CN209600565U - Gripper equipment and tote cart - Google Patents
Gripper equipment and tote cart Download PDFInfo
- Publication number
- CN209600565U CN209600565U CN201920209257.6U CN201920209257U CN209600565U CN 209600565 U CN209600565 U CN 209600565U CN 201920209257 U CN201920209257 U CN 201920209257U CN 209600565 U CN209600565 U CN 209600565U
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- China
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- gripper equipment
- mounting rack
- draw frame
- frame machine
- rack
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Abstract
The utility model discloses a kind of gripper equipment and tote cart, the gripper equipment includes: mounting rack；It is set to the draw frame machine and lifting assembly of the mounting rack, the draw frame machine includes the magnetic mechanism and vacuum chuck mechanism ipsilateral positioned at the mounting rack, one of the magnetic mechanism and the vacuum chuck mechanism are connect can make the lifting assembly that the one be driven to go up and down along drawing direction with the lifting assembly, which is able to solve the technical issues of existing gripper equipment cannot achieve various material plate loading and unloading.
Description
Technical field
The utility model relates to mechanical gripper technical field more particularly to a kind of gripper equipment and including the gripper equipment
Tote cart.
Background technique
In recent years, the application case of industrial robot at home increased sharply, and was widely used in various industrial circles, as above
Blanking, welding, spraying, stacking etc..Industrial robot loading and unloading system has high efficiency and high stability, and structure is simply easier to
Maintenance, can satisfy the production of variety classes product, for users, can carry out the adjustment of product structure quickly and expand to produce
Can, and the labor intensity of industrial worker can be substantially reduced.But existing conventional handgrip cannot achieve various material plate
Loading and unloading, cannot achieve the purpose that " pawl multi-purpose ", influence production efficiency and production cost to a certain extent.
In consideration of it, it is necessary to provide a kind of novel gripper equipment, it is in the prior art above-mentioned at least to overcome or alleviated by
Defect.
Utility model content
The main purpose of the utility model is to provide a kind of gripper equipments, it is intended to which solving existing gripper equipment can not be real
The technical issues of existing various material plate loading and unloading.
To achieve the goals above, the utility model provides a kind of gripper equipment, wherein includes: mounting rack；It is set to institute
State the draw frame machine and lifting assembly of mounting rack, the draw frame machine includes positioned at the ipsilateral magnetic mechanism of the mounting rack and true
Suction disc mechanism, one of the magnetic mechanism and the vacuum chuck mechanism are connect can make institute with the lifting assembly
Stating lifting assembly drives the one to go up and down along drawing direction.
Preferably, the gripper equipment includes the driving device for being set to the mounting rack, and the driving device includes peace
Ontology loaded on the mounting rack and be connected to the ontology and can relative to the actuator of the ontology stretching motion,
The quantity of the draw frame machine be two, two draw frame machines are arranged at intervals on the mounting rack, the actuator with
A draw frame machine in two draw frame machines is connected so that two draw frame machines can be driven close relative to one another
Or it is separate.
Preferably, the driving device includes the sliding rack for being slidably mounted on the mounting rack, two absorptions
A draw frame machine in mechanism is connect with the sliding rack, and the actuator is connect with the sliding rack.
Preferably, the gripper equipment includes the sliding rail being arranged on the mounting rack, and the sliding rack slideably presss from both sides
It is held in the sliding rail.
Preferably, there is protrusion or groove on the sliding rail, there is corresponding groove or protrusion on the sliding rack.
Preferably, the driving device includes the motor being arranged on the mounting rack and connect with the motor drive
Screw rod, the screw rod is threadedly engaged with the sliding rack.
Preferably, the gripper equipment further includes control unit and the size detection biography that the mounting rack side is arranged in
Sensor, the size detection sensor are connect with described control unit signal respectively with the driving device.
Preferably, the magnetic mechanism includes the electromagnet being arranged on the mounting rack.
Preferably, the vacuum chuck mechanism is sponge sucker.
In addition, the utility model also provides a kind of tote cart, wherein the tote cart includes above-mentioned gripper equipment.
In the technical solution of the utility model, since the gripper equipment includes that can be used for adsorbing ferromagnetism plate (the first plate
Material) magnetic mechanism and can be used for the vacuum disc suction machine of the coarse plate of absorption surface (plank, cardboard etc.) (the second plate)
Structure, while one of magnetic mechanism and vacuum chuck mechanism are connect so that lifting assembly can be made to drive magnetic machine with lifting assembly
One of structure and vacuum chuck mechanism are gone up and down along drawing direction, when needing the plate of loading and unloading to be the first plate, magnetic machine
Structure carry out draw and lifting assembly driving one of magnetic mechanism and vacuum chuck mechanism along lifting assembly the direction of motion into
Row lifting is so that vacuum chuck mechanism avoids the absorption plane of magnetic mechanism；When need loading and unloading plate be the second plate
When, vacuum chuck mechanism draw and lifting assembly driving one of magnetic mechanism and vacuum chuck mechanism are along lifting assembly
The direction of motion gone up and down so that magnetic mechanism avoids the absorption plane of vacuum chuck mechanism, thus more by may be implemented
The loading and unloading of kind material plate.
Detailed description of the invention
In order to illustrate the embodiment of the utility model or the technical proposal in the existing technology more clearly, below will be to embodiment
Or attached drawing needed to be used in the description of the prior art is briefly described, it should be apparent that, the accompanying drawings in the following description is only
It is some embodiments of the utility model, for those of ordinary skill in the art, in the premise not made the creative labor
Under, the structure that can also be shown according to these attached drawings obtains other attached drawings.
Fig. 1 is a schematic diagram of the tote cart of the utility model embodiment；
Fig. 2 is a schematic diagram of the gripper equipment of the utility model embodiment；
Fig. 3 is another schematic diagram of the gripper equipment of the utility model embodiment；
Fig. 4 is the enlarged drawing in Fig. 3 at A.
The embodiments will be further described with reference to the accompanying drawings for the realization, functional characteristics and advantage of the utility model aim.
Drawing reference numeral explanation:
| Label | Title | Label | Title |
| 1 | Mounting rack | 2 | Mounting hole |
| 3 | Transfer car(buggy) | 4 | First plate |
| 5 | Second plate | 6 | First draw frame machine |
| 7 | Second draw frame machine | 11 | Lifting assembly |
| 12 | Magnetic mechanism | 13 | Vacuum chuck mechanism |
| 14 | Driving device | 21 | Sliding rack |
| 22 | Sliding rail | 23 | Slide plate |
| 101 | Motor | 102 | Ball-screw |
| 103 | Belt | 104 | Size detection sensor |
| 201 | Lifting cylinder | 202 | Guide post |
| 203 | Lifting supporting plate | 204 | Fixed plate |
| 301 | Electromagnet | 302 | Connecting column |
| 303 | Connecting plate | 304 | Connection frame |
Specific embodiment
It should be appreciated that specific embodiment described herein is only used to explain the utility model, it is not used to limit this
Utility model.
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 describing, it is clear that described embodiment is only a part of the embodiment of the utility model, rather than all
Embodiment.Based on the embodiments of the present invention, those of ordinary skill in the art are not making creative work premise
Under every other embodiment obtained, fall within the protection scope of the utility model.
It is to be appreciated that the directional instruction (such as up, down, left, right, before and after ...) of institute in the utility model embodiment
It is only used for explaining in relative positional relationship, the motion conditions etc. under a certain particular pose (as shown in the picture) between each component, such as
When the fruit particular pose changes, then directionality instruction also correspondingly changes correspondingly.
In addition, the description for being related to " first ", " second " etc. in the present invention is used for description purposes only, and cannot understand
For its relative importance of indication or suggestion or implicitly indicate the quantity of indicated technical characteristic.Define as a result, " first ",
The feature of " second " can explicitly or implicitly include at least one of the features.In addition, the technical side between each embodiment
Case can be combined with each other, but must be based on can be realized by those of ordinary skill in the art, when the combination of technical solution
Conflicting or cannot achieve when occur will be understood that the combination of this technical solution is not present, also not in the requires of the utility model
Protection scope within.
Referring to fig. 2, one aspect according to the present utility model provides a kind of gripper equipment, comprising: mounting rack 1；Setting
In the draw frame machine and lifting assembly 11 of mounting rack 1, draw frame machine includes the magnetic mechanism 12 and vacuum ipsilateral positioned at mounting rack 1
Sucking disc mechanism 13, one of magnetic mechanism 12 and vacuum chuck mechanism 13 are connect can make lifting assembly with lifting assembly 11
11 driving one of magnetic mechanisms 12 and vacuum chuck mechanism 13 are gone up and down along drawing direction.
In the technical solution of the utility model, since the gripper equipment includes that can be used for adsorbing ferromagnetism plate (the in Fig. 1
One plate 4) magnetic mechanism 12 and can be used for the coarse plate of absorption surface (plank, cardboard etc.) (second plate in Fig. 1
5) vacuum chuck mechanism 13, while one of magnetic mechanism 12 and vacuum chuck mechanism 13 are connect with lifting assembly 11 with energy
Enough make lifting assembly 11 that one of magnetic mechanism 12 and vacuum chuck mechanism 13 be driven to go up and down along drawing direction, above and below needing
When the plate of material is the first plate 4, magnetic mechanism 12 draw and lifting assembly 11 drives magnetic mechanism 12 and vacuum chuck
One of mechanism 13 is gone up and down along the direction of motion of lifting assembly 11 so that vacuum chuck mechanism 13 avoids magnetic mechanism
12 absorption plane；When needing the plate of loading and unloading to be the second plate 5, vacuum chuck mechanism 13 carries out absorption and lifting assembly
11 driving one of magnetic mechanisms 12 and vacuum chuck mechanism 13 gone up and down along the direction of motion of lifting assembly 11 so that
Magnetic mechanism 12 avoids the absorption plane of vacuum chuck mechanism 13, so as to realize the loading and unloading of various material plate.
Preferred embodiment according to the present utility model, gripper equipment include the driving device 14 for being set to mounting rack 1, are driven
Dynamic device 14 includes being installed on the ontology (such as: motor 101) of mounting rack 1 and being connected to ontology and can be relative to ontology
The actuator (such as: ball-screw 102) of stretching motion, the quantity of draw frame machine are two, and two draw frame machines (such as: magnetic
Inhale mechanism 12 and/or vacuum chuck mechanism 13) it is arranged at intervals on mounting rack 1, one in actuator and two draw frame machines
Draw frame machine connection with can drive two draw frame machines relative to one another close to or far from.Wherein, it is not connect with actuator
Draw frame machine (such as: the first draw frame machine 6) it can be fixedly connected with mounting rack 1, the draw frame machine (example being connect with actuator
Such as: the second draw frame machine 7) close to or far from the first draw frame machine 6 under the driving of driving device 14, so as to different size
The loading and unloading of plate.Certainly, the utility model is without being limited thereto, and the first draw frame machine 6 is connect with actuator, the second draw frame machine 7
It is fixedly connected with mounting rack 1 also possible.
Referring to figs. 2 and 3, the specific embodiment as lifting assembly 11, lifting assembly 11 may include that setting is being pacified
Lifting supporting plate can be passed through by shelving the lifting supporting plate 203 on 1, the lifting cylinder 201 being arranged in lifting supporting plate 203 and one end
Through-hole and the other end on 203 pass through the guide post 202 that fixed plate 204 is fixedly connected with vacuum chuck mechanism 13, guide post 202
Quantity be two, be arranged at intervals on the two sides of lifting cylinder 201.The quantity of vacuum chuck mechanism 13 is two, lifting assembly
11 quantity is two, and two lifting assemblies 11 are correspondingly arranged in Liang Ge vacuum chuck mechanism 13, so as to control vacuum
The dislocation up and down of magnetic mechanism 12 and vacuum chuck mechanism 13 is realized in the lifting of sucking disc mechanism 13, guarantees that unlike material plate is inhaled
Corresponding draw frame machine not will receive the interference of another draw frame machine when taking.In addition, lifting cylinder 201 be also possible to it is hydraulic
Cylinder；Magnetic mechanism 12 and the location swap of vacuum chuck mechanism 13 are also possible, that is, what is connect with guide post is also possible to magnetic
Mechanism 12 is inhaled, the control of lifting assembly 11 magnetic mechanism 12 go up and down also possible.
Referring to figs. 2 and 3, as the specific embodiment of driving device, driving device 14 includes being slidably mounted on
The sliding rack 21 of mounting rack 1, sliding rack 21 include two slide plates 23 to connect with 203 both ends of lifting supporting plate, the second draw frame machine 7
It is connect with sliding rack 21, actuator is connect with sliding rack 21.In addition, gripper equipment further includes the sliding rail being arranged on mounting rack 1
22, sliding rack 21 is slideably held on sliding rail 22.The quantity of the sliding rail 22 is two, two sliding rails 22 and two slide plates 23
It is correspondingly arranged, the lifting supporting plate 203 between two slide plates 23 can guarantee the synchronism of draw frame machine movement.Specifically, referring to figure
4, there is on sliding rail 22 protrusion or groove, there is corresponding groove or protrusion on sliding rack 21, thereby may be ensured that clamping and cunning
Dynamic stability.Certainly, the sliding slot of sliding rail 22 or high-precision line slide rail replace also possible.
Specifically, referring to figs. 2 and 3, driving device 14 can also include the motor 101 that is arranged on mounting rack 1 and
Lead screw, screw rod are preferably ball-screw 102, and ball-screw 102 is sequentially connected by belt 103 and motor 101 and is installed on cunning
In moving frame 21, sliding rack 21 passes through the helicitic texture being arranged on sliding rack 21 and ball-screw 102 is sequentially connected, helicitic texture
It can be the nut (not shown) being fixedly connected with sliding rack 21.Since sliding rack 21 is slideably held on sliding rail 22, limitation
The rotational freedom of sliding rack 21, so nut will turn with ball-screw 102 when ball-screw 102 is as active body
Dynamic angle is converted to linear motion in the lead according to corresponding specification, and sliding rack 21 can be connected by nut, thus realization pair
The linear motion answered.
Preferred embodiment according to the present utility model, gripper equipment further include control unit (it is not shown, can be integrated
In device controller or mobile terminal) and the size detection sensor 104 of 1 side of mounting rack, size detection be set
Sensor 104 is connect with control unit signal respectively with driving device 14, such as conducting wire is electrically connected, or is wirelessly connected.
Size detection sensor 104 completes plate ruler for detecting the size of grabbed plate, the detection of size detection sensor 104 automatically
After very little, size is transmitted to control unit, and then control unit can control motor 101 and rotate a certain angle, motor 101 is logical
Crossing ball-screw 102 drives sliding rack 21 to drive the second draw frame machine 7 close to or far from the first draw frame machine 6, and adjustment is mutual
Distance, grab the plate of different specification size.
As the specific embodiment of magnetic mechanism 12, the quantity of magnetic mechanism 12 is two, is arranged at intervals on mounting rack 1
The left and right sides, magnetic mechanism 12 is fixedly connected by two connecting columns 302 being arranged at intervals on mounting rack 1 with mounting rack 1,
Magnetic mechanism 12 includes the connecting plate 303 being fixedly mounted with two connecting columns 302 and two that are arranged at intervals on connecting plate 303
Connection frame 304 is arranged at intervals with two blocks of electromagnet 301 on each connection frame 304.It is single by control whether the energization of electromagnet 301
First (can be integrated in device controller or mobile terminal) controls, and energization is then adsorbed, power-off is then decontroled.
Specifically, vacuum chuck mechanism 13 can be sponge sucker.Certainly, the utility model is without being limited thereto, conventional vacuum
Sucking disc mechanism and other Pneumatic vacuum adsorbing mechanisms appropriate are also possible.
Other side according to the present utility model also provides a kind of tote cart, wherein tote cart includes above-mentioned handgrip dress
It sets, mechanical arm (not shown) is mounted in the mounting hole 2 on mounting rack 1, and mechanical arm can be grabbed by above-mentioned gripper equipment
Take the different plates on tote cart.Since the tote cart includes gripper equipment provided by the utility model, so the tote cart
Also have all advantages of gripper equipment provided by the utility model.
The above is only the preferred embodiments of the utility model, and therefore it does not limit the scope of the patent of the utility model, all
Equivalent structure or equivalent flow shift made based on the specification and figures of the utility model, is applied directly or indirectly in
Other related technical areas are also included in the patent protection scope of the utility model.
Claims (10)
1. a kind of gripper equipment characterized by comprising
Mounting rack；It is set to the draw frame machine and lifting assembly of the mounting rack, the draw frame machine includes being located at the installation
Frame ipsilateral magnetic mechanism and vacuum chuck mechanism, one of the magnetic mechanism and the vacuum chuck mechanism and the liter
Part of coming down to a lower group connection is can make the lifting assembly that the one be driven to go up and down along drawing direction.
2. gripper equipment according to claim 1, which is characterized in that the gripper equipment includes being set to the mounting rack
Driving device, the driving device includes being installed on the ontology of the mounting rack and being connected to the ontology and being capable of phase
For the actuator of the ontology stretching motion, the quantity of the draw frame machine is two, and two draw frame machine intervals are set
It sets on the mounting rack, the actuator is connect with a draw frame machine in two draw frame machines can drive two
A draw frame machine relative to one another close to or far from.
3. gripper equipment according to claim 2, which is characterized in that the driving device includes being slidably mounted on institute
The sliding rack of mounting rack is stated, a draw frame machine in two draw frame machines is connect with the sliding rack, the actuator
It is connect with the sliding rack.
4. gripper equipment according to claim 3, which is characterized in that the gripper equipment includes being arranged in the mounting rack
On sliding rail, the sliding rack is slideably held on the sliding rail.
5. gripper equipment according to claim 4, which is characterized in that have protrusion or groove, the cunning on the sliding rail
There is corresponding groove or protrusion in moving frame.
6. the gripper equipment according to any one of claim 3-5, which is characterized in that the driving device includes setting
Motor on the mounting rack and the screw rod connecting with the motor drive, the screw rod are matched with the sliding rack screw thread
It closes.
7. the gripper equipment according to any one of claim 2-5, which is characterized in that the gripper equipment further includes control
Unit processed and the size detection sensor that the mounting rack side is arranged in, the size detection sensor and the driving fill
It sets and is connect respectively with described control unit signal.
8. gripper equipment described in -5 any one according to claim 1, which is characterized in that the magnetic mechanism includes that setting exists
Electromagnet on the mounting rack.
9. gripper equipment described in -5 any one according to claim 1, which is characterized in that the vacuum chuck mechanism is sponge
Sucker.
10. a kind of tote cart, which is characterized in that the tote cart includes as claimed in any of claims 1 to 9 grabs
Arm device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920209257.6U CN209600565U (en) | 2019-02-15 | 2019-02-15 | Gripper equipment and tote cart |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920209257.6U CN209600565U (en) | 2019-02-15 | 2019-02-15 | Gripper equipment and tote cart |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209600565U true CN209600565U (en) | 2019-11-08 |
Family
ID=68402649
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920209257.6U Active CN209600565U (en) | 2019-02-15 | 2019-02-15 | Gripper equipment and tote cart |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209600565U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111071324A (en) * | 2019-12-26 | 2020-04-28 | 东莞市金越信息科技有限公司 | Carrier of backup pad for tray |
-
2019
- 2019-02-15 CN CN201920209257.6U patent/CN209600565U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111071324A (en) * | 2019-12-26 | 2020-04-28 | 东莞市金越信息科技有限公司 | Carrier of backup pad for tray |
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| GR01 | Patent grant |