CN209036548U - A kind of carton intelligence pickup robot gripper - Google Patents
A kind of carton intelligence pickup robot gripper Download PDFInfo
- Publication number
- CN209036548U CN209036548U CN201821324647.XU CN201821324647U CN209036548U CN 209036548 U CN209036548 U CN 209036548U CN 201821324647 U CN201821324647 U CN 201821324647U CN 209036548 U CN209036548 U CN 209036548U
- Authority
- CN
- China
- Prior art keywords
- carton
- frame
- cylinder
- suction cup
- cup assembly
- 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.)
- Active
Links
Landscapes
- Manipulator (AREA)
Abstract
The utility model discloses a kind of carton intelligence pickup robot grippers, comprising: vertical transmission mechanism, vertical transmission mechanism are slidably connected by connection slide plate with horizontal drive mechanism；Horizontal drive mechanism is moved vertically by two the first sliding rails of the connection slide plate along vertical transmission mechanism and the square hole across gripper frame；Suction cup assembly is fixedly mounted on the front end of gripper frame, and the first joint face and the second joint face of flange connector can be parallel or fold one and preset angled, and Suction cup assembly is individually controlled the on and off of gas circuit by control element.The carton intelligence pickup robot gripper not only has the characteristic of reliable, accurate crawl, quick response, product biggish for weight, also carton can be held by the way that the collet of horizontal drive mechanism lower part is arranged in, prevent product in robot kinematics from falling off, ensure that success rate.It solves carton gripper in the prior art using the utility model to be difficult to the different carton of compatible size, grab the problems such as carton falls off in unstable and robot hand motion process.
Description
Technical field
The utility model relates to mechanical equipment automatic field more particularly to a kind of carton intelligence pickup robot grippers.
Background technique
With the continuous expansion of Chinese logistics application market, logistic industry comes into the stage of a high speed development.It tears open
Stacking is an important link in logistic industry, and industrial robot has obtained very universal application in this link.For
Tear the carton material of stacking open, usually not of uniform size, weight is different, and tool is inhaled by traditional robot, fixture type gripper can not
Accomplish flexible crawl and guarantees success rate.
Robot hand not only needs to have the characteristic of reliable, accurate crawl, quick response, production biggish for weight
Product, it is also necessary to prevent the case where product falls off in robot kinematics.
In warehouse logistics and electric business industry, size, the weight difference of carton are very big, and crawl position is not fixed.These are former
Because can all bring great challenge to adaptability of robot automation's system to various cartons, existing carton graping chaw is only
Adapt to the product of single size.In addition to this, robot system movement is exceedingly fast, and existing carton graping chaw often grabs
Loosely, the problems such as carton is fallen in robot kinematics.
Utility model content
For the deficiency of the technology, problem to be solved in the utility model provides a kind of carton intelligence pickup robot
Gripper.
To achieve the above object, the utility model is realized by following scheme.
A kind of carton intelligence pickup robot gripper, comprising:
Vertical transmission mechanism, the vertical transmission mechanism include the first cylinder and two sliding rails, the first cylinder setting
In the centre of two first sliding rails；
Horizontal drive mechanism, the horizontal drive mechanism include connection slide plate, the first diagonal brace component, the second cylinder, two
Second sliding rail, collet connection slide plate, air cylinder support and collet, second cylinder are arranged in two second sliding rails
Between, the connection slide plate is fixedly connected with the air cylinder support by the first diagonal brace component, second cylinder and described
Collet connects slide plate connection by the collet；
The vertical transmission mechanism is connect by the connection slide plate with the horizontal drive mechanism；
Gripper frame, the gripper frame are comprised of multiple members, and the gripper frame includes horizontal frame and vertical frame
Frame, one end of the horizontal frame are fixedly connected with the vertical frame；
The horizontal frame includes front end frame and rearward end frame, and the rearward end frame is equipped with the horizontal drive mechanism and wears
The square hole crossed, the horizontal drive mechanism can be by the connection slide plates along two first cunnings of the vertical transmission mechanism
Rail and the square hole vertical movement for passing through the gripper frame；
First cylinder of the vertical transmission mechanism and two first sliding rails respectively with the gripper frame
The vertical frame is fixedly connected；
It preferably, further include Suction cup assembly, the Suction cup assembly is fixedly mounted on the front end frame of the gripper frame
The lower part of frame；
The Suction cup assembly includes flange connecting plate, inhales tool braced frame, snorkel, control element and muti-piece suction tool, institute
State the top that the Suction cup assembly is arranged in flange connecting plate, the suction tool braced frame, the snorkel and control member
Part is separately positioned on the middle part of the Suction cup assembly, the lower part inhaled tool and the Suction cup assembly is arranged in.
Preferably, the top of the Suction cup assembly is provided with flange connector, and the flange connector includes one first company
Junction, the flange connector connect by the way that the flange connecting plate on first joint face and the Suction cup assembly is fixed
It connects.
Preferably, the flange connector further includes second joint face opposite with first joint face, and described
Flange is detachably provided on two joint faces, first joint face and second joint face of the flange connector can
It is parallel or fold one preset it is angled.
Preferably, the Suction cup assembly takes the form for inhaling tool piecemeal, and the suction tool of every piece of the Suction cup assembly is by institute
It states control element and individually controls the on and off of gas circuit.
Preferably, first cylinder in the vertical transmission mechanism controls the collet in the movement of vertical direction,
For controlling robot hand when grabbing the carton of different height, the collet can hold carton.
Preferably, second cylinder in the horizontal drive mechanism controls the collet movement in the horizontal direction,
Collet closure can hold carton, eliminate the carton of robot hand during the motion and fall off problem.
Preferably, the dynamical element of the vertical transmission mechanism and horizontal drive mechanism includes the first cylinder, and/or second
Cylinder, and/or electric cylinders, and/or motor.
Preferably, further include two the second diagonal brace components, the both ends of two the second diagonal brace components respectively with the hand
The horizontal frame of pawl frame and being fixedly connected for the vertical frame.
Utility model has the advantages that
A kind of carton intelligence pickup robot gripper described in the utility model, solves carton gripper in the prior art and is difficult to
The different carton of compatible size grabs the problems such as carton falls off in unstable and robot kinematics.Carton intelligently picks up
Robot hand not only has the characteristic of reliable, accurate crawl, quick response, and product biggish for weight can also be by setting
It sets the collet in horizontal drive mechanism lower part and holds carton, prevent product in robot hand motion process from falling off, ensure that into
Power.
Detailed description of the invention
It, below will be to use required in embodiment in order to illustrate more clearly of the technical solution of the utility model embodiment
Attached drawing be briefly described, it should be understood that the following drawings illustrates only some embodiments of the utility model, therefore should not be by
Regard the restriction to range as, for those of ordinary skill in the art, without creative efforts, may be used also
To obtain other relevant attached drawings according to these attached drawings.
Fig. 1 is a kind of main view of carton intelligence pickup robot gripper embodiment of the utility model；
Fig. 2 is the signal of vertical transmission mechanism in a kind of carton intelligence pickup robot gripper embodiment of the utility model
Figure；
Fig. 3 is horizontal drive mechanism schematic diagram in a kind of carton intelligence pickup robot gripper embodiment of the utility model；
Fig. 4 is the schematic diagram of Suction cup assembly in a kind of carton intelligence pickup robot gripper embodiment of the utility model.
Appended drawing reference indicates explanation in description above:
1, vertical transmission mechanism；101, the first cylinder；102, the first sliding rail；
2, gripper frame；3, flange connector；
4, horizontal drive mechanism；401, by connection slide plate；402, the first diagonal brace component；403, the second cylinder；404, second
Sliding rail；405, collet connects slide plate；406, air cylinder support；407, collet；
5, Suction cup assembly；501 flange connecting plates；502, tool braced frame is inhaled；503, snorkel；504, control element；
505, tool is inhaled.
Specific embodiment
The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model
Clearly and completely describe, it is clear that the described embodiments are only a part of the embodiments of the utility model, rather than whole
Embodiment.Based on the embodiments of the present invention, those of ordinary skill in the art are in the premise for not making creative work
Under every other embodiment obtained, fall within the protection scope of the utility model.
It should be noted that in the absence of conflict, the feature in the embodiments of the present invention and embodiment can
To be combined with each other.
The utility model is described in further detail in the following with reference to the drawings and specific embodiments, but not as the utility model
It limits.
As shown in Fig. 1-4, in the utility model specific embodiment, according to problems of the prior art, now provide
A kind of carton intelligence pickup robot gripper, comprising:
Vertical transmission mechanism 1, vertical transmission mechanism 1 include the first cylinder 101 and two the first sliding rails 102, the first cylinder
101 are arranged in the centre of two the first sliding rails 102；
Horizontal drive mechanism 4, horizontal drive mechanism 4 include connection slide plate 401, the first diagonal brace component 402, the second cylinder
403, two the second sliding rails 404, collet connection slide plate 405, air cylinder support 406 and collet 407, connection slide plate 401 and cylinder branch
Frame is fixedly connected by the first diagonal brace component 402, and the second cylinder 403 connects slide plate 405 by collet with collet 407 and connects；
Vertical transmission mechanism 1 is slidably connected by connecting slide plate 401 with horizontal drive mechanism 4；
Gripper frame 2, gripper frame are comprised of multiple members, and gripper frame 2 includes horizontal frame and vertical frame, level
One end of frame is fixedly connected with vertical frame；
Horizontal frame 2 includes front end frame and rearward end frame, and rearward end frame 2 is equipped with the square hole that horizontal drive mechanism passes through,
Horizontal drive mechanism 4 along two the first sliding rails 102 of vertical driver 1 and can pass through gripper frame 2 by connection slide plate 401
Square hole vertical movement；
The first cylinder 101 and two the first sliding rails 102 of vertical transmission mechanism 1 vertical frame with gripper frame 2 respectively
It is fixedly connected.
It further include Suction cup assembly 5 in the utility model specific embodiment, Suction cup assembly 5 is fixedly mounted on gripper frame 2
Front end frame lower part.
Suction cup assembly 5 includes flange connecting plate 501, inhales tool braced frame 502, snorkel 503, control element 504 and more
Block inhales tool 505, and the top of Suction cup assembly 5 is arranged in flange connecting plate 501, inhales tool braced frame 502, snorkel 503 and control
Element is separately positioned on the middle part of Suction cup assembly 5, inhales the lower part that Suction cup assembly 5 is arranged in tool 505.
In the utility model specific embodiment, the top of Suction cup assembly 5 is provided with flange connector, flange connector 3
Comprising the first joint face and the second joint face, flange connector 3 passes through the flange connecting plate on the first joint face and Suction cup assembly 5
It is fixedly connected.
In the utility model specific embodiment, flange connector further includes second connection opposite with the first joint face
Face is detachably provided with flange, first joint face and second joint face of flange connector 3 on the second joint face
Can it is parallel or fold one preset it is angled.
In the utility model specific embodiment, Suction cup assembly 5 take inhale tool 505 piecemeals form, Suction cup assembly 5 it is every
Block inhales tool 505 and individually controls the on and off of gas circuit by the control element 504.
In the utility model specific embodiment, the first cylinder 101 control collet in vertical transmission mechanism 1 is in vertical side
To movement, for device manpower pawl crawl different height carton when, collet 404 can hold carton；
In the utility model specific embodiment, the second cylinder 403 control collet 404 in horizontal drive mechanism 4 is in water
Square to movement, the closure of collet 404 can hold carton, eliminate the carton of robot hand during the motion and fall off and asks
Topic.
In the utility model specific embodiment, the dynamical element of vertical transmission mechanism 1 and horizontal drive mechanism 4 includes the
One cylinder 101 and/or the second cylinder 403 and/or electric cylinders, and/or motor.
It further include two the second diagonal brace components in the utility model specific embodiment, the two of two the second diagonal brace components
End is fixedly connected with the horizontal frame of gripper frame 2 and vertical frame respectively.
The utility model has the beneficial effects that:
A kind of carton intelligence pickup robot gripper described in the utility model, solves carton gripper in the prior art and is difficult to
The different carton of compatible size grabs the problems such as carton falls off in unstable and robot kinematics.Carton intelligently picks up
Robot hand not only has the characteristic of reliable, accurate crawl, quick response, and product biggish for weight can also be by setting
It sets the collet in horizontal drive mechanism lower part and holds carton, prevent product in robot kinematics from falling off, ensure that success rate.
The foregoing is merely the utility model preferred embodiment, be not intended to limit the embodiments of the present invention and
Protection scope should can appreciate that all in the utility model specification and diagram to those skilled in the art
Hold made equivalent replacement and obviously change obtained scheme, the protection model of the utility model should all be included in
In enclosing.
Claims (9)
1. a kind of carton intelligence pickup robot gripper characterized by comprising
Vertical transmission mechanism, the vertical transmission mechanism include the first cylinder and two the first sliding rails, the first cylinder setting
In the centre of two first sliding rails；
Horizontal drive mechanism, the horizontal drive mechanism include connection slide plate, the first diagonal brace component, the second cylinder, two second
The centre of two second sliding rails, institute is arranged in sliding rail, collet connection slide plate, air cylinder support and collet, second cylinder
It states connection slide plate to be fixedly connected with the air cylinder support by the first diagonal brace component, second cylinder and the collet are logical
Cross the collet connection slide plate connection；
The vertical transmission mechanism is slidably connected by the connection slide plate with the horizontal drive mechanism；
Gripper frame, the gripper frame are comprised of multiple members, and the gripper frame includes horizontal frame and vertical frame, institute
The one end for stating horizontal frame is fixedly connected with the vertical frame；
The horizontal frame includes front end frame and rearward end frame, and the rearward end frame is equipped with what the horizontal drive mechanism passed through
Square hole, the horizontal drive mechanism can by it is described connection slide plate along the vertical transmission mechanism two first sliding rails simultaneously
The square hole across the gripper frame moves vertically；
First cylinder of the vertical transmission mechanism and two first sliding rails are respectively and described in the gripper frame
Vertical frame is fixedly connected.
2. a kind of carton intelligence pickup robot gripper according to claim 1, which is characterized in that further include sucker group
Part, the Suction cup assembly are fixedly mounted on the lower part of the front end frame of the gripper frame；
The Suction cup assembly includes flange connecting plate, inhales tool braced frame, snorkel, control element and muti-piece suction tool, the method
The top of the Suction cup assembly, the suction tool braced frame, the snorkel and the control element point is arranged in blue connecting plate
The middle part of the Suction cup assembly, the lower part inhaled tool and the Suction cup assembly is arranged in are not set.
3. a kind of carton intelligence pickup robot gripper according to claim 2, which is characterized in that the Suction cup assembly
Top is provided with flange connector, and the flange connector includes one first joint face, and the flange connector passes through described the
One joint face is fixedly connected with the flange connecting plate on the Suction cup assembly.
4. a kind of carton intelligence pickup robot gripper according to claim 3, which is characterized in that the flange connector
Further include second joint face opposite with first joint face, be detachably provided with flange on second joint face,
First joint face of the flange connector and second joint face can it is parallel or fold one preset it is angled.
5. a kind of carton intelligence pickup robot gripper according to claim 2, which is characterized in that the Suction cup assembly is adopted
Take the form for inhaling tool piecemeal, every piece of the Suction cup assembly is described inhale tool by the control element individually control the opening of gas circuit with
It closes.
6. a kind of carton intelligence pickup robot gripper according to claim 1, which is characterized in that the vertical driver
First cylinder in structure controls the collet in the movement of vertical direction, is grabbing different height for controlling robot hand
When the carton of degree, the collet can hold carton.
7. a kind of carton intelligence pickup robot gripper according to claim 1, which is characterized in that the horizontal conveyor machine
Second cylinder in structure controls the collet movement in the horizontal direction, and the collet closure can hold carton, eliminate
The carton of robot hand during the motion falls off problem.
8. a kind of carton intelligence pickup robot gripper according to claim 1, which is characterized in that the vertical driver
The dynamical element of structure and horizontal drive mechanism includes the first cylinder, and/or the second cylinder, and/or electric cylinders, and/or motor.
9. a kind of carton intelligence pickup robot gripper according to claim 1, which is characterized in that further include two second
Diagonal brace component, the both ends of two the second diagonal brace components respectively with the horizontal frame of the gripper frame and described vertical
Frame is fixedly connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821324647.XU CN209036548U (en) | 2018-08-16 | 2018-08-16 | A kind of carton intelligence pickup robot gripper |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821324647.XU CN209036548U (en) | 2018-08-16 | 2018-08-16 | A kind of carton intelligence pickup robot gripper |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209036548U true CN209036548U (en) | 2019-06-28 |
Family
ID=67031065
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821324647.XU Active CN209036548U (en) | 2018-08-16 | 2018-08-16 | A kind of carton intelligence pickup robot gripper |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209036548U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109129527A (en) * | 2018-08-16 | 2019-01-04 | 上海发那科机器人有限公司 | A kind of carton intelligence pickup robot gripper |
| CN110733717A (en) * | 2019-11-13 | 2020-01-31 | 河南中烟工业有限责任公司 | carton falling-off preventing device of carton opening robot |
| CN113059588A (en) * | 2021-06-03 | 2021-07-02 | 佛山智昂科技有限公司 | Robot multi-axis structure and industrial robot |
-
2018
- 2018-08-16 CN CN201821324647.XU patent/CN209036548U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109129527A (en) * | 2018-08-16 | 2019-01-04 | 上海发那科机器人有限公司 | A kind of carton intelligence pickup robot gripper |
| CN110733717A (en) * | 2019-11-13 | 2020-01-31 | 河南中烟工业有限责任公司 | carton falling-off preventing device of carton opening robot |
| CN113059588A (en) * | 2021-06-03 | 2021-07-02 | 佛山智昂科技有限公司 | Robot multi-axis structure and industrial robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN209036548U (en) | A kind of carton intelligence pickup robot gripper | |
| CN208068301U (en) | A kind of robot gripper convenient for crawl | |
| CN108715254A (en) | A kind of SMT automatic blankings packaging machine system | |
| CN205819679U (en) | Use the automatic box jacketing equipment of robot | |
| CN106078145B (en) | A kind of automatic package system of electric energy meter carrier wave box light-guiding pillar | |
| CN107020503A (en) | FMC applied to Complex Assembly | |
| CN109500565A (en) | A kind of device and method of automatic assembling bracket | |
| CN206631953U (en) | A kind of automatic Weighing classifier | |
| CN107816479B (en) | Glass door for refrigerator presses binding appts | |
| CN107127559A (en) | Multi-robot work compound high performance pipeline outfit | |
| CN107377309A (en) | A kind of coating system for solar energy solar double-glass assemblies backing strip hook | |
| CN208044297U (en) | A kind of dual stage face LDI automatic connectings | |
| CN212603466U (en) | Ear belt welding device of mask spot welder | |
| CN205837978U (en) | A kind of duplex list drives grabbing device | |
| CN109129527A (en) | A kind of carton intelligence pickup robot gripper | |
| CN209350254U (en) | A kind of pair is rushed double fastener manipulator | |
| CN206953045U (en) | A kind of plate transition bench mechanism being used between sucker shifting mechanical arm | |
| CN207678097U (en) | A kind of tin furnace tool charging and discharging mechanism | |
| CN110844573A (en) | Novel vehicle door carrier | |
| CN216335292U (en) | Stacking robot system | |
| CN210997125U (en) | Robot welding work unit | |
| CN113305859A (en) | Robot for hotel fast food delivery and use method thereof | |
| CN110587646B (en) | Intelligent grabbing mechanical arm | |
| CN207712953U (en) | A kind of sprocket wheel actuator servo translation grasping mechanism | |
| CN209502354U (en) | A kind of automatically working platform for piece surface cleaning |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |