CN208697462U - It is a kind of for clamping the manipulator of large cargo - Google Patents
It is a kind of for clamping the manipulator of large cargo Download PDFInfo
- Publication number
- CN208697462U CN208697462U CN201820610895.4U CN201820610895U CN208697462U CN 208697462 U CN208697462 U CN 208697462U CN 201820610895 U CN201820610895 U CN 201820610895U CN 208697462 U CN208697462 U CN 208697462U
- Authority
- CN
- China
- Prior art keywords
- gripper
- fixed plate
- manipulator
- cylinder
- optical axis
- 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.)
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Abstract
The utility model relates to a kind of for clamping the manipulator of large cargo, the working principle of manipulator provided by the utility model are as follows: the end of cylinder and the side of gripper connect, it is driven using a cylinder, and pass through the kind of drive of optical axis and sliding block, two parallel rack of gear, realize the two sides synchronization action of gripper, goods clamping.Specifically, when cylinder movement, the gripper fixed plate movement on the left side is driven by cylinder pawl connector, the rack movement connecting with the gripper fixed plate on the left side is driven in turn, the transmission of mate gear realizes two rack gear relative motions disposed in parallel of left and right, in conjunction with the guiding role of optical axis, the relative motion of gripper is realized, so as to goods clamping.Manipulator provided by the utility model is driven by cylinder, and control mode is simple；By the kind of drive of rack-and-pinion, it is easy positioning and easy for installation.Manipulator provided by the utility model can grab cargo easily and firmly, and work efficiency is high.
Description
Technical field
The utility model relates to machinery manufacturing technology fields, and in particular, to a kind of for clamping the machinery of large cargo
Hand.
Background technique
Currently, carry most of manipulator of such as large-scale carton of large cargo using vacuum chuck cargo lift into
The mode that row is carried.However, being easy to happen the phenomenon that suction is not lived, is unable to lift, and the repetition put in suction using vacuum chuck
Property movement in, vacuum chuck is easy aging, needs to replace vacuum chuck often.For large-scale use sucker Manipulator Transportation goods
The environment of object replaces vacuum chuck often and significantly impacts working efficiency.
Therefore, it needs to design a kind of hand for being used to clamp large cargo that can grab easily cargo and work efficiency is high
Pawl.
Utility model content
The purpose of the utility model is to overcome the deficiencies in the prior art, provide a kind of for clamping the machinery of large cargo
Hand, manipulator provided by the utility model can grab cargo easily and firmly, and work efficiency is high.
To achieve the above objectives, the present invention adopts the following technical solutions:
It is a kind of for clamping the manipulator of large cargo, the manipulator include gripper matrix and with the gripper matrix phase
The cylinder of connection, the cylinder are horizontally placed on the top of gripper matrix；The manipulator further includes cylinder pawl connector and gripper
Fixed plate, the cylinder pawl connector is set to cylinder output the tip of the axis, and is connected with gripper fixed plate；
The lower surface of the gripper matrix is provided with fixed plate, is provided with optical axis between the gripper fixed plate and fixed plate
The optical axis sliding block to match therewith；The optical axis is set to the lower surface of fixed plate, and the gripper fixed plate is set to optical axis
The lower surface of sliding block；
It is provided with positioning plate below the gripper fixed plate, is arranged in parallel with two between the gripper fixed plate and positioning plate
Rack gear is provided with the gear with bearing between two rack gears, be provided between the fixed plate and positioning plate respectively with
The gear shaft that the two is connected, the gear are used by bearing and gear shaft fitting, and the gear shaft fixation does not rotate, described
It is rotatable that gear carries bearing；
The manipulator further includes the gripper for goods clamping, and the lower section of gripper fixed plate is arranged in the gripper.
The working principle of manipulator provided by the utility model is as follows:
The end of cylinder and the side of gripper connect, and are driven using a cylinder, and pass through optical axis and sliding block, a gear
The kind of drive of two parallel racks realizes the two sides synchronization action of gripper, goods clamping.Specifically, when cylinder movement, pass through cylinder
Pawl connector drives the gripper fixed plate movement on the left side, and then drives the rack movement connecting with the gripper fixed plate on the left side, matches
The transmission of gear is closed, realizes that two rack gear relative motions disposed in parallel of left and right realize the phase of gripper in conjunction with the guiding role of optical axis
To movement, so as to goods clamping.
Preferably, the gripper matrix is connected with cylinder by cylinder fixing piece.
Preferably, the quantity of the optical axis and optical axis sliding block is four, and the quantity of the gripper fixed plate is two, institute
It states optical axis to be set between the gripper fixed plate and fixed plate in two rows, two column, so that connecting respectively in each gripper fixed plate
Optical axis sliding block there are two connecing；One of gripper fixed plate is connected with cylinder pawl connector.
Preferably, the optical axis is fixed on the lower surface of the fixed plate by optical axis support.
Preferably, the gear shaft is fixedly connected on the lower section of the fixed plate by gear fixing piece.
Preferably, the upper surface of the gripper matrix is provided with the through-hole for being connected with manipulator main body.
Compared with prior art, the utility model has the following beneficial effects:
Manipulator provided by the utility model is driven by cylinder, and control mode is simple；Pass through the biography of rack-and-pinion
Flowing mode, it is easy for installation；In addition, the kind of drive of two parallel racks of a gear, so that the center of arm end and quilt
The center of goods clamping in the same vertical plane, is more advantageous to the motion positions of manipulator.Manipulator provided by the utility model
Cargo can be grabbed easily and firmly, and work efficiency is high.
Detailed description of the invention
Fig. 1 provides a kind of for clamping the main view of the manipulator of large cargo for the utility model embodiment 1；
Fig. 2 provides a kind of for clamping the perspective view of the manipulator of large cargo for the utility model embodiment 1.
Specific embodiment
The utility model is further illustrated below in conjunction with specific embodiments and the drawings, but embodiment is not practical new to this
Type limits in any form.
Embodiment 1
Fig. 1 and Fig. 2 is respectively a kind of main view for clamping the manipulator of large cargo provided in this embodiment and stands
Body figure, as shown, the manipulator includes gripper matrix 3 and the cylinder 1 that is connected with the gripper matrix 3, the cylinder 1
It is horizontally placed on the top of gripper matrix 3；The manipulator further includes cylinder pawl connector 4 and gripper fixed plate 5, and the cylinder pawl connects
Fitting 4 is set to cylinder 1 and exports the tip of the axis, and is connected with gripper fixed plate 5；
The lower surface of the gripper matrix 3 is provided with fixed plate 14, is arranged between the gripper fixed plate 5 and fixed plate 14
The optical axis sliding block 6 for having optical axis 7 and matching therewith；The optical axis 7 is set to the lower surface of fixed plate 14, the gripper fixed plate
5 are set to the lower surface of optical axis sliding block 6；
It is provided with positioning plate 11 below the gripper fixed plate 5, is set in parallel between the gripper fixed plate 5 and positioning plate 11
Be equipped with two rack gears 9, be provided with the gear 10 with bearing between two rack gears 9, the fixed plate 14 and positioning plate 11 it
Between be provided with the gear shaft 12 being connected respectively with the two, the gear 10 is used by bearing and 12 fitting of gear shaft, described
The fixation of gear shaft 12 does not rotate, and it is rotatable that the gear 10 carries bearing；
The manipulator further includes the gripper 15 for goods clamping 16, and gripper fixed plate 5 is arranged in the gripper 15
Lower section.
In the present embodiment, the quantity of the optical axis 7 and optical axis sliding block 6 is four, the quantity of the gripper fixed plate 5
It is two, the optical axis 7 is set between the gripper fixed plate 5 and fixed plate 14 in two rows, two column, so that each gripper
Optical axis sliding block 6 there are two being separately connected in fixed plate 5；One of gripper fixed plate 5 is connected with cylinder pawl connector 4.
Wherein, the gripper matrix 3 is connected with cylinder 1 by cylinder fixing piece 2；The optical axis 7 passes through optical axis support 8
It is fixed on the lower surface of the fixed plate 14；The gear shaft 12 is fixedly connected on the fixed plate 14 by gear fixing piece 13
Lower section；The upper surface of the gripper matrix 3 is provided with the through-hole for being connected with manipulator main body.
The working principle of manipulator provided by the utility model is as follows:
The end of cylinder and the side of gripper connect, and are driven using a cylinder, and pass through optical axis and sliding block, a gear
The kind of drive of two parallel racks realizes the two sides synchronization action of gripper, goods clamping.Specifically, when cylinder movement, pass through cylinder
Pawl connector drives the gripper fixed plate movement on the left side, and then drives the rack movement connecting with the gripper fixed plate on the left side, matches
The transmission of gear is closed, realizes that two rack gear relative motions disposed in parallel of left and right realize the phase of gripper in conjunction with the guiding role of optical axis
To movement, so as to goods clamping.
Manipulator provided by the utility model is driven by cylinder, and control mode is simple；Pass through the biography of rack-and-pinion
Flowing mode, it is easy for installation；In addition, the kind of drive of two parallel racks of a gear, so that the center of arm end and quilt
The center of goods clamping in the same vertical plane, is more advantageous to the motion positions of manipulator.Manipulator provided by the utility model
Cargo can be grabbed easily and firmly, and work efficiency is high.
Above-described specific embodiment, to the purpose of this utility model, technical scheme and beneficial effects carried out into
One step is described in detail, it should be understood that being not used to limit the foregoing is merely specific embodiment of the present utility model
Determine the protection scope of the utility model, within the spirit and principle of the utility model, any modification for being made equally is replaced
It changes, improve, should be included within the scope of protection of this utility model.
Claims (6)
1. a kind of for clamping the manipulator of large cargo, which is characterized in that the manipulator include gripper matrix (3) and with institute
The cylinder (1) that gripper matrix (3) is connected is stated, the cylinder (1) is horizontally placed on the top of gripper matrix (3)；The machinery
Hand further includes cylinder pawl connector (4) and gripper fixed plate (5), and the cylinder pawl connector (4) is set to the end of cylinder (1) output shaft
End, and be connected with gripper fixed plate (5)；
The lower surface of the gripper matrix (3) is provided with fixed plate (14), between the gripper fixed plate (5) and fixed plate (14)
The optical axis sliding block (6) for being provided with optical axis (7) and matching therewith；The optical axis (7) is set to the lower surface of fixed plate (14), institute
State the lower surface that gripper fixed plate (5) is set to optical axis sliding block (6)；
It is provided with positioning plate (11) below the gripper fixed plate (5), is put down between the gripper fixed plate (5) and positioning plate (11)
Row is provided with two rack gears (9), and the gear (10) with bearing, the fixed plate (14) are provided between two rack gears (9)
The gear shaft (12) being connected respectively with the two is provided between positioning plate (11), the gear (10) passes through bearing and gear
Axis (12) fitting uses, and gear shaft (12) fixation does not rotate, and it is rotatable that the gear (10) carries bearing；
The manipulator further includes the gripper (15) for goods clamping, and the gripper (15) is arranged in gripper fixed plate (5)
Lower section.
2. according to claim 1 for clamping the manipulator of large cargo, which is characterized in that the gripper matrix (3) and
Cylinder (1) is connected by cylinder fixing piece (2).
3. according to claim 1 for clamping the manipulator of large cargo, which is characterized in that the optical axis (7) and optical axis
The quantity of sliding block (6) is four, and the quantity of the gripper fixed plate (5) is two, and the optical axis (7) sets in two rows, two column
It is placed between the gripper fixed plate (5) and fixed plate (14), so that being separately connected in each gripper fixed plate (5), there are two light
Axis sliding block (6)；One of gripper fixed plate (5) is connected with cylinder pawl connector (4).
4. according to claim 1 for clamping the manipulator of large cargo, which is characterized in that the optical axis (7) passes through light
Shaft stool (8) is fixed on the lower surface of the fixed plate (14).
5. according to claim 1 for clamping the manipulator of large cargo, which is characterized in that the gear shaft (12) passes through
Gear fixing piece (13) is fixedly connected on the lower section of the fixed plate (14).
6. according to claim 1 for clamping the manipulator of large cargo, which is characterized in that the gripper matrix (3)
Upper surface is provided with the through-hole for being connected with manipulator main body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820610895.4U CN208697462U (en) | 2018-04-26 | 2018-04-26 | It is a kind of for clamping the manipulator of large cargo |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820610895.4U CN208697462U (en) | 2018-04-26 | 2018-04-26 | It is a kind of for clamping the manipulator of large cargo |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208697462U true CN208697462U (en) | 2019-04-05 |
Family
ID=65935277
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820610895.4U Expired - Fee Related CN208697462U (en) | 2018-04-26 | 2018-04-26 | It is a kind of for clamping the manipulator of large cargo |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208697462U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111452076A (en) * | 2020-05-26 | 2020-07-28 | 济南大学 | Coal gangue pneumatic parallel mechanical gripper based on six-axis robot |
| CN113001577A (en) * | 2021-03-17 | 2021-06-22 | 广东电网有限责任公司计量中心 | Robot clamping jaw module |
-
2018
- 2018-04-26 CN CN201820610895.4U patent/CN208697462U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111452076A (en) * | 2020-05-26 | 2020-07-28 | 济南大学 | Coal gangue pneumatic parallel mechanical gripper based on six-axis robot |
| CN113001577A (en) * | 2021-03-17 | 2021-06-22 | 广东电网有限责任公司计量中心 | Robot clamping jaw module |
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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: 20190405 Termination date: 20210426 |