CN208305048U

CN208305048U - U shell mechanical gripper and U shell library

Info

Publication number: CN208305048U
Application number: CN201820318293.1U
Authority: CN
Inventors: 钟毅
Original assignee: Individual
Current assignee: Individual
Priority date: 2018-03-08
Filing date: 2018-03-08
Publication date: 2019-01-01
Anticipated expiration: 2028-03-08

Abstract

The utility model discloses a kind of U shell mechanical grippers and U shell library, it is related to automated storing field, the X-axis movable motor is arranged on crossbeam, the Y-axis lifter rack and the activity of Y-axis riser guide cooperate, the bottom end of the Y-axis lifter rack is connected and fixed plate, clip shell cylinder is arranged in the lower end of fixed plate, the telescopic end of the clip shell cylinder connects vertical rod I, vertical rod II is arranged in the inside parallel of the vertical rod I, the vertical rod I is hinged with vertical rod II by two parallel connecting rods, shell cylinder is grabbed in the outside setting of the vertical rod I, the telescopic end for grabbing shell cylinder is hinged with a wherein connecting rod, the opposite side of the vertical rod I and vertical rod II is equipped with sucker.The utility model has the beneficial effects that being grabbed again by two U shells are staggered relatively, the efficiency of crawl and storage is improved, U shell is ceaselessly beaten using sucker, it can be made to be stable on sucker, the tool locating plate of design stable can fix two U shells.

Description

U shell mechanical gripper and U shell library

Technical field

The utility model relates to automated storing field, especially a kind of U shell mechanical gripper and U shell library.

Background technique

With the popularization of machine substitute human labor project, traditional pipeline system production line also faces asking for many robotic transformations Topic, household electrical appliances after production, when subsequent handling can not follow up, then need the U-shaped shell that will have been produced to be put into storehouse with U-shaped shell In, it is contemplated that the special shape of U (type) shell needs to design the state of its placement and the state of transport.

Utility model content

Purpose of the utility model is to solve the problems that the crawl of U shell and transport are inconvenient, and it is mechanical to devise a kind of U shell Handgrip and U shell library.

Realize that above-mentioned purpose the technical solution of the utility model is a kind of U shell mechanical gripper, including bracket and crossbeam, The top of bracket is arranged in the crossbeam, further includes X-axis movable motor, Y-axis riser guide, Y-axis lifter rack, fixed plate, extremely Few a pair of clip shell cylinder, vertical rod II, connecting rod, grabs shell cylinder and sucker at vertical rod I；The X-axis movable motor is arranged in cross The lower end of X-axis movable motor, the Y-axis lifter rack and the activity of Y-axis riser guide is arranged in Liang Shang, the Y-axis riser guide Cooperation, the bottom end of the Y-axis lifter rack are connected and fixed plate, and clip shell cylinder, the clip shell gas is arranged in the lower end of the fixed plate The telescopic end of cylinder connects vertical rod I, and vertical rod II, the vertical rod I and vertical rod II is arranged in the inside parallel of the vertical rod I Be hinged by two parallel connecting rods, shell cylinder is grabbed in the setting of the outside of the vertical rod I, the telescopic end for grabbing shell cylinder with Wherein a connecting rod is hinged, and the opposite side of the vertical rod I and vertical rod II is equipped with sucker.

Further, the clip shell cylinder has two pairs, and the action direction of two pairs of clip shell cylinders is identical.

A kind of U shell library using U shell mechanical gripper, further includes conveying, storage warehouse and tool locating plate；The machine Tool handgrip and the initial segment that conveying is arranged in, the conveying are connected with storage warehouse；The tool locating plate activity is set It sets on conveying, the tool locating plate includes two opposite top positioning adhesive tape positioning strips together at least, described fixed Between two top positioning adhesive tape, the positioning strip is equipped with several clip slot disposed in parallel for position item setting.

Further, the quantity of the positioning strip is two.

It further, further include lifting device, the storage warehouse is at least provided with two layers of storage shelf, between two adjacent storage shelfs It is connected by lifting device, the storage shelf is equipped with interior be equipped between several storages.

U shell mechanical gripper and U shell library using the technical solution of the utility model production, the beneficial effect is that: by two A U shell is staggered relatively to be grabbed again, improves the efficiency of crawl and storage, U shell is ceaselessly beaten using sucker, it can be made steady Due on sucker, it is based on this, special tool locating plate is devised, stable two U shells can be fixed, then be utilized Conveying is conveyed in storage warehouse, and storage warehouse can design the form of multilayer, according to actual requirement, is placed not at every layer Same product, realization store classifiedly.

Detailed description of the invention

Fig. 1 is the schematic view of the front view of the application U shell mechanical gripper；

Fig. 2 is the top view of Fig. 1；

Fig. 3 is the partial enlarged view in Fig. 1 at A；

Fig. 4 is the placement figure of the application U shell；

Fig. 5 is the structural schematic diagram of the application tool locating plate；

Fig. 6 is the application U shell bottom storehouse schematic diagram of a layer structure；

Fig. 7 is the application U shell library top level structure schematic diagram.

In above each figure, 1, bracket；2, crossbeam；3, X-axis movable motor；4, Y-axis riser guide；5, Y-axis lifter rack；6, Fixed plate；7, clip shell cylinder；8, vertical rod I；9, vertical rod II；10, connecting rod；11, shell cylinder is grabbed；12, sucker；13, it conveys Guide rail；14, storage warehouse；15, tool locating plate；151, top positions adhesive tape；152, positioning strip；16, lifting device.

Specific embodiment

Further to illustrate that the utility model is the technical means and efficacy reaching predetermined purpose of utility model and being taken, Below in conjunction with attached drawing and preferred embodiment, to foundation specific embodiment of the present utility model, structure, feature and its effect, in detail Carefully it is described as follows:

A kind of U shell mechanical gripper, as shown in Figure 1 and Figure 2, including the upper of bracket 1 is arranged in bracket 1 and crossbeam 2, crossbeam 2 Side, X-axis movable motor 3 are arranged on crossbeam 2, can move along crossbeam 2, and the setting of Y-axis riser guide 4 is walked electric in X-axis The lower end of machine 3, Y-axis lifter rack 5 and 4 activity of Y-axis riser guide cooperate, and can control Y by chain or cylinder herein The movement of axis lifter rack 5, the bottom end of Y-axis lifter rack 5 are connected and fixed plate 6,

Clip shell cylinder 7 is arranged in the lower end of fixed plate 6, and the telescopic end of clip shell cylinder 7 connects vertical rod I 8, referring again to Fig. 3, hangs down The inside parallel of straight-bar I 8 is arranged vertical rod II 9, vertical rod I 8 and vertical rod II 9 and is hinged by two parallel connecting rods 10 Connect, form a parallelogram, in the outside of vertical rod I 8, shell cylinder 11 is grabbed in setting, grab the telescopic end of shell cylinder 11 with wherein One connecting rod 10 is hinged, and the opposite side of vertical rod I 8 and vertical rod II 9 is equipped with sucker 12.Shell cylinder 11 is grabbed by control Reciprocal telescopic, vertical rod II 9 come closer, and then the sucker on vertical rod I 8 can fix U shell, herein vertical rod II 9 On sucker play the role of compression.The mechanical gripper of the application disposably grabs two groups of U shells as shown in Figure 4, therefore sets Two pairs of clip shell cylinders 7 are counted, and the action direction of these two pair clip shell cylinder 7 is identical, both facing to the center of crawl.

The application devises a kind of U shell library comprising conveying 13, storage warehouse on the basis of above-mentioned mechanical gripper 14 and tool locating plate 15.Mechanical gripper and the initial segment that conveying 13 is set, conveying 13 and 14 phase of storage warehouse Even；Specifically, tool locating plate 15 is movably arranged on conveying 13, it can use conveyer belt or conveyer chain etc. and transported Defeated transmitting, tool locating plate 15 include two opposite tops positioning positioning strip 152 together at least of adhesive tape 151, as shown in figure 5, There are two positioning strip 152, for the setting of positioning strip 152 between two top positioning adhesive tape 151, positioning strip 152 is flat equipped with several The clip slot of row setting.Two U shells shown in Fig. 4 are placed on tool locating plate 15 shown in fig. 5, the folder on positioning strip 152 Slot is used to fix the leg at U shell both ends, and the quantity of positioning strip 152 is more, and the stability of U shell is stronger, but excessive positioning strip 152 can increase production cost, general to select 2.

Storage warehouse 14 can be designed to the form of multilayer, and as shown in Figure 6, Figure 7, storage warehouse 14 has two layers of storage shelf, two-phase It is connected between adjacent storage shelf by lifting device 16, storage shelf is equipped with interior be equipped between several storages.

When in use, first fixed plate 6 is moved at crawl with X-axis movable motor, then controlling Y-axis lifter rack 5 makes Fixed plate moves down, and control clip shell cylinder 7 draws close two vertical rods I 8 mutually, and then the work of shell cylinder 11 is grabbed in control, Telescopic end moves back and forth, and the sucker 12 on vertical rod II 9 ceaselessly " pats " U shell, so that it is secured to the suction on vertical rod I 8 On disk, then moved on tool locating plate, it is according to the actual situation, using conveying 13 that two opposite U shells are defeated It is sent to suitable position.

The utility model is described above with reference to preferred embodiment, but the protection scope of the utility model is not Limited to this can carry out various improvement and can be with equivalent without departing from the scope of the invention to it Object replaces component therein, as long as structural conflict is not present, items technical characteristic mentioned in the various embodiments can appoint Meaning mode combines, and any reference signs in the claims should not be construed as limiting the involved claims no matter From the point of view of which point, the present embodiments are to be considered as illustrative and not restrictive.Therefore, any right that falls into is wanted All technical solutions in the range of asking are within the protection scope of the present utility model.

Claims

1. a kind of U shell mechanical gripper, including bracket (1) and crossbeam (2), the crossbeam (2) is arranged in the top of bracket (1), It is characterized in that, further including X-axis movable motor (3), Y-axis riser guide (4), Y-axis lifter rack (5), fixed plate (6), at least A pair of of clip shell cylinder (7), vertical rod II (9), connecting rod (10), grabs shell cylinder (11) and sucker (12) at vertical rod I (8)；

The X-axis movable motor (3) is arranged on crossbeam (2), and the Y-axis riser guide (4) is arranged in X-axis movable motor (3) Lower end, the Y-axis lifter rack (5) and Y-axis riser guide (4) activity cooperate, and the bottom end of the Y-axis lifter rack (5) connects It connects fixed plate (6), clip shell cylinder (7) are arranged in the lower end of the fixed plate (6), and the telescopic end connection of the clip shell cylinder (7) is hung down Vertical rod II (9) are arranged in the inside parallel of straight-bar I (8), the vertical rod I (8), the vertical rod I (8) and vertical rod II (9) It is hinged by two parallel connecting rods (10), the outside setting of the vertical rod I (8) is grabbed shell cylinder (11), described to grab shell gas The telescopic end of cylinder (11) is hinged with a wherein connecting rod (10), the opposite side of the vertical rod I (8) and vertical rod II (9) It is equipped with sucker (12).

2. U shell mechanical gripper according to claim 1, which is characterized in that the clip shell cylinder (7) has two pairs, two pairs The action direction of clip shell cylinder (7) is identical.

3. a kind of U shell library using U shell mechanical gripper described in claim 1, which is characterized in that further include conveying (13), storage warehouse (14) and tool locating plate (15)；

The initial segment of the mechanical gripper with setting in conveying (13), the conveying (13) and storage warehouse (14) phase Even；The tool locating plate (15) is movably arranged on conveying (13), and the tool locating plate (15) includes two opposite Top positions adhesive tape (151) and at least positioning strip (152), positioning strip (152) setting position adhesive tape at two tops together (151) between, the positioning strip (152) is equipped with several clip slot disposed in parallel.

4. U shell according to claim 3 library, which is characterized in that the quantity of the positioning strip (152) is two.

5. U shell according to claim 3 library, which is characterized in that further include lifting device (16), the storage warehouse (14) is extremely It is equipped with two layers of storage shelf less, is connected between two adjacent storage shelfs by lifting device (16), the storage shelf is equipped with number equipped with interior Between a storage.