CN209699136U - A kind of equidistantly flexible sucked type handgrip - Google Patents
A kind of equidistantly flexible sucked type handgrip Download PDFInfo
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- CN209699136U CN209699136U CN201920327045.8U CN201920327045U CN209699136U CN 209699136 U CN209699136 U CN 209699136U CN 201920327045 U CN201920327045 U CN 201920327045U CN 209699136 U CN209699136 U CN 209699136U
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- cylinder
- glass
- sucker
- spacing
- equidistantly
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Abstract
The utility model discloses a kind of equidistantly flexible sucked type handgrips, including cylinder, the piston rod of cylinder is connect with stretching drive mechanism, on stretching drive mechanism uniformly installation there are four sucker, cylinder stretching drive mechanism can be driven act and drive four interambulacrums away from become smaller or larger, sucker suction is adsorbed part or discharges and is adsorbed part.The handgrip is suitble to the crawl and placement and the spacing that can control glass of two kinds of arrangement modes, the pick-and-place operation of complete pair glass.For the spacing different situations of jig and pallet, which can grab simultaneously four sheet glass and interambulacrum is away from can be changed, and make handgrip that can change glass spacing during the motion after grabbing glass in jig to adapt to the placement spacing of pallet.The switching of spacing should quick and precisely, by cylinder drive bindiny mechanism change interambulacrum away from, achieve the purpose that change crawl glass spacing.
Description
Technical field
The utility model relates to robot automation's technical field, in particular to a kind of equidistantly flexible sucked type handgrip.
Background technique
Magnetron sputtering membrane process belongs to a kind of technique common in glass production, and the course of work is the glass that will need plated film
Glass, which is put into enter in the jig with standard flute, carries out coating film treatment in filming equipment.Filming equipment majority using manually into
Row picks and places glass operation, and glass is fetched into pallet from jig, i.e. occupancy manpower, and efficiency is also relatively low, and influences glass
Yield.Glass is taken using automation blanking equipment, the efficiency for taking glass can be improved, while can also improve the yield of glass.
The groove location for putting glass is usually designed to that the arrangement mode of 3*8, pallet are typically designed to for the size of glass by jig
The disposing way of 2*5.
The arrangement of jig and pallet is not identical, and jig is arranged using 3*8 arrangement mode, and glass sum is on jig
24.Pallet is arranged using 2*5 mode, and receiving glass sum is 10, and the glass spacing put of jig and pallet not phase
Together.It is then placed into pallet needing to individually adjust its spacing from the glass grabbed in jig, complicated for operation, working efficiency
It is low.
Utility model content
To overcome problems of the prior art, the utility model provides a kind of equidistantly flexible sucked type handgrip.
The technical solution adopted by the utility model to solve its technical problems is that: this kind of sucked type handgrip that equidistantly stretches,
Including cylinder, the piston rod of cylinder is connect with stretching drive mechanism, and uniformly there are four sucker, cylinders for installation on stretching drive mechanism
Stretching drive mechanism can be driven to act and drive four interambulacrums away from become smaller or larger, sucker suction is adsorbed part or release inhaled
Attachment.
Further, the cylinder block of the cylinder is fixed on robot moving platform by connecting flange, and random device people is dynamic
Make.
Further, the stretching drive mechanism includes the cross movable block connecting with cylinder piston rod, cross movable block
One end of four connecting rods is separately connected by first axle, the other end of connecting rod passes through the second axis connection on sliding block, sliding block and cunning
Block is oriented to the sliding slot cooperation on substrate, and slider guide substrate is installed on cylinder block by column, and each sliding block correspondence is equipped with
One sucker.
Further, cylinder block bottom peace turns have fixed plate, and the piston rod of cylinder passes through fixed plate and cross movable block connects
It connects, slider guide substrate is mounted in fixed plate by column.
Further, the sliding block installs sucker by outwardly extending sucker mounting plate.
Further, the sucker is extension type sucker.
To sum up, the above-mentioned technical proposal of the utility model has the beneficial effect that:
The handgrip is suitble to the crawl and placement and the spacing that can control glass of two kinds of arrangement modes, the pick-and-place of complete pair glass
Operation.For the spacing different situations of jig and pallet, which can grab simultaneously four sheet glass and interambulacrum is away from can be changed, and make to grab
Hand can change glass spacing after grabbing glass in jig to adapt to the placement spacing of pallet during the motion.Spacing is cut
Change should quick and precisely, by cylinder drive bindiny mechanism change interambulacrum away from, achieve the purpose that change crawl glass spacing.
Detailed description of the invention
Fig. 1 is the schematic perspective view of the utility model.
Fig. 2 is the structural schematic diagram under the utility model contraction state.
Fig. 3 is the structural schematic diagram under the utility model extended state.
Specific embodiment
It is described in detail below in conjunction with feature and principle of the attached drawing to the utility model, illustrated embodiment is only used for explaining
The utility model not limits the protection scope of the utility model with this.
As shown in Figure 1, the piston rod of cylinder 1 is connect with stretching drive mechanism, four are uniformly equipped on stretching drive mechanism
A sucker 8, cylinder 1 can drive stretching drive mechanism to act and drive that four 8 spacing of sucker become smaller or larger, sucker suction is inhaled
Attachment or release are adsorbed part.
Specifically, one end of cylinder 1 is fixed on robot moving platform 13 by connecting flange 12, and other end installation is fixed
Plate 2.The piston of cylinder 1 is passed through from the circular hole among fixed plate 2.
Cross movable block 3 is mounted on the piston of cylinder 1, by cylinder 1 it is flexible come control cross movable block 3 up and down
It is mobile.
One end of connecting rod 4 is connected on cross movable block 3 by axis 11, and the other end is connected on sliding block 6 by axis 5.Ten
Four ends of word movable block share four sets of identical structures.
Slider guide substrate 9 is mounted in fixed plate 2 by four columns 10, for controlling the glide direction of sliding block 6, from
And determine the opening direction of sucker 8.Four sliding blocks 6 are mounted in the slot of slider guide substrate 9, and can be slided.
The lower section of sliding block 6 is connect with sucker mounting plate 14, and the other end of sucker mounting plate 14 installs sucker 8.Sucker 8 uses
Finished product extension type sucker.
Working principle are as follows:
The handgrip gathers around that there are two states by the flexible spacing for making four suckers of cylinder, and one is contraction state (Fig. 2),
One is extended state (Fig. 3).Cylinder 1 is withdrawn when contraction state, is driven cross movable block 3 to move up, is driven by connecting rod 4
Sliding block 6 is mobile to center, makes four interambulacrums away from becoming smaller, is at this time contraction state.When extended state, cylinder 1 stretches out, and drives ten
Word movable block 3 moves down, and is moved by connecting rod 4 with movable slider 6 outward, makes four interambulacrums away from becoming larger, and is at this time stretching, extension
State.
Since 7 spacing of glass is smaller in jig, and 7 spacing of glass is larger in pallet, therefore when taking from jig glass 7,
Sucker is in contraction state, takes glass into pallet during movement, and cylinder 1 stretches out, and sucker is made to be in extended state.By
When taking glass 7 from contraction state and being converted to extended state, the displacement that the spacing of glass 7 occurs just makes the spacing of glass 7
It is suitble to the spacing that glass is placed in pallet, therefore after sucker on the move is transformed into extended state, can be directly placed into glass 7
In pallet, do not need to be positioned for every sheet glass, the beat for shortening crawl and placing.
And the handgrip can there are also the strokes of cylinder 1 by changing the shape of connecting rod 4 or slider guide substrate 9 to fit
The pick-and-place of a variety of spacing is answered to act.
The main purpose of the handgrip is can to save glass from being caught in arrangement spacing different carrier B or pallet in carrier A
The about pick-and-place time.
The handgrip is suitble to the crawl and placement and the spacing that can control glass of two kinds of arrangement modes, the pick-and-place of complete pair glass
Operation.For the spacing different situations of jig and pallet, which can grab simultaneously four sheet glass and interambulacrum is away from can be changed, and make to grab
Hand can change glass spacing after grabbing glass in jig to adapt to the placement spacing of pallet during the motion.Spacing is cut
Change should quick and precisely, by cylinder drive bindiny mechanism change interambulacrum away from, achieve the purpose that change crawl glass spacing.
Above-described embodiment is only the description carried out to preferred embodiments of the present invention, not to model of the invention
It encloses and is defined, under the premise of not departing from the spirit of the design of the utility model, relevant technical staff in the field is to the utility model
Various changes and improvements, should all expand in protection scope determined by the utility model claims book.
Claims (6)
1. a kind of equidistantly flexible sucked type handgrip, which is characterized in that including cylinder, the piston rod and stretching drive mechanism of cylinder
It connects, uniformly there are four suckers, cylinder, and stretching drive mechanism can be driven to act and drive four suctions for installation on stretching drive mechanism
Disk spacing becomes smaller or larger, sucker suction is adsorbed part or release is adsorbed part.
2. a kind of equidistantly flexible sucked type handgrip according to claim 1, which is characterized in that the cylinder block of the cylinder
It is fixed on robot moving platform by connecting flange, random device human action.
3. a kind of equidistantly flexible sucked type handgrip according to claim 1, which is characterized in that the stretching drive mechanism
Including the cross movable block connecting with cylinder piston rod, cross movable block is separately connected one end of four connecting rods by first axle,
The other end of connecting rod is through the second axis connection on sliding block, and the sliding slot on sliding block and slider guide substrate cooperates, slider guide base
Plate is installed on cylinder block by column, and each sliding block correspondence is equipped with a sucker.
4. a kind of equidistantly flexible sucked type handgrip according to claim 3, which is characterized in that cylinder block bottom peace turns to have
Fixed plate, the piston rod of cylinder pass through fixed plate and connect with cross movable block, and slider guide substrate is mounted on fixation by column
On plate.
5. a kind of equidistantly flexible sucked type handgrip according to claim 3, which is characterized in that the sliding block passes through outside
The sucker mounting plate of extension installs sucker.
6. a kind of equidistantly flexible sucked type handgrip described according to claim 1 or 3 or 5, which is characterized in that the sucker is
Extension type sucker.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920327045.8U CN209699136U (en) | 2019-03-14 | 2019-03-14 | A kind of equidistantly flexible sucked type handgrip |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920327045.8U CN209699136U (en) | 2019-03-14 | 2019-03-14 | A kind of equidistantly flexible sucked type handgrip |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209699136U true CN209699136U (en) | 2019-11-29 |
Family
ID=68644193
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920327045.8U Active CN209699136U (en) | 2019-03-14 | 2019-03-14 | A kind of equidistantly flexible sucked type handgrip |
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| Country | Link |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112193832A (en) * | 2020-09-10 | 2021-01-08 | 彩虹（合肥）液晶玻璃有限公司 | Plate taking mechanism for preventing glass substrate from deforming |
| CN114310277A (en) * | 2022-02-10 | 2022-04-12 | 芜湖弘度智能科技有限公司 | Be used for inboard sponge automatic assembly device of cylinder air conditioner panel |
-
2019
- 2019-03-14 CN CN201920327045.8U patent/CN209699136U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112193832A (en) * | 2020-09-10 | 2021-01-08 | 彩虹（合肥）液晶玻璃有限公司 | Plate taking mechanism for preventing glass substrate from deforming |
| CN114310277A (en) * | 2022-02-10 | 2022-04-12 | 芜湖弘度智能科技有限公司 | Be used for inboard sponge automatic assembly device of cylinder air conditioner panel |
| CN114310277B (en) * | 2022-02-10 | 2023-09-01 | 芜湖弘度智能科技有限公司 | Automatic sponge assembling device for inner side of cylindrical air conditioner panel |
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