CN209648749U - A kind of automatically grabbing and blank handgrip for door of elevator reinforcing rib - Google Patents
A kind of automatically grabbing and blank handgrip for door of elevator reinforcing rib Download PDFInfo
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- CN209648749U CN209648749U CN201920150051.0U CN201920150051U CN209648749U CN 209648749 U CN209648749 U CN 209648749U CN 201920150051 U CN201920150051 U CN 201920150051U CN 209648749 U CN209648749 U CN 209648749U
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- cylinder
- reinforcing rib
- plate
- block
- fixedly connected
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Abstract
A kind of automatically grabbing and blank handgrip for door of elevator reinforcing rib, including attachment base, cylinder block is fixed with below attachment base, cylinder is fixed in cylinder block, the piston rod of cylinder is fixed with cylinder limit plate, pneumatic clamper mounting plate and parallel air gripper straight down and successively, and the horizontal front and back of parallel air gripper is to setting and two collets are respectively fixed with blank pawl；The front and back side of cylinder block is respectively fixed with side plate, and cylinder limited block is fixed on side plate, and adjustment plate is respectively fixed at the left and right ends of every block of side plate, reinforcing rib limit plate is fixed in adjustment plate；The left and right sides of cylinder block is respectively fixed with sucker disk seat, and sucker is equipped on sucker disk seat, and the end of sucker disk seat is equipped with distance measuring sensor.This handgrip is mounted on industrial joint robot or right angle coordinate manipulator, can from reinforcing rib pile automatic cutoff, crawl individual reinforcing bars, and anticollision detects when having reinforcing rib pile height detection, crawl, prevents the adhesion between reinforcing rib, improves the gentle working efficiency of Automated water.
Description
Technical field
The utility model relates to mechanical gripper technical field more particularly to a kind of grabbing automatically for door of elevator reinforcing rib
It takes and blank handgrip.
Background technique
At present at home, the blank of the reinforcing rib of door of elevator class shown in FIG. 1 and crawl generally manually from
It is manually operated in reinforcing rib material frame, or is automatically grabbed by being placed on fixed position after artificial blank, then by dedicated handgrip, it is whole
A process automation level is not high, inefficiency.And to improve the reinforcing rib quantity that single material frame accommodates, Lifting Convey effect
Rate, reinforcing rib are all made of stacking mode shown in Fig. 2, and due to the vibration of transport, so that being bonded close, separation between reinforcing rib
It is not easy, manual work intensity is big.
Utility model content
The utility model a kind of is grabbed for automatically grabbing for door of elevator reinforcing rib with blank in view of the above-mentioned problems, providing
Hand.
The purpose of this utility model can realize by following technical proposals: it is a kind of for door of elevator reinforcing rib from
Dynamic crawl and blank handgrip, including attachment base, cylinder block, cylinder, cylinder limit plate, pneumatic clamper mounting plate, parallel air gripper, blank
Pawl, side plate, cylinder limited block, adjustment plate, reinforcing rib limit plate, sucker disk seat, sucker, sensor mounting plate, distance measuring sensor；
It is fixedly connected with cylinder block below the attachment base, cylinder is fixedly connected in the cylinder block, the cylinder
Piston rod is arranged straight down and piston rod end is fixedly connected sequentially from top to bottom cylinder limit plate, pneumatic clamper mounting plate peace
Promoting the circulation of qi pawl, the horizontal front and back of two collets of the parallel air gripper is to setting and two collets have been respectively fixedly connected with a blank
Pawl；
The front and rear sides of the cylinder block have been respectively fixedly connected with one block of side plate, be fixedly connected on every block of side plate with
The cylinder limited block that cylinder limit plate matches is engaged by cylinder limit plate and cylinder limited block to cylinder piston rod
Downlink mechanical position limitation is fixedly connected with adjustment plate at the left and right ends of every block of side plate respectively, and every piece of adjustment plate is fixed
It is connected with reinforcing rib limit plate, the reinforcing rib limit plate at the corresponding end of two blocks of side plates is symmetrical arranged；
It has been respectively fixedly connected with a sucker disk seat at left and right sides of the cylinder block, suction is installed on each sucker disk seat
The actuation face of disk, the sucker is located in same level, and the end of at least one sucker disk seat is installed by sensor mounting plate
There is distance measuring sensor, the induction end of the distance measuring sensor is vertically oriented to be arranged.
Further, the attachment base is equipped with industrial joint robot mounting structure and/or right angle coordinate manipulator is pacified
Assembling structure.
Further, a hook groove along horizontal left and right trend is offered on the opposite face of two blank pawls respectively.
Further, an opening moved up and down for cylinder limit plate is offered on every block of side plate, the opening
The left and right sides is separately installed with one piece of cylinder limited block, where two pieces of cylinder limited blocks are fixedly connected on the lateral surface of side plate,
Totally four pieces of cylinder limited blocks on two blocks of side plates are set in same level, opening of the cylinder limit plate from two blocks of side plates
It stretches out, and cooperates with totally four pieces of cylinder limited blocks on two blocks of side plates.
Further, the cylinder limit plate is equipped with two empty avoidings corresponding with two clip positions of parallel air gripper
Mouthful.
Further, the opposite face inclination of the symmetrical two pieces reinforcing rib limit plates is in splayed.
Further, the sucker is vacuum chuck or magnechuck.
Compared with prior art, the utility model has the beneficial effects that this handgrip is mounted on industrial joint robot or right angle
On coordinate robots, can from the reinforcing rib pile of multiple-level stack automatic cutoff, crawl individual reinforcing bars, and have reinforcing rib pile
Anticollision detects when height detection, crawl, moreover it is possible to prevent the adhesion between reinforcing rib, convenient for accurately grabbing individual reinforcing bars, mention
The gentle working efficiency of Automated water is risen.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of individual reinforcing bars.
Fig. 2 is schematic cross-section when more reinforcing ribs stack into reinforcing rib pile.
Fig. 3 is the structural schematic diagram of the utility model.
Fig. 4 is the structural schematic diagram that Fig. 3 hides cylinder block, side plate, cylinder limit plate and a sucker disk seat.
Fig. 5 is the structural schematic diagram that the utility model grabs reinforcing rib.
Fig. 6 to Fig. 8 is each step schematic diagram when the utility model grabs reinforcing rib.
Part numbers are as follows in figure:
1 attachment base
2 cylinder blocks
3 cylinders
4 pneumatic clamper mounting plates
5 cylinder limit plates
6 parallel air grippers
7 blank pawls
8 side plates
9 cylinder limited blocks
10 adjustment plates
11 reinforcing rib limit plates
12 sucker disk seats
13 suckers
14 sensor mounting plates
15 distance measuring sensors
16 reinforcing ribs.
Specific embodiment
Specific embodiment of the present utility model is described in detail below in conjunction with attached drawing, becomes apparent from those skilled in the art
How ground understanding practices the utility model.Although describing the utility model in conjunction with its preferred embodiment, these
Embodiment only illustrates, rather than limits the scope of the utility model.
Referring to Fig. 3 and Fig. 4, it is a kind of for door of elevator reinforcing rib automatically grab with blank handgrip, including attachment base 1,
Cylinder block 2, cylinder limit plate 4, pneumatic clamper mounting plate 5, parallel air gripper 6, blank pawl 7, side plate 8, cylinder limited block 9, is adjusted cylinder 3
Whole plate 10, reinforcing rib limit plate 11, sucker disk seat 12, sucker 13, sensor mounting plate 14, distance measuring sensor 15.
The attachment base 1 is used to the handgrip being mounted on industrial joint robot or right angle coordinate manipulator, attachment base 1
It is equipped with industrial joint robot mounting structure and right angle coordinate manipulator mounting structure, in the present embodiment, the rectangular co-ordinate
Manipulator mounting structure is a shell-like pedestal, and the industrial joint robot mounting structure is the center being set on shell-like pedestal
Shaft hole and multiple connecting holes positioned at central rotating shaft side.
The attachment base 1 is fixedly connected with cylinder block 2 below, and cylinder 3, the gas are fixedly connected in the cylinder block 2
The piston rod of cylinder 3 is arranged straight down and piston rod end is fixedly connected sequentially from top to bottom cylinder limit plate 4, pneumatic clamper installation
Plate 5 and parallel air gripper 6, the horizontal front and back of two collets of the parallel air gripper 6 is to setting and two collets have been respectively fixedly connected with
One blank pawl 7, offered on the opposite face of two blank pawls 7 respectively one along horizontal left and right trend, for clamping plus
The hook groove of strengthening tendons.
The front and rear sides of the cylinder block 2 have been respectively fixedly connected with one block of side plate 8, are fixedly connected on every block of side plate 8
There is the cylinder limited block 9 matched with cylinder limit plate 4, is engaged by cylinder limit plate 4 and cylinder limited block 9 to cylinder
The downlink mechanical position limitation of 3 piston rods.Wherein, one is offered on every block of side plate 8 to open for what cylinder limit plate 4 moved up and down
Mouthful, one piece of cylinder limited block 9 is separately installed at left and right sides of the opening, where two pieces of cylinder limited blocks 9 are fixedly connected on
On the lateral surface of side plate 8, totally four pieces of cylinder limited blocks 9 on two blocks of side plates 8 are set in same level, the cylinder limit
Plate 4 is stretched out from the opening of two blocks of side plates 8, and is cooperated with totally four pieces of cylinder limited blocks 9 on two blocks of side plates 8；On cylinder limit plate 4
It is additionally provided with two empty avoiding mouths corresponding with two clip positions of parallel air gripper 6；Adjust cylinder limit plate 4, cylinder limited block 9
Thickness, adjustable 3 piston rod of cylinder in position downward storke.
Be fixedly connected with respectively at the left and right ends of every block of side plate 8 in one piece of adjustment plate 10(Fig. 3, Fig. 4 mark it is thick
Line portion refers to adjustment plate 10), every piece of adjustment plate 10 is fixedly connected with one piece of reinforcing rib limit plate 11, two blocks of side plates 8
Corresponding end two pieces of reinforcing rib limit plates 11 be symmetrical arranged, the opposite face of the reinforcing rib limit plate 11 of symmetrical two pieces
Inclination is in splayed, is bonded for the two sides inclined-plane with reinforcing rib, wherein side plate 8 where the adjustment plate 10 is fixedly connected on
Lateral surface on, adjustment plate 10 is for adjusting symmetrical the distance between two pieces of reinforcing rib limit plates 11.
The left and right sides of the cylinder block 2 has been respectively fixedly connected with a sucker disk seat 12, pacifies on each sucker disk seat 12
Equipped with more than one sucker 13, the sucker 13 can be vacuum chuck 13 or magnechuck 13, the actuation of the sucker 13
Face is located in same level.Wherein, the end of at least one sucker disk seat 12 is equipped with ranging biography by sensor mounting plate 14
The induction end of sensor 15, the distance measuring sensor 15 is vertically oriented to be arranged, for detecting exact height of the reinforcing rib from handgrip, and
It prevents from handgrip and reinforcing rib from malfunctioning to bump against, in the present embodiment, the end of two sucker disk seats 12 passes through sensor mounting plate 14
One distance measuring sensor 15 is installed.
Before work, this handgrip is installed on industrial joint robot or right angle coordinate manipulator by attachment base 1.Work
When, industrial joint robot or right angle coordinate manipulator will grab the surface certain distance for being originally moved to reinforcing rib pile, by ranging
Sensor 15 measures the accurate distance of uppermost reinforcing rib 16 to be grabbed on handgrip and reinforcing rib pile, then industrial joint machine
Handgrip is dropped to 16 surface of reinforcing rib to be grabbed according to the distance measured by people or right angle coordinate manipulator, makes symmetrical two
The splayed opposite face of reinforcing rib limit plate 11 is bonded with the two sides inclined-plane of the reinforcing rib 16, and reinforcing rib is drawn in the ventilation of sucker 13
16, referring to Fig. 5, treat the positioning that crawl reinforcing rib 16 realizes vertical direction.Then, handgrip is according to shown in Fig. 6, parallel air gripper 6
Two collets from open configuration horizontal-clamping, between the blank pawl 7 of two collets connection is stacked from two pieces of reinforcing ribs 16 respectively
It is inserted between gap, treats the positioning that crawl reinforcing rib 16 realizes horizontal direction.Finally, industrial joint robot or rectangular co-ordinate machine
This handgrip is promoted certain distance (about 10mm) by tool hand, and according to shown in Fig. 7, the piston rod of cylinder 3 is extended downwardly to cylinder and limited
The position that plate 4 is limited by cylinder limited block 9, it would be possible to be pushed away downwards with the reinforcing rib of 16 adhesion of reinforcing rib to be grabbed, after pushing away
State referring to Fig. 8, realize automatic cutoff.
It should be pointed out that can also have a variety of transformation and the implementation of remodeling for the utility model through absolutely proving
Scheme, it is not limited to the specific embodiment of above embodiment.Above-described embodiment as just the utility model explanation, and
It is not limitations of the present invention.In short, the protection scope of the utility model should include those for ordinary skill
It obviously converts or substitutes and retrofit for personnel.
Claims (7)
1. a kind of automatically grabbing and blank handgrip for door of elevator reinforcing rib, which is characterized in that including attachment base, cylinder
Seat, cylinder, cylinder limit plate, pneumatic clamper mounting plate, parallel air gripper, blank pawl, side plate, cylinder limited block, adjustment plate, reinforcing rib limit
Position plate, sucker disk seat, sucker, sensor mounting plate, distance measuring sensor；
It is fixedly connected with cylinder block below the attachment base, cylinder, the piston of the cylinder are fixedly connected in the cylinder block
Bar is arranged straight down and piston rod end is fixedly connected sequentially from top to bottom cylinder limit plate, pneumatic clamper mounting plate peace promoting the circulation of qi
Pawl, the horizontal front and back of two collets of the parallel air gripper is to setting and two collets have been respectively fixedly connected with a blank pawl；
The front and rear sides of the cylinder block have been respectively fixedly connected with one block of side plate, are fixedly connected on every block of side plate and cylinder
The cylinder limited block that limit plate matches, the downlink being engaged by cylinder limit plate and cylinder limited block to cylinder piston rod
Mechanical position limitation is fixedly connected with adjustment plate at the left and right ends of every block of side plate respectively, and every piece of adjustment plate is fixedly connected
There is reinforcing rib limit plate, the reinforcing rib limit plate at the corresponding end of two blocks of side plates is symmetrical arranged；
It has been respectively fixedly connected with a sucker disk seat at left and right sides of the cylinder block, sucker is installed on each sucker disk seat,
The actuation face of the sucker is located in same level, and the end of at least one sucker disk seat is equipped with survey by sensor mounting plate
Away from sensor, the induction end of the distance measuring sensor is vertically oriented to be arranged.
2. automatically grabbing and blank handgrip for door of elevator reinforcing rib according to claim 1, which is characterized in that institute
Attachment base is stated equipped with industrial joint robot mounting structure and/or right angle coordinate manipulator mounting structure.
3. automatically grabbing and blank handgrip for door of elevator reinforcing rib according to claim 1, which is characterized in that two
A hook groove along horizontal left and right trend is offered on the opposite face of a blank pawl respectively.
4. automatically grabbing and blank handgrip for door of elevator reinforcing rib according to claim 1, which is characterized in that every
An opening moved up and down for cylinder limit plate is offered on side plate described in block, is separately installed with one at left and right sides of the opening
Block cylinder limited block, where two pieces of cylinder limited blocks are fixedly connected on the lateral surface of side plate, totally four blocks of gas on two blocks of side plates
Cylinder limited block is set in same level, and the cylinder limit plate is stretched out from the opening of two blocks of side plates, and on two blocks of side plates
Totally four pieces of cylinder limited blocks cooperation.
5. automatically grabbing and blank handgrip for door of elevator reinforcing rib according to claim 1, which is characterized in that institute
Cylinder limit plate is stated equipped with two empty avoiding mouths corresponding with two clip positions of parallel air gripper.
6. automatically grabbing and blank handgrip for door of elevator reinforcing rib according to claim 1, which is characterized in that phase
The opposite face inclination of symmetrical two pieces of reinforcing rib limit plates is in splayed.
7. automatically grabbing and blank handgrip for door of elevator reinforcing rib according to claim 1, which is characterized in that institute
Stating sucker is vacuum chuck or magnechuck.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920150051.0U CN209648749U (en) | 2019-01-29 | 2019-01-29 | A kind of automatically grabbing and blank handgrip for door of elevator reinforcing rib |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920150051.0U CN209648749U (en) | 2019-01-29 | 2019-01-29 | A kind of automatically grabbing and blank handgrip for door of elevator reinforcing rib |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209648749U true CN209648749U (en) | 2019-11-19 |
Family
ID=68523060
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920150051.0U Active CN209648749U (en) | 2019-01-29 | 2019-01-29 | A kind of automatically grabbing and blank handgrip for door of elevator reinforcing rib |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209648749U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112209115A (en) * | 2020-08-27 | 2021-01-12 | 南京昱晟机器人科技有限公司 | Industrial robot with automatic material loading and unloading function and method |
-
2019
- 2019-01-29 CN CN201920150051.0U patent/CN209648749U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112209115A (en) * | 2020-08-27 | 2021-01-12 | 南京昱晟机器人科技有限公司 | Industrial robot with automatic material loading and unloading function and method |
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