CN208117878U - A kind of robot gripper stacked with buckle workpiece - Google Patents
A kind of robot gripper stacked with buckle workpiece Download PDFInfo
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- CN208117878U CN208117878U CN201820369680.8U CN201820369680U CN208117878U CN 208117878 U CN208117878 U CN 208117878U CN 201820369680 U CN201820369680 U CN 201820369680U CN 208117878 U CN208117878 U CN 208117878U
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- workpiece
- handgrip
- pneumatic clamper
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- component
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Abstract
The utility model provides a kind of robot gripper stacked with buckle workpiece,Including handgrip bottom deck assembly,A pair pushes component and a pair of of handgrip lateral plate component,The handgrip bottom deck assembly includes bottom block and wide type pneumatic clamper,The bottom block bottom middle position setting wide type pneumatic clamper,The width type pneumatic clamper is containing there are two pneumatic clamper fingers,Described two pneumatic clamper fingers make stretching motion at left and right sides of bottom block,It is each on described two pneumatic clamper fingers opposite flank to fix a handgrip lateral plate component,A pushing component is fixedly mounted on the another side of the pneumatic clamper finger,Two handgrip lateral plate component relative motion grabbing workpieces are driven by driving pneumatic clamper finger,By pushing component workpiece pressing when stacking workpiece,By the handgrip in grabbing workpiece heap poststack,Buckle workpiece is pushed by pushing component,Automatically male and female buckle on workpiece is fastened,Mitigate the labor intensity of worker,Improve production efficiency.
Description
Technical field
The utility model relates to a kind of mechanical gripper engineering device technique fields of robot, have more particularly to a kind of stacking
Buckle the robot gripper of workpiece.
Background technique
In robot extensive use, the function of mechanical gripper is to complete the clamping of operation workpiece, grab, move and put
It sets, is one of critical component in robot.The mechanical gripper apparatus structure of robot is usually a pair of of clamping handgrip, and handgrip is just
It is operating mechanism when workpiece operation is carried by robot, by the opposite clamping for clamping completion operation workpiece of handgrip gripping section, grabs
It takes, move and places.In stacking operation technique, robot has to reliable and stable grabbing workpiece, in production operation such as
Fruit only has the pneumatic-finger of standard as the executing agency of crawl, is unable to reach the mesh of accurately positioning and reliable and stable crawl
's.In addition, not allowing to hold carrying in some techniques from workpiece bottom or not allowing to use vacuum suction from top, therefore band
There are pallet or the handgrip of sucker class that can not be able to satisfy crawl to require.Furthermore the workpiece with buckle exists in the prior art, when
When this kind of workpiece is stacked by handgrip, handgrip can only simply be stacked the workpiece, then depositing due to buckle
It is difficult to stack in, this kind of workpiece neat, and can reach stacking after the male and female of the workpiece of upper and lower other side buckle is correspondingly fastened
Neat effect, but the buckle snap action about this kind of workpiece mainly or by artificial is fastened at present, it can increase in this way
The labor intensity of processing people increases the labour cost of personnel so that working efficiency is not high.If this kind of workpiece design dedicated for
Compression apparatus then increases processing cost, and there is an urgent need to one kind can be provided simultaneously with the mechanical gripping for having crawl and pushing function at present
Hand, to meet process requirements.
Summary of the invention
In view of the foregoing deficiencies of prior art, it stacks the purpose of this utility model is to provide a kind of with buckle work
The robot gripper of part, for solving the problems, such as that band buckle workpiece needs artificial fasten in the prior art.
In order to achieve the above objects and other related objects, the utility model provides a kind of machine stacked with buckle workpiece
People's handgrip, including handgrip bottom deck assembly, a pair of of pushing component and a pair of of handgrip lateral plate component, the handgrip bottom deck assembly includes bottom
Panel seat and wide type pneumatic clamper, in the bottom block bottom middle position setting wide type pneumatic clamper, there are two the width type pneumatic clamper contains
Pneumatic clamper finger, described two pneumatic clamper fingers can make stretching motion at left and right sides of bottom block, and innovative point is, described two gas
Cleft hand refer to it is each on opposite flank fix a handgrip lateral plate component, an institute is fixedly mounted on the another side of the pneumatic clamper finger
Pushing component is stated, by driving the pneumatic clamper finger to drive two handgrip lateral plate component relative motion grabbing workpieces, is stacked
By pushing component workpiece pressing when workpiece.
Preferably, the bottom block includes handgrip bottom plate, and handgrip bottom plate upper surface is fixed with a flange, the flange
For connecting manipulator, the handgrip bottom plate lower end surface middle position installation wide type pneumatic clamper；Handgrip bottom plate lower end surface
It is additionally provided with a pair of of sliding rail, which is fixed on handgrip bottom plate lower end surface by a support plate, and the sliding rail is symmetrically arranged on
The width type pneumatic clamper front and rear sides, the sliding rail are equipped with a pair of of sliding block, the sliding block respectively with the handgrip side plate group of corresponding side
Part is connected.
Preferably, the handgrip lateral plate component includes sliding block mounting plate and side plate, and the slider bottom is respectively installed described in one
Sliding block mounting plate, the sliding block mounting plate are fixed at the top of the side plate, at the top of the side plate also with the pneumatic clamper of corresponding side
Finger is connected.
Preferably, the pushing component includes lower air cylinder, pushes link block, pushes side plate and lower platen, the pushing
Cylinder is fixed on pneumatic clamper finger side by a link block, and the telescopic end of the lower air cylinder connects institute by floating junction
It states and pushes link block side, the pushing link block other side connects the pushing side plate, the side wall for pushing side plate and institute
It states side plate to connect using sliding equipment, described one end for pushing side plate bottom and being fixedly connected with the lower platen, the lower platen
The other end protrudes between two side plates, for depressing workpiece upper surface.
Preferably, the side plate bottom opens up fluted upwards, and two side plates are goed deep by groove in described lower platen one end
Between.
Preferably, the sidewall sections on the side plate for grabbing workpiece are pasted with polyurethane block.
As described above, the stacking of the utility model has the advantages that with the robot gripper of buckle workpiece：
(1) buckle workpiece is pushed by pushing component in grabbing workpiece heap poststack by the handgrip, it automatically will be on workpiece
Male and female buckle fastens, and mitigates the labor intensity of worker, improves production efficiency.
(2) handgrip lateral plate component is fixed on handgrip bottom plate by sliding block and sliding rail, improves the steady of side plate relative movement
Reliably, meanwhile, so that workpiece disperses handgrip down force, improves width when handgrip lateral plate component grabbing workpiece
The service life of type pneumatic clamper.
(3) it is played anti-skidding, wear-resisting on the side plate of handgrip lateral plate component for being equipped with polyurethane block on grabbing workpiece part
Effect.
Detailed description of the invention
Fig. 1 is shown as the utility model mechanical gripper perspective view
Fig. 2 is shown as the utility model mechanical gripper grabbing workpiece schematic diagram；
Fig. 3 is shown as the utility model mechanical gripper and grabs release and push workpiece schematic diagram；
Fig. 4 is shown as the utility model mechanical gripper institute grabbing workpiece side view.
Component label instructions
1 bottom block, 16 sliding block, 32 link block
11 flange, 2 handgrip lateral plate component, 33 floating junction
12 wide 21 sliding block mounting plate of type pneumatic clamper, 34 sliding equipments
121 pneumatic clamper finger, 22 side plate 35 pushes link block
13 handgrip bottom plate, 23 polyurethane block 36 pushes side plate
14 support plates 3 push 37 lower platen of component
15 sliding rail, 31 lower air cylinder, 4 workpiece
Specific embodiment
Illustrate the embodiments of the present invention below by way of specific specific example, those skilled in the art can be by this theory
Content disclosed by bright book understands other advantages and effect of the utility model easily.The utility model can also be by addition
Different specific embodiments are embodied or practiced, and the various details in this specification can also be based on different viewpoints and answer
With carrying out various modifications or alterations under the spirit without departing from the utility model.It should be noted that the case where not conflicting
Under, the feature in following embodiment and embodiment can be combined with each other.
It should be noted that diagram provided in following embodiment only illustrates the basic of the utility model in a schematic way
Conception, only shown in schema then with related component in the utility model rather than component count when according to actual implementation, shape
And size is drawn, when actual implementation kenel, quantity and the ratio of each component can arbitrarily change for one kind, and its assembly layout
Kenel may also be increasingly complex.
The utility model provides a kind of robot gripper stacked with buckle workpiece, including handgrip bottom referring to FIG. 1-2,
Board group part, a pair of of pushing component 3 and a pair of of handgrip lateral plate component 2, the handgrip bottom deck assembly include bottom block 1 and wide type pneumatic clamper
12, wide type pneumatic clamper 12 described in present embodiment is specially wide type synchronous opening/closing pneumatic clamper, in the 1 bottom middle position of bottom block
The wide type pneumatic clamper 12 is set, which mainly passes through robot or PLC control driving, the wide type pneumatic clamper 12
Containing there are two pneumatic clamper finger 121, described two pneumatic clamper fingers 121 make stretching motion, described two gas at left and right sides of bottom block 1
Cleft hand refer to it is each on 121 opposite flanks fix a handgrip lateral plate component 2, it is fixed on the another side of the pneumatic clamper finger 121
The one pushing component 3 is installed, two handgrip lateral plate components, 2 relative motion grabbing workpiece 4 is driven by driving pneumatic clamper finger 121,
By pushing 3 workpiece pressing 4 of component when stacking workpiece 4, the male and female buckle on the workpiece 4 of stacking is compressed and is fastened, is guaranteed
Robot heap poststack fastens neatly to buckle workpiece 4.In present embodiment, 4 side band of workpiece which is grabbed
There are 4 male and female buckles (as shown in Figure 4), needs mutually to fasten the male and female buckle of downward two layers of workpiece 4 in stacking process.
The bottom block 1 includes handgrip bottom plate 13, and 13 upper surface of handgrip bottom plate is fixed with a flange 11, the flange
11 for connecting manipulator, and the wide type pneumatic clamper 12 is installed in the 13 lower end surface middle position of handgrip bottom plate；Shown in Fig. 2-4, institute
It states 13 lower end surface of handgrip bottom plate and is additionally provided with a pair of of sliding rail 15, the sliding rail 15 is fixed on the handgrip bottom plate by a support plate 14
13 lower end surfaces, the sliding rail 15 are symmetrically arranged on wide 12 front and rear sides of type pneumatic clamper, and the sliding rail 15 is equipped with a pair of of sliding block
16, the sliding block 16 is connected with the handgrip lateral plate component 2 of corresponding side respectively, and the effect of the sliding block 16 and sliding rail 15 mainly improves
Side plate 22 relatively moves steady reliable, meanwhile, so that workpiece 4 is downward to handgrip when handgrip 2 grabbing workpiece 4 of lateral plate component
Active force is dispersed, and the service life of wide type pneumatic clamper 12 is improved.
In Fig. 2, the handgrip lateral plate component 2 includes sliding block mounting plate 21 and side plate 22, and 16 bottom of sliding block is respectively pacified
Fill a sliding block mounting plate 21, the sliding block mounting plate 21 is fixed on 22 top of side plate, 22 top of side plate also with
The pneumatic clamper finger 121 of corresponding side is connected, so that wide type pneumatic clamper 12 is made to drive its handgrip lateral plate component 2 when stretching motion
It moves together, and since sliding block mounting plate 21 is by 16 sliding rail 15 of sliding block connection handgrip bottom plate 13, plays main support, protect
Wide type pneumatic clamper 12.
To realize can have suppressing action to workpiece 4, handgrip described in present embodiment, which is equipped with, pushes component 3, such as Fig. 3
Shown, the pushing component 3 includes lower air cylinder 31, pushes link block 35, pushes side plate 36 and lower platen 37, is calmed the anger under described
Cylinder 31 is fixed on 121 side of pneumatic clamper finger by a link block 32, so that pushing component 3 follows pneumatic clamper finger 121 together
The telescopic end of movement, the lower air cylinder 31 connects 35 side of pushing link block by floating junction 33, and the pushing connects
It connects 35 other side of block and connects the pushing side plate 36, the side wall for pushing side plate 36 and the side plate 22 use sliding equipment 34
Connection, described one end for pushing 36 bottom of side plate and being fixedly connected with the lower platen 37, the other end of the lower platen 37 protrude into two
Between the side plate 22,22 bottom of side plate opens up fluted upwards, and one end of the lower platen 37 gos deep into two by groove
Between side plate 22, which is higher than the sidewall sections height that grabbing workpiece 4 is used on the side plate 22.It designs in this way
Purpose be by lower platen 37 push 4 upper surface of workpiece, workpiece 4 is buckled on lower stack workpiece 4, meanwhile, so that under
Air cylinder 31 when flexible its push the side plate 22 that side plate 36 is close to handgrip component always, guarantee pressing force always with workpiece
4 are mutually perpendicular to.In addition, in grabbing workpiece 4, to guarantee that workpiece 4 is not in landing phenomenon, for grabbing on the side plate 22
The sidewall sections of workpiece 4 are taken to be pasted with polyurethane block 23, polyurethane block 23 plays the role of wear-resisting, anti-skidding.
Working principle：
Handgrip is fixed on a robotic arm by flange 11, and handgrip is moved to 4 top of workpiece by manipulator, is controlled by PLC
It makes wide type pneumatic clamper 12 and drives pneumatic clamper finger 121, drive workpiece 4 (as shown in Figure 2) of the handgrip board group part crawl with buckle, manipulator
After workpiece 4 is moved to 4 releasing position of workpiece, wide type pneumatic clamper 12 is driven again, unclamps handgrip board group part, workpiece 4 is released, this
When to guarantee that buckle of the workpiece 4 when stacking is neat, the male and female of buckle is buckled and is fastened, lower air cylinder 31 is by pushing side plate 36
Lower platen 37 is driven to compress (as shown in Figure 3) workpiece 4,4 male and female snapped-in position A of 4 side of workpiece, B, C, D is under
It is normally fastened under the lower pressure of air cylinder 31, completes the stacking stacking (as shown in Figure 4) with buckle workpiece 4.
The above embodiments are only illustrative of the principle and efficacy of the utility model, and not for limitation, this is practical new
Type.Any person skilled in the art can all carry out above-described embodiment under the spirit and scope without prejudice to the utility model
Modifications and changes.Therefore, such as those of ordinary skill in the art without departing from the revealed essence of the utility model
All equivalent modifications or change completed under mind and technical idea, should be covered by the claim of the utility model.
Claims (6)
1. a kind of robot gripper of the stacking with buckle workpiece, including handgrip bottom deck assembly, a pair of of pushing component (3) and a pair
Handgrip lateral plate component (2), the handgrip bottom deck assembly includes bottom block (1) and wide type pneumatic clamper (12), in the bottom block (1) bottom
The portion middle position setting wide type pneumatic clamper (12), the width type pneumatic clamper (12) are described two containing there are two pneumatic clamper finger (121)
Pneumatic clamper finger (121) can make stretching motion at left and right sides of bottom block (1), which is characterized in that described two pneumatic clamper fingers (121)
It is each on opposite flank to fix a handgrip lateral plate component (2), one is fixedly mounted on the another side of the pneumatic clamper finger (121)
The pushing component (3), by driving the pneumatic clamper finger (121) to drive two handgrip lateral plate component (2) relative motions
Grabbing workpiece (4), by pushing component (3) workpiece pressing (4) when stacking workpiece (4).
2. according to claim 1 stack the robot gripper with buckle workpiece, it is characterised in that：The bottom block
It (1) include handgrip bottom plate (13), handgrip bottom plate (13) upper surface is fixed with a flange (11), and the flange (11) is for connecting
Welding manipulator, handgrip bottom plate (13) the lower end surface middle position installation wide type pneumatic clamper (12)；The handgrip bottom plate (13)
Lower end surface is additionally provided with a pair of of sliding rail (15), which is fixed on handgrip bottom plate (13) lower end by a support plate (14)
Face, the sliding rail (15) are symmetrically arranged on described wide type pneumatic clamper (12) front and rear sides, and the sliding rail (15) is equipped with a pair of of sliding block
(16), the sliding block (16) is connected with the handgrip lateral plate component (2) of corresponding side respectively.
3. according to claim 2 stack the robot gripper with buckle workpiece, it is characterised in that：The handgrip side plate
Component (2) includes sliding block mounting plate (21) and side plate (22), and a sliding block mounting plate is respectively installed in sliding block (16) bottom
(21), the sliding block mounting plate (21) is fixed at the top of the side plate (22), at the top of the side plate (22) also with the institute of corresponding side
Pneumatic clamper finger (121) are stated to be connected.
4. according to claim 3 stack the robot gripper with buckle workpiece, it is characterised in that：The pushing component
(3) include lower air cylinder (31), push link block (35), push side plate (36) and lower platen (37), the lower air cylinder (31)
It is fixed on pneumatic clamper finger (121) side by a link block (32), the telescopic end of the lower air cylinder (31) passes through floating
Connector (33) connects pushing link block (35) side, and the pushing link block (35) other side connects the pushing side plate
(36), the side wall for pushing side plate (36) is connect with the side plate (22) using sliding equipment (34), the pushing side plate
(36) bottom is fixedly connected with one end of the lower platen (37), and the other end of the lower platen (37) protrudes into two side plates
(22) between, for depressing workpiece (4) upper surface.
5. according to claim 4 stack the robot gripper with buckle workpiece, it is characterised in that：The side plate (22)
Bottom opens up fluted upwards, and described lower platen (37) one end is goed deep between two side plates (22) by groove.
6. according to claim 5 stack the robot gripper with buckle workpiece, it is characterised in that：The side plate (22)
The upper sidewall sections for grabbing workpiece (4) are pasted with polyurethane block (23).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820369680.8U CN208117878U (en) | 2018-03-19 | 2018-03-19 | A kind of robot gripper stacked with buckle workpiece |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820369680.8U CN208117878U (en) | 2018-03-19 | 2018-03-19 | A kind of robot gripper stacked with buckle workpiece |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208117878U true CN208117878U (en) | 2018-11-20 |
Family
ID=64199213
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820369680.8U Active CN208117878U (en) | 2018-03-19 | 2018-03-19 | A kind of robot gripper stacked with buckle workpiece |
Country Status (1)
| Country | Link |
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| CN (1) | CN208117878U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110759111A (en) * | 2019-09-30 | 2020-02-07 | 广西机械工业研究院有限责任公司 | Pile up neatly machine people tongs device |
| CN111231711A (en) * | 2020-02-16 | 2020-06-05 | 南京林业大学 | Automatic charging robot |
| CN111906518A (en) * | 2020-09-05 | 2020-11-10 | 于海松 | Automatic assembling device for automobile cooling fan |
-
2018
- 2018-03-19 CN CN201820369680.8U patent/CN208117878U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110759111A (en) * | 2019-09-30 | 2020-02-07 | 广西机械工业研究院有限责任公司 | Pile up neatly machine people tongs device |
| CN110759111B (en) * | 2019-09-30 | 2022-02-11 | 广西机械工业研究院有限责任公司 | Pile up neatly machine people tongs device |
| CN111231711A (en) * | 2020-02-16 | 2020-06-05 | 南京林业大学 | Automatic charging robot |
| CN111906518A (en) * | 2020-09-05 | 2020-11-10 | 于海松 | Automatic assembling device for automobile cooling fan |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of utility model: A robotic gripper for stacking workpieces with snaps Effective date of registration: 20220801 Granted publication date: 20181120 Pledgee: Bank of China Limited Shanghai Qingpu sub branch Pledgor: SHANGHAI FORESIGHT ROBOTICS Co.,Ltd. Registration number: Y2022980011634 |
|
| CP03 | Change of name, title or address | ||
| CP03 | Change of name, title or address |
Address after: 201712 Building 2, No. 338, Jiuye Road, Qingpu District, Shanghai Patentee after: Shanghai Forsyte Robot Co.,Ltd. Address before: Room 305, Kaike building, area a, 1801 Hongmei Road, Xuhui District, Shanghai 200230 Patentee before: SHANGHAI FORESIGHT ROBOTICS Co.,Ltd. |