arm handgrip；The rotary hand grip of fixed arm end can be rotated around the end of fixed arm; rocking arm handgrip mechanism is arranged by rotary shaft on the rocker arm support seat of crossbeam; rotary shaft is along its axial-rotation; to drive rocking arm handgrip and linking arm to be rotated together around rotary shaft; rotary hand grip and realize the crawl and stacking of cargo simultaneously with rocking arm handgrip; rotary hand grip and rocking arm handgrip, which can enter in railway carriage, to be opened simultaneously; saves the rocking arm space needed for release cargo; prevent the collision of handgrip and compartment wall; the case where reducing the height that cargo falls, reducing cargo damage occurs.
Description
Technical field
The utility model belongs to robot field, more particularly, to a kind of gripper equipment for robot.
Background technology
Handgrip is the end effector mechanism of robot palletizer, is the important component of robot palletizer for capturing packaging bag
One of.In bagged product stacking entrucking, both sides rocking arm grasping teeth can outwardly open current existing handgrip simultaneously, be easy to happen and grab
Situations such as the case where tooth and compartment guardrail collide or handgrip cannot be introduced into compartment, such as in entrucking handgrip on compartment top
The case where opening, sack free-electron model to car bottom, leading to bag breakage also happens occasionally.
Therefore, it is necessary to which providing one kind can prevent grasping teeth from colliding with compartment guardrail, reduce sky needed for handgrip folding
Between gripper equipment.
Utility model content
The purpose of this utility model is to propose that one kind can avoid the problem of cannot be introduced into interior for existing handgrip
The gripper equipment of grasping teeth and compartment rail collision.
To achieve the goals above, the utility model proposes a kind of gripper equipments, including：
One end of crossbeam, the crossbeam is equipped with fixed arm carrier base, and the other end is equipped with rocker arm support seat；
Fixed arm handgrip mechanism, the fixed arm handgrip mechanism include be connected to the fixed arm carrier base fixed arm and
It is connected to the rotary hand grip of the end of fixed arm, the fixed arm can be around described perpendicular to the crossbeam, the rotary hand grip
The end of fixed arm rotates；
Rocking arm handgrip mechanism, the rocking arm handgrip mechanism includes rotary shaft, linking arm and rocking arm handgrip, wherein the rotation
Axis is set to the rocker arm support seat, and is rotated by driving, and the linking arm is fixed to the rotary shaft, and the rocking arm handgrip is solid
The fixed extremely linking arm.
Preferably, further include press mechanism, the press mechanism includes the lower hydraulic driver being set on the crossbeam
The pressing plate being connect with the lower hydraulic driver, the pressing plate are set between the fixed arm and linking arm, and with it is described
Crossbeam is parallel, and the lower hydraulic driver can drive the pressing plate to be moved along the direction with the beam vertical.
Preferably, the bottom of the pressing plate is equipped with bump rubber.
Preferably, the rocking arm handgrip mechanism further includes rocking arm cylinder and connecting rod, and the rocking arm cylinder is set to described shake
On arm support seat, one end of the connecting rod and the piston rod of the rocking arm cylinder are fixed, and the other end is fixed with the rotary shaft, with
Drive the rotary shaft along its axial-rotation, to drive the linking arm to be rotated around the rotary shaft.
Preferably, the fixed arm handgrip mechanism further includes fixed arm cylinder, rack and pinion, and the rack is set to described
On fixed arm, and fixed arm movement described in lower edge, the gear can be driven to be set to institute in the piston rod of the fixed arm cylinder
It states on rotary hand grip, and is matched with the rack, so as to drive the rotary hand grip to be revolved around the end of the fixed arm
Turn.
Preferably, horizontal drive apparatus is equipped on the crossbeam, for driving the rocker arm support seat along the crossbeam
It is mobile.
Preferably, the rotary hand grip is plate, and end is equipped with grasping teeth.
Preferably, the rocking arm handgrip is L-type, towards the center curvature of the crossbeam, and the end of the rocking arm handgrip
End is equipped with grasping teeth.
Preferably, it is coated with skid resistant course outside the grasping teeth.
Preferably, the piston rod end of the fixed arm cylinder is equipped with link block, the end of the link block and the rack
Portion connects.
The utility model advantageous effect is：
1, the fixed arm of fixed arm handgrip mechanism is vertically installed on the fixed arm carrier base of crossbeam, the rotation of fixed arm end
Turning handgrip can rotate around the end of fixed arm, and rocking arm handgrip mechanism is arranged by rotary shaft on the rocker arm support seat of crossbeam,
Rotary shaft is along its axial-rotation, to drive rocking arm handgrip and linking arm to be rotated together around rotary shaft, rotary hand grip and and rocking arm
Handgrip moves the crawl and stacking for realizing cargo simultaneously, and rotary hand grip and rocking arm handgrip, which can enter in railway carriage, to be opened simultaneously, and is saved
The rocking arm space needed for release cargo has been saved, the collision of handgrip and compartment wall is prevented, has reduced the height that cargo falls, has reduced cargo
The case where damage, occurs.
2, press mechanism includes lower hydraulic driver and the pressing plate being set between fixed arm and linking arm, pushes driving dress
Setting can drive pressing plate edge to be moved perpendicular to crossbeam direction, after rotary hand grip and rocking arm handgrip crawl cargo, lower hydraulic driver
Driving pressing plate is pressed in cargo upper surface, and cargo is avoided to be thrown out of in capturing transportational process.
3, crossbeam is equipped with horizontal drive apparatus, for driving rocker arm support seat along cross beam movement, is suitable for different sizes
The crawl of the cargo of length.
Other features and advantages of the utility model will be described in detail in subsequent specific embodiment part.
Description of the drawings
The utility model exemplary embodiment is described in more detail in conjunction with the accompanying drawings, the utility model it is above-mentioned
And other purposes, feature and advantage will be apparent.Wherein, in the exemplary embodiment, identical reference label is logical
Chang represents same parts.
Fig. 1 shows the structural schematic diagram of the gripper equipment according to the utility model one embodiment.
Fig. 2 shows show that the state that the gripper equipment according to the utility model one embodiment is closed in compartment shows
It is intended to.
Fig. 3 shows that the state that the gripper equipment according to the utility model one embodiment is opened in compartment is shown
It is intended to.
Reference sign：
1, fixed arm；2, fixed arm cylinder；3, link block；4, rack；5, gear；6, rotary hand grip；7, grasping teeth；8, rocking arm
Handgrip；9, linking arm；10, rotary shaft；11, rocking arm cylinder；12, lower hydraulic driver；13, pressing plate；14, horizontal drive apparatus；
15, crossbeam；16, fixed arm carrier base；17, rocker arm support seat；18, railway carriage guardrail；19, car bottom.
Specific implementation mode
The preferred embodiment of the utility model is more fully described below with reference to accompanying drawings.Although showing this reality in attached drawing
With novel preferred embodiment, however, it is to be appreciated that the utility model is may be realized in various forms, without that should be illustrated here
Embodiment limited.On the contrary, thesing embodiments are provided so that the utility model is more thorough and complete, and can incite somebody to action
The scope of the utility model is completely communicated to those skilled in the art.
The embodiments of the present invention provide a kind of gripper equipment, including：
One end of crossbeam, crossbeam is equipped with fixed arm carrier base, and the other end is equipped with rocker arm support seat；Fixed arm handgrip mechanism,
Fixed arm handgrip mechanism include be connected to the fixed arm of fixed arm carrier base and to be connected to the rotary hand grip of the end of fixed arm, Gu
Fixed arm can be rotated perpendicular to crossbeam, rotary hand grip around the end of fixed arm；Rocking arm handgrip mechanism, rocking arm handgrip mechanism include rotation
Shaft, linking arm and rocking arm handgrip, wherein rotary shaft are set to rocker arm support seat, and are rotated by driving, and linking arm is fixed to rotation
Shaft, rocking arm handgrip are fixed to linking arm.
Both ends on crossbeam are respectively arranged with fixed arm handgrip mechanism and rocking arm handgrip mechanism, and fixed arm handgrip mechanism is consolidated
Fixed arm is vertically installed on the fixed arm carrier base of crossbeam, and the rotary hand grip of fixed arm end can be revolved around the end of fixed arm
Turn, rocking arm handgrip mechanism is arranged by rotary shaft on the rocker arm support seat of crossbeam, and rotary shaft is along its axial-rotation, to drive
Rocking arm handgrip and linking arm are rotated around rotary shaft together, rotary hand grip and with rocking arm handgrip simultaneously move realize cargo crawl with
Stacking, rotary hand grip and rocking arm handgrip, which can enter in railway carriage, to be opened simultaneously, and the rotary hand grip of fixed arm end does 90 degree of rotations,
The rocking arm space needed for release cargo is saved, the collision of handgrip and compartment wall is prevented, reduces the height that cargo falls, reduces goods
The case where object damages.
Preferably, gripper equipment further includes press mechanism, and press mechanism includes that the pushing being set on crossbeam is driven
Dynamic device and the pressing plate being connect with lower hydraulic driver, pressing plate are set between fixed arm and linking arm, and parallel with crossbeam, under
Hydraulic driver can drive pressing plate to be moved along the direction with beam vertical.
Specifically, after rotary hand grip and rocking arm handgrip capture cargo, lower hydraulic driver driving pressing plate is pressed in cargo upper table
Face avoids cargo from being thrown out of in capturing transportational process.
Preferably, the bottom of pressing plate is equipped with bump rubber, when pressing plate is pressed in cargo upper surface, pressing plate bottom
Rubber block can prevent cargo from being slid in capturing transportational process, while pressing plate can also be alleviated and be pressed in rushing for cargo upper surface
Power is hit, buffering and anti-skidding effect are played.
Preferably, rocking arm handgrip mechanism further includes rocking arm cylinder and connecting rod, and rocking arm cylinder is set to rocker arm support
On seat, one end of connecting rod and the piston rod of rocking arm cylinder are fixed, and the other end is fixed with rotary shaft, to drive rotary shaft along its axial direction
Rotation, to drive linking arm to be rotated around rotary shaft.
Specifically, the piston rod of rocking arm cylinder is stretched by connecting rod and rotation axis connection, the piston rod of rocking arm cylinder along crossbeam
Contracting movement, one end of connecting rod and the piston rod of rocking arm cylinder are fixed, and rotary shaft is arranged in the lower section of piston rod, the other end of connecting rod
It is vertical with rotary shaft to fix, and at an angle with rotary shaft, by the piston rod of rocking arm cylinder along crossbeam stretching motion, driving
Connecting rod drives rotary shaft axially to be rotated forward or backwards along it, to drive linking arm and rocking arm handgrip together along crossbeam swing
It is rotated around rotary shaft, realizes the crawl and stacking of cargo.
Preferably, fixed arm handgrip mechanism further includes fixed arm cylinder, rack and pinion, and rack is set to fixed arm
On, and can be moved along fixed arm under the driving of the piston rod of fixed arm cylinder, gear is set on rotary hand grip, and with rack phase
Cooperation, so as to drive rotary hand grip to be rotated around the end of fixed arm.
Specifically, when handgrip mechanism entrucking stacking, fixed arm can be posted by the inside of compartment guardrail, the work of fixed arm cylinder
Stopper rod drive rack is moved up and down along fixed arm, and rack and pinion cooperation, rack drives gear rotates and reverse movement, to
Gear drives rotary hand grip to be rotated around fixed arm end, realizes that rotary hand grip does open and close movement, avoids in store items and vehicle
The collision of compartment guardrail.
Preferably, it is equipped with horizontal drive apparatus on crossbeam, for driving rocker arm support seat along cross beam movement, fits
The crawl of cargo for different dimensions lengths.
Specifically, horizontal drive apparatus is horizontal drive cylinder.
Preferably, rotary hand grip is plate, and end is equipped with grasping teeth.
It is further preferable that rotary hand grip is multiple, the axis connection of multiple rotary hand grips and gear cooperation realizes rotary hand grip
Open and close movement simultaneously.
Preferably, the rocking arm handgrip is L-type, and towards the center curvature of the crossbeam, and the rocking arm is grabbed
The end of hand is equipped with grasping teeth.
Specifically, L-type rocking arm handgrip is rocking arm vertically, and level is grasping teeth, and rocking arm handgrip is rotated around rotary shaft, and grasping teeth is inserted
Enter to below cargo, cargo is captured, reversion rotation axis when unloading, grasping teeth is extracted out below cargo.
Preferably, it is coated with skid resistant course outside grasping teeth, prevents cargo from being slid in capturing transportational process.
Preferably, the piston rod end of fixed arm cylinder is equipped with link block, the end connection of link block and rack.
Specifically, link block is horizontally disposed, and the piston rod end of fixed arm cylinder and one end of link block connect, rack with
The link block other end connects, and rack is made to stick on the side wall of fixed arm, and gear is arranged in the lower part of link block, and rack is along fixed arm
It moves up and down, and is engaged with gear, prevent rack flexural deformation.
Embodiment
Fig. 1 shows the structural schematic diagram of the gripper equipment according to the utility model one embodiment, Fig. 2 shows
Show that the status diagram that the gripper equipment according to the utility model one embodiment is closed in compartment, Fig. 3 are shown
Show the status diagram that the gripper equipment according to the utility model one embodiment is opened in compartment.
As shown in Figure 1, embodiment provides a kind of gripper equipment, including：
One end of crossbeam 15, crossbeam 15 is equipped with fixed arm carrier base 16, and the other end is equipped with rocker arm support seat 17；Fixed arm is grabbed
Mobile phone structure, fixed arm handgrip mechanism include the fixed arm 1 for being connected to fixed arm carrier base 16 and the end for being connected to fixed arm 1
Rotary hand grip 6, fixed arm 1 can be rotated perpendicular to crossbeam 15, rotary hand grip 6 around the end of fixed arm 1；Rocking arm handgrip mechanism,
Rocking arm handgrip mechanism includes rotary shaft 10, linking arm 9 and rocking arm handgrip 8, and wherein rotary shaft 10 is set to rocker arm support seat 17, and
It is rotated by driving, linking arm 9 is fixed to rotary shaft 10, and rocking arm handgrip 8 is fixed to linking arm 9.
Gripper equipment further includes press mechanism, press mechanism include the lower hydraulic driver 12 being set on crossbeam 15 and with
The pressing plate 13 that lower hydraulic driver 12 connects, pressing plate 13 are set between fixed arm 1 and linking arm 9, and parallel with crossbeam 15, under
Hydraulic driver 12 can drive pressing plate 13 to be moved along the direction vertical with crossbeam 15, and the bottom of pressing plate 13 is equipped with yielding rubber
Block.
Rocking arm handgrip mechanism further includes rocking arm cylinder 11 and connecting rod, and rocking arm cylinder 11 is set on rocker arm support seat 17, even
One end of bar and the piston rod of rocking arm cylinder 11 are fixed, and the other end is fixed with rotary shaft 10, to drive rotary shaft 10 along its axial direction
Rotation, to drive linking arm 9 to be rotated around rotary shaft 10, rocking arm handgrip 8 is L-type, towards the center curvature of crossbeam 15, and is shaken
The end of arm handgrip 8 is equipped with grasping teeth 7；Fixed arm handgrip mechanism further includes fixed arm cylinder 2, rack 4 and gear 5, and rack 4 is set to
It on fixed arm 1, and can be moved along fixed arm 1 under the driving of the piston rod of fixed arm cylinder 2, gear 5 is set to rotary hand grip 6
On, and matched with rack 4, so as to drive rotary hand grip 6 to be rotated around the end of fixed arm 1, rotary hand grip 6 is plate,
End is equipped with grasping teeth, and skid resistant course is coated with outside grasping teeth.Horizontal drive apparatus 14 is equipped on crossbeam 15, for driving rocking arm branch
Stand 17 is moved along crossbeam 1.The piston rod end of fixed arm cylinder 2 is equipped with link block 3, and link block 3 is horizontally disposed, fixed arm gas
The piston rod end of cylinder 1 is connect with one end of link block 3, and rack 4 is connect with 3 other end of link block, and rack 4 is made to stick on fixation
On the side wall of arm 1, gear 5 is arranged in the lower part of link block 3, and rack 4 is moved up and down along fixed arm 1, and is engaged with gear 5.
As shown in Figure 2 and Figure 3, when gripper equipment is used for the work of entrucking stacking：Fixed arm cylinder 2 and rocking arm cylinder 11 exist
It is acted simultaneously under signal instruction, realizes that rocking arm handgrip 8 and rotary hand grip 6 move the crawl and stacking for realizing cargo simultaneously.
Wherein, fixed arm 1 can be posted by 18 inside of compartment guardrail, and the piston rod drive rack 4 of fixed arm cylinder 2 is along solid
Fixed arm 1 moves up and down, and rack 4 is engaged with gear 5, and rack 4 drives the forward or reverse movement of gear 5, to which gear 5 drives rotation
Turn handgrip 6 to rotate around 1 end of fixed arm, realizes that rotary hand grip 6 does open and close movement.
The piston rod of rocking arm cylinder 11 is connect by connecting rod with rotary shaft 10, and the piston rod of rocking arm cylinder 11 is stretched along crossbeam 15
Contracting movement, one end of connecting rod and the piston rod of rocking arm cylinder 11 fix, and rotary shaft 10 is arranged in the lower section of piston rod, connecting rod it is another
One end is fixed with rotary shaft 10, and at an angle with rotary shaft 10, flexible along crossbeam 15 by the piston rod of rocking arm cylinder 11
Movement, drive link are swung, and drive rotary shaft 10 axially to be rotated forward or backwards along it, to drive linking arm 9 and rocking arm to grab
Hand 8 is rotated around rotary shaft 10 together, realizes that cargo is captured and piled up by rocking arm handgrip 8.
After rotary hand grip 6 and rocking arm handgrip 8 capture cargo, lower hydraulic driver 12 drives pressing plate 13 to be pressed in cargo upper table
Face avoids cargo from being thrown out of in capturing transportational process.
Rotary hand grip 6 and rocking arm handgrip 8, which can enter in railway carriage, to be opened simultaneously, and the rotary hand grip 6 of 1 end of fixed arm does 90
Degree rotation saves the rocking arm space needed for release cargo, prevents the collision of handgrip and compartment guardrail 18, reduces cargo and falls to
The case where height of car bottom 19, reduction cargo damage, occurs.
The embodiments of the present invention are described above, above description is exemplary, and non-exclusive, and
It is also not necessarily limited to disclosed embodiment.Without departing from the scope and spirit of embodiment described, for this technology
Many modifications and changes will be apparent from for the those of ordinary skill in field.
Claims (10)
1. a kind of gripper equipment, which is characterized in that including：
One end of crossbeam, the crossbeam is equipped with fixed arm carrier base, and the other end is equipped with rocker arm support seat；
Fixed arm handgrip mechanism, the fixed arm handgrip mechanism include being connected to fixed arm and the connection of the fixed arm carrier base
Rotary hand grip in the end of fixed arm, the fixed arm can be around the fixations perpendicular to the crossbeam, the rotary hand grip
The end of arm rotates；
Rocking arm handgrip mechanism, the rocking arm handgrip mechanism includes rotary shaft, linking arm and rocking arm handgrip, wherein the rotary shaft is set
It is placed in the rocker arm support seat, and is rotated by driving, the linking arm is fixed to the rotary shaft, and the rocking arm handgrip is fixed to
The linking arm.
2. gripper equipment according to claim 1, which is characterized in that further include press mechanism, the press mechanism includes setting
The lower hydraulic driver being placed on the crossbeam and the pressing plate being connect with the lower hydraulic driver, the pressing plate are set to described
Between fixed arm and linking arm, and parallel with the crossbeam, the lower hydraulic driver can drive the pressing plate along with it is described
It moves in the direction of beam vertical.
3. gripper equipment according to claim 2, which is characterized in that the bottom of the pressing plate is equipped with bump rubber.
4. gripper equipment according to claim 1, which is characterized in that the rocking arm handgrip mechanism further includes rocking arm cylinder and company
Bar, the rocking arm cylinder are set on the rocker arm support seat, and one end of the connecting rod and the piston rod of the rocking arm cylinder are solid
Fixed, the other end is fixed with the rotary shaft, to drive the rotary shaft along its axial-rotation, to drive the linking arm around institute
State rotary shaft rotation.
5. gripper equipment according to claim 1, which is characterized in that the fixed arm handgrip mechanism further includes fixed arm gas
Cylinder, rack and pinion, the rack are set on the fixed arm, and can drive lower edge in the piston rod of the fixed arm cylinder
The fixed arm movement, the gear is set on the rotary hand grip, and is matched with the rack, described so as to drive
Rotary hand grip is rotated around the end of the fixed arm.
6. gripper equipment according to claim 1, which is characterized in that be equipped with horizontal drive apparatus on the crossbeam, be used for
Drive the rocker arm support seat along the cross beam movement.
7. gripper equipment according to claim 1, which is characterized in that the rotary hand grip is plate, and end is equipped with grasping teeth.
8. gripper equipment according to claim 1, which is characterized in that the rocking arm handgrip is L-type, towards the crossbeam
Center curvature, and the end of the rocking arm handgrip is equipped with grasping teeth.
9. according to the gripper equipment of claim 7 or 8, which is characterized in that be coated with skid resistant course outside the grasping teeth.
10. gripper equipment according to claim 5, which is characterized in that the piston rod end of the fixed arm cylinder, which is equipped with, to be connected
Block is connect, the link block is connect with the end of the rack.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820167802.5U CN208086823U (en) | 2018-01-31 | 2018-01-31 | Gripper equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820167802.5U CN208086823U (en) | 2018-01-31 | 2018-01-31 | Gripper equipment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208086823U true CN208086823U (en) | 2018-11-13 |
Family
ID=64062954
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820167802.5U Active CN208086823U (en) | 2018-01-31 | 2018-01-31 | Gripper equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208086823U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108147144A (en) * | 2018-01-31 | 2018-06-12 | 北京赛佰特科技有限公司 | Gripper equipment |
-
2018
- 2018-01-31 CN CN201820167802.5U patent/CN208086823U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108147144A (en) * | 2018-01-31 | 2018-06-12 | 北京赛佰特科技有限公司 | Gripper equipment |
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