CN209455652U - A kind of grabbing device and transportation system - Google Patents
A kind of grabbing device and transportation system Download PDFInfo
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- CN209455652U CN209455652U CN201820931729.4U CN201820931729U CN209455652U CN 209455652 U CN209455652 U CN 209455652U CN 201820931729 U CN201820931729 U CN 201820931729U CN 209455652 U CN209455652 U CN 209455652U
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Abstract
The utility model relates to transport palletizing mechanical field, especially a kind of grabbing device and transportation system；The grabbing device includes: upper mounting plate, lower installation board, longitudinal extension driving device, transversal stretching driving device and claw；Transportation system includes: grabbing device, rack, X-axis transport device and Y-axis transport device；Grabbing device mainly uses adsorbent equipment and is adsorbed, and laterally-clamped effect only guarantees that adsorbent equipment is bonded absorption with cabinet precision always, will not cause to deform because of to the body side excessive power that presses；Claw can grab cabinet under the driving of the driving device of vertical and horizontal and carry out lateral or longitudinal movement in the production line, and cabinet is stablized and accurately realizes translation or promotion operation.The transportation system cleverly utilizes grabbing device, enables cabinet that the operation such as crawl and transition transport is rapidly completed in transportation system, both ensure that operation precision, also allows the remaining intact of cabinet, and improves the quality of product.
Description
Technical field
The utility model relates to transport palletizing mechanical field, especially a kind of grabbing device and transportation system.
Background technique
With the rapid development of robot technology, oneself is widely used in every field with industrial robot, in production, packet
It, can be automatic using robot gripper crawl product due to factors such as working efficiency and limited personnels in dress and transport palletizing operation
Stacking is transported, manual labor's intensity can be reduced, improves transport stacking efficiency.
In lighter production, need that first single lighter is placed in one by one in a cabinet；Then lighter with
Case is that unit grabs transfer on multiple and different supply lines or carries out palletization operations；Box folder of grabbing existing at present is consolidated using stroke
Fixed driving cylinder drives baffle to apply chucking power from cabinet two sides, then holds up cabinet from bottom with clamping jaw, to realize crawl.
But there are some problems for existing handgrip: clamp precision is low, in the process of grasping it is possible that cabinet slides phenomenon；And
When needing to grab the cabinet of other size, it is inconvenient to adjust；Structure is complicated, inconvenient maintenance；The cabinet type of crawl is single；If
Bottom is not provided with clamping jaw and holds up cabinet, and cabinet is easy to fall on overcoming gravity direction without good force mechanism cabinet, this
Extrusion friction between the baffle of two sides and cabinet is depended merely on outside, since lighter memory box is in packaging gap, cabinet is because of packaging
It needs, type and shape are changeable, and cabinet stress easily deforms, above-mentioned existing to grab clamp device and be not suitable for.Therefore, how to develop
Out it is a kind of it is novel can be applied to robot gripper, and have diversified crawl function, adapt to more different cabinets clampings
It carries, reduces the integrated operation complexity of assembly line, and greatly improve the device or equipment for carrying the efficiency of cabinet, be ability
Field technique personnel need the direction studied.
Utility model content
In view of the foregoing drawbacks, the purpose of this utility model is that proposing a kind of grabbing dedicated for lighter finished packaging box
Take device and transportation system.
For this purpose, the utility model uses following technical scheme:
A kind of grabbing device, application are grabbed with to lighter finished packaging box comprising: upper mounting plate, lower peace
Loading board, longitudinal extension driving device, transversal stretching driving device and claw；The upper mounting plate is parallel with the lower installation board just
To setting；The longitudinal extension driving device is installed on the upper mounting plate, the telescopic end of the longitudinal extension driving device with
The lower installation board top surface vertically connects；The claw is equipped with adsorbent equipment；Several described claws are perpendicular to the lower installation
The bottom surface of plate is arranged straight down；Multiple claws are respectively arranged at the both ends of the lower installation board, and the claw and institute
It states lower installation board to be slidably connected, under the driving of the transversal stretching driving device, the claw at the lower installation board both ends is opposite
It draws close or opposite separate.
More preferably, the claw includes: finger mountings and the adsorbent equipment；The adsorbent equipment includes: that absorption is flexible
Driving device, absorption movable plate and vacuum suction end；The finger mountings upper end is slidably connected and the lower installation board；The suction
Attached retractable driving device is horizontally set at the finger mountings, and the absorption retractable driving device of the lower installation board two sides is stretched
End is directed in the middle part of the lower installation board in the space of lower section；The absorption movable plate is parallel to the finger mountings, and is arranged
It is connect in the inside of the finger mountings, and with the telescopic end of the absorption retractable driving device；It is described to adsorb the interior of movable plate
Side is equipped with the vacuum suction end.
More preferably, the absorption movable plate is equipped with and slides laterally guide rod；The guide rod that slides laterally is moved from the absorption
The stretching laterally outside of plate is simultaneously parallel with the absorption telescopic end of retractable driving device, and the guide rod that slides laterally is from the card
The slide opening that pawl branch is provided with is pierced by.
More preferably, the finger mountings are equipped with longitudinal chute, and the longitudinal chute is slidably fitted with longitudinal slide；The cross
The longitudinal sliding motion seat is set to sliding guide and the absorption retractable driving device；The longitudinal sliding motion seat is vertically moving
It is moved up and down under the driving of driving device relative to the longitudinal chute.
More preferably, the bottom of the lower installation board is provided with horizontal slide rail, sliding bottom and transversal stretching driving dress
It sets；The claw side-by-side alignment at the every end of lower installation board is set to the same sliding bottom；The lower installation board both ends
Two sliding bottoms are connect with the telescopic end of two transversal stretching driving devices respectively；The sliding bottom sliding is set
It is placed in the horizontal slide rail, and under the driving of the transversal stretching driving device, the sliding at the lower installation board both ends
Pedestal is drawn close or opposite separate in opposite directions.
More preferably, the upper mounting plate and the lower installation board are slidably connected by longitudinal sliding motion guide rod, described longitudinal sliding
Dynamic guide rod is parallel with the telescopic direction of the longitudinal extension driving device；The both ends of the longitudinal sliding motion guide rod respectively with it is described on
The sliding eye that the sliding eye and the lower installation board that mounting plate is equipped with are equipped with is slidably matched.
It is a kind of to apply a kind of transportation system of grabbing device as described above comprising: the grabbing device, rack, X-axis
Transport device and Y-axis transport device；The frame top is equipped with X-axis line rail and X-axis mobile drive deivce；The X-axis transport dress
It sets and is arranged side by side below the X-axis line rail with the Y-axis device, and the transporting direction of the X-axis transport device and the X-axis
The moving direction of line rail is parallel, and the transporting direction of the X-axis transport device is vertical with the transporting direction of the Y-axis transport device；
The upper mounting plate that the grabbing device is equipped with is slideably positioned in the X-axis line rail, and the grabbing device is in the mobile drive of the X-axis
Under the driving of dynamic device, moved above the X-axis transport device and the Y-axis transport device along the X-axis line rail.
More preferably, at least two, the X-axis line rail, the upper mounting plate are slidably mounted on the X-axis line rail side of sliding onto,
The bottom of the upper mounting plate is equipped with driving column；The upper end of the driving column is connected and fixed with the mounting plate, the drive
The lower end of dynamic column is connect with the driving end of the X-axis mobile drive deivce.
More preferably, the X-axis transport device includes: transport support, transportation surface bracket and lifting device；The transportation surface support
Frame is neatly equipped with several rollers in parallel, and the both ends of the transportation surface bracket are respectively arranged in the fortune by the lifting device
The both ends of defeated bracket.
More preferably, the lifting device includes: screw rod, sliding nut and lifting guide pillar；The screw rod is longitudinally disposed at institute
State the end of transport support, two shaft seats rotation connection of the screw both end and the transport support end；The sliding
Nut is set to the transportation surface bracket, and is set in outside the screw rod by screw thread；The lifting guide pillar is set to described
The end of transport support, and be arranged in parallel with the screw rod, the slide opening sliding that institute's transportation surface bracket is equipped with is nested in the lifting
The outside of guide rod.
The grabbing device is using the adsorbent equipment that is arranged on the claw and slides in opposition and draws close clamping action, will
The lighter product for the cabinet being packaged into laterally is adsorbed and is clamped；It is inhaled since side mainly uses adsorbent equipment
Attached, laterally-clamped effect only guarantees that adsorbent equipment is bonded absorption with cabinet precision always, will not press because of to body side
Excessive power causes to deform；Furthermore the claw can grab cabinet under the driving of the driving device of vertical and horizontal and produce
Lateral or longitudinal movement is carried out on line, and cabinet is stablized and accurately realizes translation or the transport promoted or palletization operations.Institute
State transportation system and cleverly utilize the grabbing device, enable cabinet be rapidly completed in the transportation system crawl, transport,
The operation in the majority such as blanking and transition, both ensure that operation precision, also allow the remaining intact of cabinet, and improve the matter of product
Amount.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of one embodiment of transportation system described in the utility model；
Fig. 2 is the structural schematic diagram of another embodiment of transportation system described in the utility model；
Fig. 3 is the structural schematic diagram of one embodiment of X-axis transport device described in the utility model；
Fig. 4 is the structural schematic diagram of one embodiment of grabbing device described in the utility model.
Wherein: grabbing device 100, upper mounting plate 110, longitudinal sliding motion guide rod 111, lower installation board 120, horizontal slide rail 121,
Longitudinal extension driving device 130, transversal stretching driving device 140, claw 150, finger mountings 151 adsorb retractable driving device
152, movable plate 153 is adsorbed, vacuum suction end 154 slides laterally guide rod 155, and rack 210, X-axis line rail 211, X-axis is mobile to drive
Dynamic device 212, driving column 213, X-axis transport device 220, transport support 221, transportation surface bracket 222, roller 223, screw rod 224,
Lifting guide pillar 225, Y-axis transport device 230, cabinet 300.
Specific embodiment
Further illustrate the technical solution of the utility model below with reference to the accompanying drawings and specific embodiments.
As shown in figure 4, a kind of grabbing device 100, application is grabbed with to lighter finished packaging box comprising:
Upper mounting plate 110, lower installation board 120, longitudinal extension driving device 130, transversal stretching driving device 140 and claw 150；It is described
The face setting parallel with the lower installation board 120 of upper mounting plate 110；The longitudinal extension driving device 130 is installed on described
Mounting plate 110, the telescopic end of the longitudinal extension driving device 130 is vertical with 120 top surface of lower installation board to be connect；It is described
Claw 150 is equipped with adsorbent equipment；Several described claws 150 are arranged straight down perpendicular to the bottom surface of the lower installation board 120；
Multiple claws 150 are respectively arranged at the both ends of the lower installation board 120, and the claw 150 and the lower installation board
120 are slidably connected, under the driving of the transversal stretching driving device 140,150 phase of claw at 120 both ends of lower installation board
To drawing close or opposite separate.
The claw 150 includes: finger mountings 151 and the adsorbent equipment；The adsorbent equipment, which includes: that absorption is flexible, to be driven
Dynamic device 152, absorption movable plate 153 and vacuum suction end 154；151 upper end of finger mountings is slidably connected and the lower peace
Loading board 120；The absorption retractable driving device 152 is horizontally set at the finger mountings 151,120 two sides of lower installation board
The telescopic end of absorption retractable driving device 152 be directed in the space of 120 middle part lower section of the lower installation board；The absorption moves
Movable plate 153 is parallel to the finger mountings 151, and is set to the inside of the finger mountings 151, and stretches and drive with the absorption
The telescopic end connection of dynamic device 152；The inside of the absorption movable plate 153 is equipped with the vacuum suction end 154.In practical operation
In, the vacuum suction end 154 can be connected to realize absorption or lock out operation with the tracheae of extraneous vaccum-pumping equipment；Institute
Stating vacuum suction end 154 described in grabbing device 100, horizontally there are two the regulating mechanisms of Telescopic movable, wherein the cross
151 transverse shifting of finger mountings is driven to retractable driving device 140, it can be achieved that quickly leaning in the case of 150 big displacement of claw
Nearly cabinet 300, while moving operation can also horizontally be carried out to the cabinet 300 grabbed by the claw 150；The suction
Attached retractable driving device 152 drives the absorption movable plate 153 and then drives the vacuum suction end 154 mobile, is described
When near the side of the quick close cabinet 300 of claw 150, the vacuum suction end 154 is finely adjusted, so that described true
The attached end 154 of suction is not in have excessive extrusion operation to cabinet 300 while can be with 300 adsorbed close of cabinet.Two cross
To telescoping mechanism cooperate, the response speed of the grabbing device 100 can be greatly improved, while also can accurately control
Timing and magnitude are grabbed well, ensure that the efficiency and precision of crawl or transport.
The absorption movable plate 153 is equipped with and slides laterally guide rod 155；The guide rod 155 that slides laterally is moved from the absorption
The stretching laterally outside of movable plate 153 is simultaneously parallel with the absorption telescopic end of retractable driving device 152, described to slide laterally guide rod
155 are pierced by from the slide opening that the finger mountings 151 are equipped with.155 one side of guide rod that slides laterally is to the absorption movable plate
153 realize further limit, it is avoided to rotate, and influence absorption and grasping stability degree to cabinet 300；Another aspect institute
Stating vacuum suction end 154 and adsorbing the weight of the cabinet 300 grabbed can be undertaken by the guide rod 155 that slides laterally, in turn
Eliminate influence of 300 weight of cabinet to the absorption retractable driving device 152；Therefore described to slide laterally setting for guide rod 155
The mobile stabilization and precision that both ensure that the absorption movable plate 153 are set, also ensures the absorption retractable driving device 152
Work is not influenced to improve service life by external force.
The finger mountings 151 are equipped with longitudinal chute, and the longitudinal chute is slidably fitted with longitudinal slide；It is described laterally sliding
Dynamic guide rod 155 and the absorption retractable driving device 152 are set to the longitudinal sliding motion seat；The longitudinal sliding motion seat is in longitudinal shifting
It is moved up and down under the driving of dynamic driving device relative to the longitudinal chute.The vertical movable driving equipment can drive for screw rod
The driving of dynamic or telescopic cylinder, but in view of the longitudinal movement of the longitudinal sliding motion seat is further fine tuning operation, to driving essence
Degree requires very high, it is preferred to use screw rod 224 is driven；Vacuum suction end 154 described in the grabbing device 100 is in longitudinal direction
Upper there are two the regulating mechanisms of Telescopic movable, wherein the longitudinal extension driving device 130 drives the finger mountings 151 vertical
To mobile, it can be achieved that quickly reach the height that cabinet 300 is suitble to crawl in the case of 150 big displacement of claw, while can also be with
Moving operation is carried out in the longitudinal direction to the cabinet 300 grabbed by the claw 150；Described in the vertical movable driving equipment driving
Longitudinal sliding motion seat drives the vacuum suction end 154 to vertically move in turn, is in the claw 150 quickly close to the cabinet
When 300 side respective heights, longitudinal fine tuning is carried out to the vacuum suction end 154, enables the vacuum suction end 154
With the suitable height position of centre of gravity adsorbed close of cabinet 300；The telescoping mechanism of two longitudinal directions cooperates, and can greatly improve institute
The response speed of grabbing device 100 is stated, while also can accurately control crawl position, ensure that grasp stability.
The bottom of the lower installation board 120 is provided with horizontal slide rail 121, sliding bottom and the transversal stretching driving device
140；150 side-by-side alignment of claw at the every end of the lower installation board 120 is set to the same sliding bottom；The lower installation board
Two sliding bottoms at 120 both ends are connect with the telescopic end of two transversal stretching driving devices 140 respectively；The cunning
Dynamic pedestal is slideably positioned in the horizontal slide rail 121, and under the driving of the transversal stretching driving device 140, the lower peace
The sliding bottom at 120 both ends of loading board is drawn close or opposite separate in opposite directions.The same end of the lower installation board 120 will be located at, it is described true
The attached end 154 of suction is arranged on the same sliding bottom towards the identical claw 150, and it is allowed to move along sliding rail
It is dynamic, so that in actual operation, it is only necessary to guarantee two 140 energy synchronizing movings of transversal stretching driving devices, it both can be real
Now the synchronizing moving of multiple claws 150 is controlled, not only simplifies control operation, and can guarantee crawl precision and stability.
The upper mounting plate 110 and the lower installation board 120 are slidably connected by longitudinal sliding motion guide rod 111, the longitudinal direction
Sliding guide 111 is parallel with the telescopic direction of the longitudinal extension driving device 130；The both ends of the longitudinal sliding motion guide rod 111
The sliding eye that the sliding eye and the lower installation board 120 being equipped with respectively with the upper mounting plate 110 are equipped with is slidably matched.It is described
Longitudinal sliding motion guide rod 111 realizes further limit to the upper mounting plate 110 and the lower installation board 120, avoid it is described under
Mounting plate 120 is rotated or is shaken with the claw 150；It ensure that the high stability of the longitudinal movement of the claw 150
And high accurancy and precision.
As shown in Figure 1-3, a kind of apply a kind of transportation system of grabbing device 100 as described above comprising: it is described to grab
Take device 100, rack 210, X-axis transport device 220 and Y-axis transport device 230；X-axis line rail is equipped at the top of the rack 210
211 and X-axis mobile drive deivce 212；The X-axis transport device 220 and the Y-axis device are arranged side by side in the X-axis line rail
211 lower sections, and the transporting direction of the X-axis transport device 220 is parallel with the moving direction of the X-axis line rail 211, the X-axis
The transporting direction of transport device 220 is vertical with the transporting direction of the Y-axis transport device 230；What the grabbing device 100 was equipped with
Upper mounting plate 110 is slideably positioned in the X-axis line rail 211, and the grabbing device 100 is in the X-axis mobile drive deivce 212
Driving under, along the X-axis line rail 211 the top of the X-axis transport device 220 and the Y-axis transport device 230 move
It is dynamic.
The transportation system has the transport device in two mutually perpendicular directions of X-axis and Y-axis, it can be achieved that transport product
Fast steering transport, if, without the assistance of the grabbing device 100 cabinet 300 can not produce this two transport devices
The smooth intact completion of product turns to transport operation.Specifically, when being moved to the X-axis transport device 220 by the transport of upstream supply line
On, the position of 100 detection box 300 of grabbing device, when cabinet 300, which is moved to, formulates position, the mobile driving of the X-axis
Device 212 drives the grabbing device 100 to be moved to right above cabinet 300, the longitudinal extension driving device 130 and longitudinal shifting
Dynamic driving device cooperation highly drives according to cabinet 300, so that the claw 150 drops to suitable position, the then transverse direction
Retractable driving device 140 and the absorption cooperation of retractable driving device 152 drive according to the width of cabinet 300, so that the vacuum is inhaled
Attached end 154 and 300 side adsorbed close of cabinet；Cabinet 300 is promoted certain altitude by the longitudinal extension driving device 130, so
The X-axis mobile drive deivce 212 drives afterwards, the grabbing device 100 and the cabinet 300 being crawled is moved to together described
The cabinet 300 decline is placed on the Y-axis transport dress by the top of Y-axis transport device 230, the last grabbing device 100
The claw 150 is set on 230 and unclamps, cabinet 300 is continued to move to along the transporting direction of the Y-axis transport device 230, i.e., complete
At the transition crawl and transport operation to lighter finished packaging box in transport or palletization.
At least two, the X-axis line rail 211, the upper mounting plate 110 are slidably mounted on the X-axis line rail 211 and slide onto
Side, the bottom of the upper mounting plate 110 are equipped with driving column 213；The upper end of the driving column 213 and the mounting plate connect
Fixation is connect, the lower end of the driving column 213 is connect with the driving end of the X-axis mobile drive deivce 212.The X-axis is mobile to drive
Dynamic device 212 acts on the bottom of the upper mounting plate 110, and the grabbing device 100 feels that most structure and weight are equal
It hangs and is located at 211 lower section of X-axis line rail, the upper mounting plate 110 is accurate with the X-axis line rail 211 always under the effect of gravity
Fitting, will not swing, so that the X-axis line rail 211 is when carrying out push-and-pull driving to the grabbing device 100, it is described to grab
Device 100 is taken to be not forced more stable, it is mobile more quickly smooth.
The X-axis transport device 220 includes: transport support 221, transportation surface bracket 222 and lifting device；The transportation surface
Bracket 222 is neat to be equipped with several rollers 223 in parallel, and the both ends of the transportation surface bracket 222 are distinguished by the lifting device
It is installed on the both ends of the transport support 221.Adjusting of the transportation surface that multiple rollers 223 are formed in the lifting device
Under be adjusted in longitudinal height relative to the transport support 221.In the production and transport of product, since production and transport needs
It wants, the transportation surface height of transport device respectively uses difference, especially in different process between transport device at docking, because of transport
Face height is different, can not be successfully docking transport；After the X-axis transport device 220, since transportation surface height can be according to upper
The transportation surface in trip and downstream height is adjusted, therefore can guarantee the docking in different supply lines and transition transport operation.
The lifting device includes: screw rod 224, sliding nut and lifting guide pillar 225；The screw rod 224 is longitudinally disposed at
Two shaft seats of the end of the transport support 221,224 both ends of screw rod and 221 end of transport support, which rotate, to be connected
It connects；The sliding nut is set to the transportation surface bracket 222, and is set in outside the screw rod 224 by screw thread；The liter
Drop guide rod 225 is set to the end of the transport support 221, and is arranged in parallel with the screw rod 224, institute's transportation surface bracket 222
The slide opening sliding being equipped with is nested in the outside of the lifting guide pillar 225.Because cabinet 300 all can be first when transporting on transport device
Be pre-positioned, facilitate it is subsequent to cabinet 300 crawl etc. operation, so in order to avoid transportation surface in lifting process cabinet 300
Excessive offset occurs, the height that transportation surface is adjusted using the screw body precisely adjusted is more particularly suitable, and the liter is furthermore arranged
Drop guide rod 225, which may further ensure that, not to shake in 222 lifting process of transportation surface bracket to further ensure that cabinet
300 do not shift in lifting process.
The grabbing device 100 is using the adsorbent equipment that is arranged on the claw 150 and slides in opposition and draws close clamping action,
The lighter product for the cabinet 300 being packaged into laterally is adsorbed and clamped；Since side mainly uses absorption dress
It sets and is adsorbed, laterally-clamped effect only guarantees that adsorbent equipment is bonded absorption with 300 precision of cabinet always, will not be because of right
300 side of the cabinet excessive power that presses causes to deform；Furthermore the claw 150 is under the driving of the driving device of vertical and horizontal
Cabinet 300 can be grabbed and carry out lateral or longitudinal movement in the production line, enable cabinet 300 stablize accurately realize translation or
The transport of promotion or palletization operations.The transportation system cleverly utilizes the grabbing device 100, enables cabinet 300 in institute
It states and the operation in the majority such as crawl, transport, blanking and steering is rapidly completed in transportation system, both ensure that operation precision, also allow cabinet
300 remain intact, improves the quality of product.
Technical principle of the utility model has been described above with reference to specific embodiments.These descriptions are intended merely to explain this reality
With novel principle, and it cannot be construed to the limitation to scope of protection of the utility model in any way.Based on the explanation herein,
Those skilled in the art, which does not need to pay for creative labor, can associate with other specific implementation modes of this utility model,
These modes are fallen within the protection scope of the utility model.
Claims (10)
1. a kind of grabbing device is applied to grab lighter finished packaging box characterized by comprising upper installation
Plate, lower installation board, longitudinal extension driving device, transversal stretching driving device and claw；
Upper mounting plate face setting parallel with the lower installation board；
The longitudinal extension driving device is installed on the upper mounting plate, the telescopic end of the longitudinal extension driving device with it is described
Lower installation board top surface vertically connects；
The claw is equipped with adsorbent equipment；
Several described claws are arranged straight down perpendicular to the bottom surface of the lower installation board；Multiple claws are respectively arranged at
The both ends of the lower installation board, and the claw is slidably connected with the lower installation board, in the transversal stretching driving device
Under driving, the claw at the lower installation board both ends is drawn close or opposite separate in opposite directions.
2. a kind of grabbing device according to claim 1, which is characterized in that the claw includes: finger mountings and described
Adsorbent equipment；
The adsorbent equipment includes: absorption retractable driving device, absorption movable plate and vacuum suction end；
The finger mountings upper end is slidably connected and the lower installation board；
The absorption retractable driving device is horizontally set at the finger mountings, the flexible driving of the absorption of the lower installation board two sides
The telescopic end of device is directed in the middle part of the lower installation board in the space of lower section；
The absorption movable plate is parallel to the finger mountings, and is set to the inside of the finger mountings, and with the absorption
The telescopic end of retractable driving device connects；
The inside of the absorption movable plate is equipped with the vacuum suction end.
3. a kind of grabbing device according to claim 2, which is characterized in that the absorption movable plate is equipped with to slide laterally and lead
Bar；It is described to slide laterally guide rod from the stretching laterally outside of the absorption movable plate and adsorb stretching for retractable driving device with described
Row is held in contracting level with both hands, and the guide rod that slides laterally is pierced by from the slide opening that the finger mountings are equipped with.
4. a kind of grabbing device according to claim 3, which is characterized in that the finger mountings are equipped with longitudinal chute, institute
It states longitudinal chute and is slidably fitted with longitudinal slide；It is described slide laterally guide rod and the absorption retractable driving device be set to it is described
Longitudinal sliding motion seat；The longitudinal sliding motion seat is under the driving of vertical movable driving equipment relative to moving down in the longitudinal chute
It is dynamic.
5. a kind of grabbing device according to claim 2, which is characterized in that the bottom of the lower installation board is provided with transverse direction
Sliding rail, sliding bottom and the transversal stretching driving device；
The claw side-by-side alignment at the every end of lower installation board is set to the same sliding bottom；
Two sliding bottoms at lower installation board both ends telescopic end with two transversal stretching driving devices respectively
Connection；The sliding bottom is slideably positioned in the horizontal slide rail, and under the driving of the transversal stretching driving device, described
The sliding bottom at lower installation board both ends is drawn close or opposite separate in opposite directions.
6. a kind of grabbing device according to claim 1, which is characterized in that the upper mounting plate and the lower installation board are logical
It crosses longitudinal sliding motion guide rod to be slidably connected, the longitudinal sliding motion guide rod is parallel with the telescopic direction of the longitudinal extension driving device；
The sliding that the sliding eye and the lower installation board that the both ends of the longitudinal sliding motion guide rod are equipped with the upper mounting plate respectively are equipped with
Hole is slidably matched.
7. a kind of a kind of transportation system of grabbing device of application as described in any one of claim 1-6, which is characterized in that
It include: the grabbing device, rack, X-axis transport device and Y-axis transport device；
The frame top is equipped with X-axis line rail and X-axis mobile drive deivce；
The X-axis transport device and the Y-axis device are arranged side by side below the X-axis line rail, and the X-axis transport device
Transporting direction is parallel with the moving direction of the X-axis line rail, and the transporting direction of the X-axis transport device and Y-axis transport fill
The transporting direction set is vertical；
The upper mounting plate that the grabbing device is equipped with is slideably positioned in the X-axis line rail, and the grabbing device is moved in the X-axis
Under the driving of dynamic driving device, moved along the X-axis line rail in the top of the X-axis transport device and the Y-axis transport device
It is dynamic.
8. a kind of transportation system according to claim 7, which is characterized in that at least two, the X-axis line rail, it is described on
Mounting plate is slidably mounted on the X-axis line rail side of sliding onto, and the bottom of the upper mounting plate is equipped with driving column；The driving column
Upper end be connected and fixed with the mounting plate, it is described driving column lower end connect with the driving end of the X-axis mobile drive deivce.
9. a kind of transportation system according to claim 7, which is characterized in that the X-axis transport device includes: transport branch
Frame, transportation surface bracket and lifting device；The transportation surface bracket is neatly equipped with several rollers in parallel, the transportation surface bracket
Both ends are respectively arranged in the both ends of the transport support by the lifting device.
10. a kind of transportation system according to claim 9, which is characterized in that the lifting device includes: screw rod, sliding
Nut and lifting guide pillar；The screw rod is longitudinally disposed at the end of the transport support, the screw both end and transport branch
Two shaft seats in frame end portion are rotatablely connected；
The sliding nut is set to the transportation surface bracket, and is set in outside the screw rod by screw thread；
The lifting guide pillar is set to the end of the transport support, and is arranged in parallel with the screw rod, and institute's transportation surface bracket is set
Some slide opening slidings are nested in the outside of the lifting guide pillar.
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| CN201820931729.4U CN209455652U (en) | 2018-06-15 | 2018-06-15 | A kind of grabbing device and transportation system |
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| CN201820931729.4U CN209455652U (en) | 2018-06-15 | 2018-06-15 | A kind of grabbing device and transportation system |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108584430A (en) * | 2018-06-15 | 2018-09-28 | 邵东智能制造技术研究院有限公司 | A kind of grabbing device and transportation system |
| CN110921554A (en) * | 2020-02-17 | 2020-03-27 | 山东炎黄工业设计有限公司 | Roller loading and unloading lifting device and using method thereof |
| CN108584430B (en) * | 2018-06-15 | 2024-04-26 | 邵东智能制造技术研究院有限公司 | Grabbing device and conveying system |
-
2018
- 2018-06-15 CN CN201820931729.4U patent/CN209455652U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108584430A (en) * | 2018-06-15 | 2018-09-28 | 邵东智能制造技术研究院有限公司 | A kind of grabbing device and transportation system |
| CN108584430B (en) * | 2018-06-15 | 2024-04-26 | 邵东智能制造技术研究院有限公司 | Grabbing device and conveying system |
| CN110921554A (en) * | 2020-02-17 | 2020-03-27 | 山东炎黄工业设计有限公司 | Roller loading and unloading lifting device and using method thereof |
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Effective date of registration: 20200724 Address after: Unit 01-03, building 14, Huameijia urban industrial park, intersection of Lvting Avenue and minwang Road, liangshitang office, Shaodong county, Shaoyang City, Hunan Province Patentee after: HUNAN ZHONGJIE PRECISION TECHNOLOGY Co.,Ltd. Address before: No.9 Building, Huameijia Metropolitan Industrial Park, Junction of Luting Avenue and Minwang Road, Liangshitang Office, Shaodong County, Shaoyang City, Hunan Province Patentee before: SHAODONG INTELLIGENT MANUFACTURING INNOVATIVE INSTITUTE |