CN211569389U - Self-adaptive curved surface part grabber - Google Patents
Self-adaptive curved surface part grabber Download PDFInfo
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- CN211569389U CN211569389U CN201922294833.4U CN201922294833U CN211569389U CN 211569389 U CN211569389 U CN 211569389U CN 201922294833 U CN201922294833 U CN 201922294833U CN 211569389 U CN211569389 U CN 211569389U
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Abstract
The utility model provides a self-adaptation curved surface part grabber, adsorb the unit including braced frame, accent wide unit and swing, transfer wide unit and swing and adsorb the unit and install on braced frame, the swing adsorbs the unit to install on transferring wide unit, adsorbs the position of unit through transferring wide unit regulation swing. The beneficial effect of this application is as follows: (1) the width adjusting unit is arranged, so that the width of the grabber can be adjusted, and therefore, products with different models and types can be grabbed; (2) the swing adsorption unit comprises a sucker module unit and a single sucker swing unit, the angle between the sucker module unit and the sucker swing unit can be adjusted, and the applicability of the grabber is further improved.
Description
Technical Field
The utility model relates to an intelligent automation equipment technical field especially relates to an adaptive curved surface part grabber.
Background
With the development and progress of the technology, production workshops of various industries basically need to be intelligently transformed, so that the production efficiency is improved, the product processing quality is improved, and the competitiveness of enterprises in market competition is increased. The processing of products usually involves a number of processing operations, and the transfer of products within and between the operations is usually carried out using grippers in conjunction with robots.
Manufacturers often design and process corresponding grippers according to the shapes, materials and the like of actual products. In order to meet the grabbing requirement for the curved surface part, the self-adaptive curved surface part grabber is designed.
SUMMERY OF THE UTILITY MODEL
In order to meet the grabbing requirement of a user on a curved surface component, the application aims to provide the self-adaptive curved surface component grabber.
In order to realize the purpose of this application, the application provides a pair of self-adaptation curved surface part grabber, adsorb the unit including braced frame, accent wide unit and swing, transfer wide unit and swing and adsorb the unit and install on braced frame, the swing adsorbs the unit to install on transferring wide unit, through transferring wide unit regulation swing adsorption element's position.
Wherein the width adjusting units are two units which have the same structure and are symmetrically installed, the two width adjusting units are respectively connected with two ends of the supporting frame, the width adjusting units comprise guide posts, width adjusting sliding tables and width adjusting cylinders, the guide posts are arranged in parallel, one ends of the two guide posts are fixedly connected with one ends of the supporting frame, the two guide posts penetrate through the width adjusting sliding tables and are connected in a sliding manner, the width adjusting cylinders are arranged at the lower ends of the width adjusting sliding tables, the end parts of piston rods of the width adjusting cylinders are fixedly connected with connecting blocks at the lower ends of the supporting frame, the width adjusting sliding tables are moved on the guide posts through the extension and retraction of the width adjusting cylinders,
the swing adsorption unit comprises a swing arm and a sucker module unit, the lower end of the swing arm is connected with the upper end of the width-adjustable sliding table in an articulated mode through a swing arm connecting shaft, the upper end of the swing arm is connected with the sucker module unit in an articulated mode through an upper end shaft, the swing arm rotates through a swing arm driving mechanism driving swing arm connecting shaft, and the sucker module unit rotates around the upper end shaft through a sucker driving mechanism driving sucker module unit.
The swing arm driving mechanism comprises a swing arm cylinder, a first swing arm joint and a second swing arm joint; the swing arm cylinder is installed at accent wide slip table lower extreme, the tailpiece of the piston rod portion of swing arm cylinder is connected with first swing arm joint lower extreme is articulated, first swing arm joint upper end is connected with second swing arm joint lower extreme is articulated, second swing arm joint upper end is connected with the swing arm, drives the swing arm swing through the swing arm cylinder is flexible.
The sucker driving mechanism comprises a sucker module cylinder, a connecting frame and a swinging frame; the lower end of the sucker module cylinder is hinged to the upper end of the width adjusting sliding table, the upper end of the sucker module cylinder is connected with the lower end of the connecting frame, the upper end of the connecting frame is hinged to the lower end of the swing frame, the upper end of the swing frame is connected with the sucker module unit, and the sucker module cylinder stretches and retracts to drive the sucker module unit to swing.
Wherein, the swing adsorption unit still includes single sucking disc swing unit, single sucking disc swing unit installs on single sucking disc base platform, single sucking disc base platform lower extreme inserts and sets up on the swing arm and is connected through single sucking disc joint and swing arm are articulated in the mounting hole, single sucking disc base platform both ends are connected with U type frame is articulated, the tailpiece of the piston rod portion at single sucking disc cylinder is connected to U type frame lower extreme, and single sucking disc cylinder lower extreme is articulated to be connected on transferring wide slip table.
Compared with the prior art, the beneficial effects of this application are as follows:
(1) the width adjusting unit is arranged, so that the width of the grabber can be adjusted, and therefore, products with different models and types can be grabbed;
(2) the swing adsorption unit comprises a sucker module unit and a single sucker swing unit, the angle between the sucker module unit and the sucker swing unit can be adjusted, and the applicability of the grabber is further improved.
Drawings
Fig. 1 is a schematic view of the overall structure of an adaptive curved surface part grabber of the present invention;
FIG. 2 is a front view of the adaptive curved surface part grabber of the present invention;
in the figure: 1-a support frame; 2-a width adjusting unit; 3-swing the adsorption unit.
FIG. 3 is a schematic view of the width-adjusting unit structure of the present invention;
in the figure: 21-a guide post; 22-width adjusting sliding table; 23-width adjusting cylinder.
FIG. 4 is a schematic structural view of the swing adsorption unit of the present invention;
FIG. 5 is a schematic view of the swing arm structure of the swing adsorption unit of the present invention;
FIG. 6 is a schematic view of the swing structure of the sucking disc module of the swing adsorption unit of the present invention;
FIG. 7 is a schematic view of the swing structure of the swing adsorption unit with single suction cup of the present invention;
in the figure: 311-swing arm cylinder; 312-a first swing arm joint; 313-a second swing arm joint; 314-a swing arm; 315-swing arm connecting shaft; 32-a suction cup module unit; 321-a sucker module cylinder; 322-a connecting frame; 323-a swing frame; 33-single suction cup swing unit; 331-single sucker cylinder; 332-U-shaped frame; 333-single sucker base table; 334-single suction cup joint.
Detailed Description
The present invention will be described in further detail with reference to the following drawings and specific embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when used in this specification the singular forms "a", "an" and/or "the" include "specify the presence of stated features, steps, operations, elements, or modules, components, and/or combinations thereof, unless the context clearly indicates otherwise.
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict.
As shown in fig. 1-7, the application provides an adaptive curved surface part grabber, including braced frame 1, transfer wide unit 2 and swing adsorption unit 3 to install on braced frame 1, swing adsorption unit 3 installs on transfer wide unit 2, adjusts the position of swing adsorption unit 3 through transfer wide unit 2.
Wherein, transfer wide unit 2 for the same, two of symmetry installation of structure, two transfer wide unit 2 and connect respectively at braced frame 1's both ends, transfer wide unit 2 includes guide post 21, transfers wide slip table 22 and transfers wide cylinder 23, guide post 21 is two of parallel arrangement, and the one end fixed connection of two guide posts 21 is in braced frame 1's one end, and two guide posts 21 pass transfers wide slip table 22 and sliding connection, transfer wide slip table 22 lower extreme and be provided with and transfer wide cylinder 23, transfer the piston rod tip of wide cylinder 23 and braced frame 1 lower extreme connecting block fixed connection, realize transferring wide slip table 22 to the removal on guide post 21 through transferring wide cylinder 23 flexible,
wherein, swing adsorption unit 3 includes swing arm 314, sucking disc module unit 32, swing arm 314's lower extreme passes through swing arm connecting axle 315 and transfers wide slip table 22 upper end to articulate to be connected, and the upper end is passed through the upper end axle and is connected with sucking disc module unit 32 is articulated, the swing arm passes through swing arm actuating mechanism drive swing arm connecting axle 315 rotatory, sucking disc module unit 32 is rotatory around the upper end axle through sucking disc actuating mechanism drive sucking disc module unit 32.
The swing arm driving mechanism comprises a swing arm cylinder 311, a first swing arm joint 312 and a second swing arm joint 313; the swing arm cylinder 311 is installed at the lower extreme of adjusting wide slip table 22, the tailpiece of the piston rod portion of swing arm cylinder 311 is connected with first swing arm joint 312 lower extreme is articulated, first swing arm joint 312 upper end is connected with second swing arm joint 313 lower extreme is articulated, second swing arm joint 313 upper end is connected with the swing arm, drives the swing arm swing through swing arm cylinder 311 is flexible.
The sucker driving mechanism comprises a sucker module cylinder 321, a connecting frame 322 and a swinging frame 323; the lower end of the suction cup module cylinder 321 is hinged to the upper end of the width adjusting sliding table 22, the upper end of the suction cup module cylinder 321 is connected with the lower end of the connecting frame 322, the upper end of the connecting frame 322 is hinged to the lower end of the swing frame 323, the upper end of the swing frame 323 is connected with the suction cup module unit 32, and the suction cup module unit 32 is driven to swing through the expansion of the suction cup module cylinder 321.
Wherein, unit 3 is adsorbed in the swing still includes single sucking disc swing unit 33, single sucking disc swing unit 33 is installed on single sucking disc base platform 333, single sucking disc base platform 333 lower extreme inserts to set up on the swing arm and is connected through single sucking disc joint 334 and swing arm are articulated in the mounting hole, single sucking disc base platform 333 both ends are connected with U type frame 332 is articulated, the tailpiece of the piston rod portion at single sucking disc cylinder 331 is connected to U type frame 332 lower extreme, and single sucking disc cylinder 331 lower extreme is articulated to be connected on transferring wide slip table 22.
The working process is as follows:
during the use, realize transferring wide slip table 22 position control through transferring wide cylinder 23 is flexible, drive first swing arm joint 312, second swing arm joint 313, the swing arm swing in proper order through swing arm cylinder 311, adjust the position of swing arm, drive the angle modulation of single sucking disc through single sucking disc cylinder 331, drive sucking disc module unit swing through sucking disc module cylinder 321, realize sucking disc module unit angle modulation.
The utility model discloses the part not explained all is applicable prior art.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, a plurality of improvements and decorations can be made without departing from the principle of the present invention, and these improvements and decorations should also be regarded as the protection scope of the present invention.
Claims (6)
1. The utility model provides an adaptive curved surface part grabber which characterized in that, includes braced frame, transfers wide unit and swing adsorption unit, transfer wide unit and swing adsorption unit to install on braced frame, swing adsorption unit installs on transferring wide unit, adsorbs the position of unit through transferring wide unit regulation swing adsorption unit.
2. The adaptive curved surface part grabber of claim 1, characterized in that, transfer wide unit for the same, two of symmetry installation of structure, two transfer wide units and connect respectively at braced frame's both ends, transfer wide unit including the guide post, transfer wide slip table and transfer wide cylinder, the guide post is two of parallel arrangement, and the one end fixed connection of two guide posts is in braced frame's one end, and two guide posts pass and transfer wide slip table and sliding connection, it is provided with and transfers wide cylinder to transfer wide slip table lower extreme, transfer the connecting block fixed connection of the piston rod tip of wide cylinder and braced frame lower extreme, realize transferring the removal of wide slip table on the guide post through transferring the wide cylinder is flexible.
3. The adaptive curved surface part grabber of claim 1, wherein the swing adsorption unit comprises a swing arm and a sucker module unit, the lower end of the swing arm is hinged to the upper end of the width-adjustable sliding table through a swing arm connecting shaft, the upper end of the swing arm is hinged to the sucker module unit through an upper end shaft, the swing arm drives the swing arm connecting shaft to rotate through a swing arm driving mechanism, and the sucker module unit drives the sucker module unit to rotate around the upper end shaft through a sucker driving mechanism.
4. The adaptive curved surface component grabber of claim 3, wherein said swing arm drive mechanism comprises a swing arm cylinder, a first swing arm joint, and a second swing arm joint; the swing arm cylinder is installed at accent wide slip table lower extreme, the tailpiece of the piston rod portion of swing arm cylinder is connected with first swing arm joint lower extreme is articulated, first swing arm joint upper end is connected with second swing arm joint lower extreme is articulated, second swing arm joint upper end is connected with the swing arm, drives the swing arm swing through the swing arm cylinder is flexible.
5. The adaptive surface part grabber of claim 3, wherein said sucker drive mechanism comprises a sucker module cylinder, a connecting frame, and a swing frame; the lower end of the sucker module cylinder is hinged to the upper end of the width adjusting sliding table, the upper end of the sucker module cylinder is connected with the lower end of the connecting frame, the upper end of the connecting frame is hinged to the lower end of the swing frame, the upper end of the swing frame is connected with the sucker module unit, and the sucker module cylinder stretches and retracts to drive the sucker module unit to swing.
6. The adaptive curved surface part grabber of claim 3, characterized in that, swing adsorption unit still includes single sucking disc swing unit, single sucking disc swing unit installs on single sucking disc base platform, single sucking disc base platform lower extreme inserts to set up on the swing arm and is connected through single sucking disc joint and swing arm are articulated in the mounting hole, single sucking disc base platform both ends are connected with U type frame is articulated, the piston rod tip at single sucking disc cylinder is connected to U type frame lower extreme, and single sucking disc cylinder lower extreme is articulated to be connected on transferring wide slip table.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922294833.4U CN211569389U (en) | 2019-12-19 | 2019-12-19 | Self-adaptive curved surface part grabber |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922294833.4U CN211569389U (en) | 2019-12-19 | 2019-12-19 | Self-adaptive curved surface part grabber |
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| Publication Number | Publication Date |
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| CN211569389U true CN211569389U (en) | 2020-09-25 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201922294833.4U Active CN211569389U (en) | 2019-12-19 | 2019-12-19 | Self-adaptive curved surface part grabber |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114311008A (en) * | 2022-01-26 | 2022-04-12 | 上海电机学院 | Angle self-interacting sucking disc manipulator actuating mechanism |
| CN115838078A (en) * | 2023-02-20 | 2023-03-24 | 成都盛锴科技有限公司 | Vehicle door transfer device and method for urban rail train |
-
2019
- 2019-12-19 CN CN201922294833.4U patent/CN211569389U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114311008A (en) * | 2022-01-26 | 2022-04-12 | 上海电机学院 | Angle self-interacting sucking disc manipulator actuating mechanism |
| CN115838078A (en) * | 2023-02-20 | 2023-03-24 | 成都盛锴科技有限公司 | Vehicle door transfer device and method for urban rail train |
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