CN209504143U - A kind of material gripping device and robot - Google Patents
A kind of material gripping device and robot Download PDFInfo
- Publication number
- CN209504143U CN209504143U CN201822244598.5U CN201822244598U CN209504143U CN 209504143 U CN209504143 U CN 209504143U CN 201822244598 U CN201822244598 U CN 201822244598U CN 209504143 U CN209504143 U CN 209504143U
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- Prior art keywords
- connecting rod
- rod frame
- extensible member
- handgrip
- gripping device
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- 239000000463 material Substances 0.000 title claims abstract description 44
- 210000000515 tooth Anatomy 0.000 claims abstract description 40
- 229910000831 Steel Inorganic materials 0.000 claims description 16
- 239000010959 steel Substances 0.000 claims description 16
- 230000000694 effects Effects 0.000 claims description 2
- 238000000034 method Methods 0.000 description 2
- 239000002699 waste material Substances 0.000 description 2
- 239000004568 cement Substances 0.000 description 1
- 238000005056 compaction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 239000003337 fertilizer Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012856 packing Methods 0.000 description 1
- 230000000717 retained effect Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
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Abstract
The utility model proposes a kind of robot and its material gripping devices, material gripping device is for grabbing bagged articles, including rack, the rack is equipped with the first handgrip and the second handgrip being oppositely arranged, first handgrip includes first connecting rod frame and several first grasping teeths for being removable installed on first connecting rod frame, second handgrip includes second connecting rod frame and several second grasping teeths for being removable installed on second connecting rod frame, first grasping teeth can be rotated relative to the first connecting rod frame and/or the second grasping teeth can be rotated relative to the second connecting rod frame.The material gripping device of this structure, when needing bagged articles to grab to compartment, first handgrip and the second handgrip grab bagged articles, when the first grasping teeth or the second grasping teeth are close to railroad car lateral wall, the first grasping teeth or the second grasping teeth rotate counterclockwise, i.e., stretch downwards, at this time, bagged articles are freely fallen from the first handgrip and the second handgrip, complete stacking, and abut compartment wall.
Description
Technical field
The utility model relates to grab machinery field, in particular to a kind of material gripping device and robot.
Background technique
The application fields, such as cement, chemical fertilizer, grain such as stacking, entrucking and other items are grabbed in bag type package object, due to labour
Intensity is big, dust is more, therefore is gradually substituted manually by robot to complete the operations such as stacking, entrucking in recent years, is set to machine
Grabbing device on people also comes into being, and has occurred miscellaneous grabbing device currently on the market.
But at present the grabbing device of extensive utilization, a generally existing problem need to be placed on packing material compartment side
Along when, 150 millimeters or so of width need to be retained accommodate grabbing device disengaging, on the one hand cabin space is caused to waste, another party
Face, during Freight Transport, material can be tilted to vacancy and be slid, and upper materials be caused to be easy to slide outside compartment.
Therefore, how to provide one kind be skillfully constructed, be compact-sized, can the operation in smaller space, and can sufficiently with and
The material gripping device of loading space, and the robot including this material gripping device are saved, at those skilled in the art
The technical issues of urgent need to resolve.
Utility model content
Technical problem to be solved by the utility model is: provide one kind be skillfully constructed, be compact-sized, can be in smaller space
Operation, and sufficiently can use and save the material gripping device of loading space, and the robot including this material gripping device.
The solution of the utility model is achieved in that the utility model proposes a kind of material gripping device, is used for
Bagged articles, including rack are grabbed, the rack is equipped with the first handgrip and the second handgrip being oppositely arranged, the first handgrip packet
Several first grasping teeths for including first connecting rod frame and being removable installed on first connecting rod frame, second handgrip include second
Connecting rod rest and several second grasping teeths being removable installed on second connecting rod frame, first grasping teeth can be relative to described the
The rotation of one connecting rod rest and/or the second grasping teeth can be rotated relative to the second connecting rod frame.The material gripping device of this structure, when
When bagged articles being needed to grab to compartment, the first handgrip and the second handgrip grab bagged articles, when the first grasping teeth or the second grasping teeth
When close to railroad car lateral wall, the first grasping teeth or the second grasping teeth rotate counterclockwise, i.e., stretch downwards, at this point, bagged articles are from the first handgrip
It is freely fallen on the second handgrip, completes stacking, and abut compartment wall.Compared with the material gripping device of existing structure,
Be skillfully constructed, it is compact-sized, can the operation in smaller space, and the advantages of can sufficiently use and save loading space.
Another technical solution of the utility model is that on above-mentioned basis, being further fixedly arranged in the rack can be same
One end of step flexible the first extensible member and the second extensible member, the telescopic end of first extensible member and the first connecting rod frame is living
Dynamic connection, the telescopic end of second extensible member are flexibly connected with one end of the second connecting rod frame.
Another technical solution of the utility model is on above-mentioned basis, is further fixedly arranged on first in the rack
Support and the second support, described first supports and is flexibly connected between the both ends of the first connecting rod frame, first extensible member
When flexible, drive first connecting rod frame around first support rotating；Second support and the both ends of the second connecting rod frame it
Between be flexibly connected, when second extensible member stretches, drive second connecting rod frame around first support rotating.
Another technical solution of the utility model is that on above-mentioned basis, several are additionally provided in the rack to stretch
The pressing device of contracting, the pressing device are vertically arranged in the rack, when the pressing device extends, compressible described the
Material on one handgrip and the second handgrip.
Another technical solution of the utility model is that on above-mentioned basis, the first connecting rod frame is close to described first
One end of grasping teeth is additionally provided with rotatable shaft, and first grasping teeth, which is removably secured, to be set in the shaft, and described turn
When axis rotates, the first grasping teeth rotation is driven.
Another technical solution of the utility model is that on above-mentioned basis, the end of the shaft is fixedly installed cunning
Wheel is arranged with steel cable on the pulley, is additionally provided with third extensible member on the first connecting rod frame, one end of the steel cable with it is described
One end of third extensible member is fixedly connected, and when the third extensible member stretches, drives the pulley rotation by the steel cable.
Another technical solution of the utility model is that on above-mentioned basis, being additionally provided on the first connecting rod frame can turn
Dynamic idler wheel, the idler wheel are equipped with groove, are set around in the groove in the middle part of the steel cable.
Another technical solution of the utility model is on above-mentioned basis, is additionally provided with the 4th on the first connecting rod frame
Extensible member is provided with stopper in the shaft, and the telescopic end of the 4th extensible member is fixedly installed bayonet lock, and the described 4th stretches
When contracting part extends, the bayonet lock is held on the stopper, and the shaft is prevented to rotate.
Another technical solution of the utility model be it is above-mentioned basis on, first extensible member, the second extensible member,
Third extensible member and the 4th extensible member are cylinder or are oil cylinder.
On the other hand, the utility model also proposes a kind of robot, including mechanical arm and is set to described mechanical arm one end
Material gripping device, the material gripping device be material gripping device as described above.
Detailed description of the invention
The attached drawing for constituting a part of the utility model is used to provide a further understanding of the present invention, this is practical new
The illustrative embodiments and their description of type are not constituteed improper limits to the present invention for explaining the utility model.
Fig. 1 is a kind of structural schematic diagram of material gripping device of the utility model；
Fig. 2 is the main view of Fig. 1；
Fig. 3 is the right view of A-A in Fig. 2；
Fig. 4 is the top view of Fig. 2；
Fig. 5 is the right view of Fig. 2.
Appended drawing reference corresponding relationship are as follows:
1 flange, 2 rack, 3 first extensible member
The support of 4 second extensible member, 5 pressing device 6 first
7 third extensible member, 8 steel cable, 9 pulley
12 first handgrip of the 4th extensible member of 10 shaft 11
13 second handgrips 14 second support 15 first connecting rod framves
16 second connecting rod frame, 17 idler wheel
Specific embodiment
The utility model is described in detail with reference to the accompanying drawing, the description of this part be only it is exemplary and explanatory,
There should not be any restriction effect to the protection scope of the utility model.In addition, those skilled in the art's retouching according to this document
It states, the corresponding combination can be carried out to the feature in embodiment in this document and in different embodiments.
The utility model embodiment is as follows, material gripping device referring to fig. 1 to fig. 5, for grabbing bagged articles,
Rack 2 is specifically included, rack 2 is equipped with the first handgrip 12 and the second handgrip 13 being oppositely arranged, and the first handgrip 12 includes first
Connecting rod rest 15 and several first grasping teeths being removable installed on first connecting rod frame 15, the second handgrip 13 include second connecting rod
Frame 16 and several second grasping teeths being removable installed on second connecting rod frame 16, the first grasping teeth can be relative to first connecting rod
The rotation of frame 15 or the second grasping teeth can be rotated relative to second connecting rod frame 16, alternatively, the first grasping teeth and the second grasping teeth can distinguish phase
First connecting rod frame 15 and second connecting rod frame 16 are rotated.The material gripping device of this structure, when need bagged articles grab to
When on compartment, the first handgrip 12 and the second handgrip 13 grab bagged articles, when the first grasping teeth or the second grasping teeth are close to railroad car lateral wall,
First grasping teeth or the second grasping teeth rotate counterclockwise, i.e., stretch downwards, at this point, bagged articles are from the first handgrip 12 and the second handgrip 13
It freely falls, completes stacking, and abut compartment wall.Compared with the material gripping device of existing structure, have be skillfully constructed,
It is compact-sized, can the operation in smaller space, and the advantages of can sufficiently use and save loading space.
On the basis of the above embodiments, in another embodiment of the utility model, as shown in figures 1 and 3, in rack 2 also
The first extensible member 3 and the second extensible member 2 being oppositely arranged, the first extensible member 3 and the second extensible member 2 can synchronization telescope, first stretches
The telescopic end of contracting part 3 and one end of first connecting rod frame 15, i.e., lower end shown in figure are flexibly connected, and the second extensible member 2 stretches
The one end at end and second connecting rod frame 16, i.e., lower end shown in figure are flexibly connected.First extensible member 3 and the second extensible member 2 are simultaneously
When elongation, the first handgrip 12 and the second handgrip 13 start relative motion；And when the first extensible member 3 and the second extensible member 2 return simultaneously
When contracting, the first handgrip 12 and the second handgrip 13 start to move toward one another.
On the basis of the above embodiments, in another embodiment of the utility model, as shown in Figure 1 and Figure 5, in rack 2, tool
To be additionally provided with the first support 6 and the second support 14 on the lower end surface of rack 2 shown in FIG. 1, the first support 6 and second supports body
14 are oppositely arranged, and between the first support 6 and the both ends of first connecting rod frame 15, i.e., the middle part of first connecting rod frame 15 is flexibly connected, when
When first extensible member 3 stretches, drive first connecting rod frame 15 around 6 rotation of the first support.Meanwhile second supports 14 to connect with described second
Between the both ends of bridge 16, i.e., the middle news of second connecting rod frame 16 is flexibly connected, and when the second extensible member 2 stretches, drives second connecting rod
Frame 16 is around 6 rotation of the first support.It should be noted that the first support 6 and the second support 14 can be bolted or weld
Etc. modes be fixedly installed in the rack 2, can also be an integral structure with rack 2.
On the basis of the above embodiments, in another embodiment of the utility model, as shown in Fig. 1, Fig. 3 and Fig. 5, rack 2
On, the end of specially rack 2 is additionally provided with pressing device 5, also, pressing device 5 is vertically arranged at 2 end center of rack, pressure
When tight device 5 extends, the compressible material being placed on the first handgrip 12 and the second handgrip 13 prevents material from taking off in the process of grasping
Fall, and can also compaction of the material, so as to stacking.
On the basis of the above embodiments, in another embodiment of the utility model, as shown in Figure 1, first connecting rod frame 15 leans on
One end of nearly first grasping teeth, i.e., lower end shown in figure are additionally provided with rotatable shaft 10, and the first grasping teeth, which is removably secured, to be set
It is placed in shaft 10, when shaft 10 rotates, the first grasping teeth can be driven to rotate.
On the basis of the above embodiments, in another embodiment of the utility model, as shown in Figure 1, the end of shaft 10 is solid
Surely it is provided with pulley 9, steel cable 8 is arranged on pulley 9, horizontally disposed third extensible member 7 is additionally provided on first connecting rod frame 15, the
The telescopic end of three extensible members 7 is fixedly connected with one end of steel cable 8, when third extensible member 7 stretches, drives steel cable 8 mobile, meanwhile,
The other end band movable pulley 9 of steel cable 8 rotates, and when pulley 9 rotates, drive shaft 10 to rotate, when shaft 10 rotates, drive is set
Several first grasping teeths rotation placed on it.
On the basis of the above embodiments, in another embodiment of the utility model, as shown in Fig. 2, on first connecting rod frame 15
It is additionally provided with rotatable idler wheel 17, idler wheel 17 is equipped with the groove for accommodating steel cable 8, and the middle part of steel cable 8 is set around in groove,
When third extensible member 7 stretches, steel cable 8 drives idler wheel 17 to rotate on first connecting rod frame 15.
On the basis of the above embodiments, in another embodiment of the utility model, as depicted in figs. 1 and 2, first connecting rod frame
Horizontally disposed 4th expansion bracket is additionally provided on 15, the side of shaft 10 is provided with dismountable stopper, the 4th extensible member 11
Telescopic end, be fixedly installed bayonet lock, when the 4th extensible member 11 elongation when, bayonet lock is held on stopper, at this point, shaft 10 is stopped
Rotation stop is dynamic.And when the 4th extensible member 11 retraction, drive bayonet lock mobile, when bayonet lock is completely disengaged with stopper, shaft 10 is just
It can be rotated.
On the basis of the above embodiments, it in another embodiment of the utility model, as shown in Figure 1 to Figure 3, is stretched for first
Contracting part 3, the second extensible member 2, third extensible member 7 and the 4th extensible member 11, it is preferably to it is cylinder, certainly, in other embodiments,
It can also be preferably oil cylinder, can also be other any possible stretching structure parts.
On the other hand, the utility model also proposes that a kind of robot, robot include mechanical arm and be set to mechanical arm one
The material gripping device at end, material gripping device are specially material gripping device as described above, and material gripping device is equipped with
Flange 1 for being connect with mechanical arm, and be securely removably connected at together by flange 1 with mechanical arm.
The robot of this structure when bagged articles are stacked on compartment, can not stay gap between bagged articles and compartment wall, because
This, can more save loading space, avoid space waste, meanwhile, stacking is more neat, can also preferably avoid during transportation
Bagged articles landing etc..
The above is only the preferred embodiment of the utility model, it is noted that for the common skill of the art
For art personnel, without departing from the principle of this utility model, several improvements and modifications can also be made, these improve and
Retouching also should be regarded as the protection scope of the utility model.
Claims (10)
1. a kind of material gripping device, for grabbing bagged articles, which is characterized in that including rack (1), set on the rack (1)
There are the first handgrip (12) and the second handgrip (13) being oppositely arranged, first handgrip (12) includes first connecting rod frame (15) and can
Several first grasping teeths being releasably set on first connecting rod frame (15), second handgrip (13) includes second connecting rod frame
(16) and several second grasping teeths for being removable installed on second connecting rod frame (16), first grasping teeth can be relative to described
First connecting rod frame (15) rotation and/or the second grasping teeth can be rotated relative to the second connecting rod frame (16).
2. material gripping device according to claim 1, which is characterized in that being further fixedly arranged on the rack (1) can
The first extensible member (2) and the second extensible member (3) of synchronization telescope, the telescopic end of first extensible member (2) and described first connect
One end of bridge (15) is flexibly connected, and one end of the telescopic end of second extensible member (3) and the second connecting rod frame (16) is living
Dynamic connection.
3. material gripping device according to claim 2, which is characterized in that be further fixedly arranged on the rack (1)
One support (6) and the second support (14), activity connects between first support (6) and the both ends of the first connecting rod frame (15)
It connects, when first extensible member (2) is stretched, first connecting rod frame (15) is driven to rotate around first support (6)；Described second
It is flexibly connected between support (14) and the both ends of the second connecting rod frame (16), when second extensible member (3) is stretched, drives second
Connecting rod rest (16) is rotated around first support (6).
4. material gripping device according to claim 3, which is characterized in that being additionally provided with several on the rack (1) can
Flexible pressing device (4), the pressing device (4) are vertically arranged on the rack (1), pressing device (4) elongation
When, the material on compressible first handgrip (12) and the second handgrip (13).
5. material gripping device according to claim 4, which is characterized in that the first connecting rod frame (15) is close to described the
One end of one grasping teeth is additionally provided with rotatable shaft (10), and first grasping teeth, which is removably secured, is set to the shaft (10)
On, when the shaft (10) rotates, drive the first grasping teeth rotation.
6. material gripping device according to claim 5, which is characterized in that the end of the shaft (10) is fixedly installed
Pulley (9) is arranged with steel cable (8) on the pulley (9), is additionally provided with third extensible member (7), institute on the first connecting rod frame (15)
The one end for stating steel cable (8) is fixedly connected with one end of the third extensible member (7), when the third extensible member (7) is stretched, is passed through
The steel cable (8) drives pulley (9) rotation.
7. material gripping device according to claim 6, which is characterized in that being additionally provided on the first connecting rod frame (15) can
The idler wheel (17) of rotation, the idler wheel (17) are equipped with groove, are set around in the groove in the middle part of the steel cable (8).
8. material gripping device according to claim 7, which is characterized in that be additionally provided on the first connecting rod frame (15)
Four extensible members (11) are provided with stopper on the shaft (10), and the telescopic end of the 4th extensible member (11) is fixedly installed
Bayonet lock, when the 4th extensible member (11) extends, the bayonet lock is held on the stopper, and the shaft (10) is prevented to turn
It is dynamic.
9. material gripping device according to claim 8, which is characterized in that first extensible member (2), the second extensible member
(3), third extensible member (7) and the 4th extensible member (11) are cylinder or are oil cylinder.
10. a kind of robot, including mechanical arm and the material gripping device for being set to described mechanical arm one end, which is characterized in that
The material gripping device is material gripping device described in claim 1 to 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822244598.5U CN209504143U (en) | 2018-12-28 | 2018-12-28 | A kind of material gripping device and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822244598.5U CN209504143U (en) | 2018-12-28 | 2018-12-28 | A kind of material gripping device and robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209504143U true CN209504143U (en) | 2019-10-18 |
Family
ID=68198338
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201822244598.5U Withdrawn - After Issue CN209504143U (en) | 2018-12-28 | 2018-12-28 | A kind of material gripping device and robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209504143U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110039565A (en) * | 2018-12-28 | 2019-07-23 | 长沙长泰机器人有限公司 | A kind of material gripping device and robot |
| CN111204592A (en) * | 2020-02-27 | 2020-05-29 | 枣庄市三维技术有限公司 | Loading stacking manipulator |
| CN111232661A (en) * | 2020-02-27 | 2020-06-05 | 枣庄市三维技术有限公司 | Multi-arm rotary loading manipulator and loading stacker thereof |
| CN111791259A (en) * | 2020-08-24 | 2020-10-20 | 朱圣亭 | Braided bag snatchs anchor clamps |
-
2018
- 2018-12-28 CN CN201822244598.5U patent/CN209504143U/en not_active Withdrawn - After Issue
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110039565A (en) * | 2018-12-28 | 2019-07-23 | 长沙长泰机器人有限公司 | A kind of material gripping device and robot |
| CN110039565B (en) * | 2018-12-28 | 2024-03-19 | 长沙长泰机器人有限公司 | Material grabbing device and robot |
| CN111204592A (en) * | 2020-02-27 | 2020-05-29 | 枣庄市三维技术有限公司 | Loading stacking manipulator |
| CN111232661A (en) * | 2020-02-27 | 2020-06-05 | 枣庄市三维技术有限公司 | Multi-arm rotary loading manipulator and loading stacker thereof |
| CN111791259A (en) * | 2020-08-24 | 2020-10-20 | 朱圣亭 | Braided bag snatchs anchor clamps |
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| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20191018 Effective date of abandoning: 20240319 |
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| AV01 | Patent right actively abandoned |
Granted publication date: 20191018 Effective date of abandoning: 20240319 |