CN2467476Y - Handling stacking robot hand - Google Patents
Handling stacking robot hand Download PDFInfo
- Publication number
- CN2467476Y CN2467476Y CN 00244065 CN00244065U CN2467476Y CN 2467476 Y CN2467476 Y CN 2467476Y CN 00244065 CN00244065 CN 00244065 CN 00244065 U CN00244065 U CN 00244065U CN 2467476 Y CN2467476 Y CN 2467476Y
- Authority
- CN
- China
- Prior art keywords
- plate
- right baffle
- cylinder
- robot
- hand
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Images
Abstract
The utility model relates to a hand part for a conveying and stacking robot. The utility model comprises a finger part and a clamping part, wherein, the finger part uses a cylinder to drive a parallelogram linkage to drive fingers to move; the clamping part uses a rodless cylinder to drive a right baffle plate to clamp and loosen a case body, and a left baffle plate is fixed on a guide rail. The utility model has the advantages of simple structure, compact structure, portability and low cost, is particularly suitable for conveying and stacking products of the case class on an automatic production line and is an ideal hand part for a conveying and stacking robot.
Description
The utility model relates to a kind of robot hand, specifically a kind of robot hand that is used to carry piling case series products.
At present, half mechanical work is adopted in following conveyor line, outbound after finishing for some case series products packing mostly, even handwork, and labour intensity is big, and efficient is low.Rolling off the production line after certain enterprise has introduced a robot and is used for the vision receiver packing and finishes from Japan, its hand is made up of finger part and clamping part, finger part drives finger by air cylinder driven one parallel four-bar structure and moves, clamping part drives the left-right turning screw rod rotation by motor by cog belt, by being installed in the attaching parts on the leading screw, drive left and right baffle plate and move, clamp and turn on the vision receiver casing as linear reciprocation.Owing to adopt the left-right turning screw rod transmission, not only cost height, and connection complexity, associate member is many, increase the weight of hand, the performance of robot, control have been brought adverse influence, made this robot not satisfy the requirement of modern production at aspects such as speeds of production.
The purpose of this utility model is exactly in order to overcome the deficiencies in the prior art, provide a kind of simple in structure, compact, light, cost is low, the degree of automation height is applicable to the robot for carrying and piling hand that the case series products rolls off the production line.
For achieving the above object, a kind of robot for carrying and piling hand is made up of finger part and clamping part, and finger part is by driving cylinder, and parallelogram lindage is pointed and formed, and it is characterized in that pointing on the connecting rod of the four-bar mechanism that is fixed in air cylinder driven; Clamping part is by a left side, right baffle plate is formed, it is characterized in that Rodless cylinder by the perforate on the right baffle plate through wherein, connect a support on the Rodless cylinder, support is connected on the right baffle plate by spring, right baffle plate both upper ends thereof respectively is welded with side plate, side plate is fixed on the sliding sleeve by planker, sliding sleeve is sleeved on the guide rail, right baffle-plate is fixed on the guide rail by two side plates of left supported plate one end and middle welding, wherein, a distolateral plate of left supported plate is connected with a day plate, and middle side plate is by being bolted to the guide rail left end, Rodless cylinder is supported and is fixed on the cylinder support plate by the inner bearing type cylinder saddle, and the cylinder support plate is installed in to be strengthened on the thick stick.
Owing to adopted said structure, make that whole hand structure is simple, compact, in light weight, road-holding property is good, cost is low, the prudent ratio of hand is big, the ratio of performance to price height of whole hand, be specially adapted to operation under many kinds case series products, realized the automation of this operation.
Below in conjunction with accompanying drawing the utility model is further described:
Fig. 1 is the front view of the utility model structural representation, and Fig. 2 is the birds-eye view of the utility model structural representation, and Fig. 3 is the left view of the utility model structural representation.Simultaneously, Fig. 1, Fig. 2, Fig. 3 also are the scheme drawings of embodiment.
Can find out that by Fig. 1, Fig. 2, Fig. 3 a kind of robot for carrying and piling hand is divided into two parts according to the function that realizes: finger part and clamping part.Finger part comprises finger support plate 1, finger crossbeam 2, finger 3, curved arm rod 4, straight-arm connecting rod 5, finger pivot shaft 21, connecting rod rack axle 22, air cylinder driven axle 23, connecting rod rack 24, cylinder 25.Wherein, finger pivot shaft 21, connecting rod rack axle 22, curved arm rod 4, straight-arm connecting rod 5, connecting rod rack 24, finger support plate 1 are formed two symmetrical parallel four-bar mechanisms.Drive this mechanism by cylinder 25, drive finger 3 and do translation, the workpiece one bottom portion that makes finger 3 insert the clamping of wanting holds up and piling puts in place, and the Shi Congqi bottom is withdrawn from.Whole finger actuation partly is installed on the right baffle-plate 6 in the clamping part by the base plate of connecting rod rack 24, cylinder 25.
Clamping part is made up of right baffle-plate 6, right baffle plate 12, left supported plate 13, day plate 14, guide rail 15, right supported plate 16, sliding sleeve 17, right side board 18, Rodless cylinder 19, right reinforcement thick stick 20 etc.Right baffle-plate 6 is up-narrow and down-wide, and promptly " protruding " font like this, not only prevents the deflection of institute's carrying casing, plays the role of positioning, and can alleviate the weight of right baffle-plate 6, saving in material, cost-cutting.Right baffle-plate 6 is connected with the base plate of left supported plate 13, and side plate is respectively welded in an end and the centre of left supported plate 13, and wherein, a distolateral plate and a day plate 14 are fixed together, and middle side plate is by being bolted to the guide rail left end.It plate 14 is fixed on the guide rail 15 by supporting seat 7, and the wrist of day plate 14 and robot links to each other.
The perforate of Rodless cylinder 19 by right baffle plate 12 upper ends be through wherein, and connect support 10 on the Rodless cylinder 19, and support 10 is connected on the right baffle plate 12 by spring 9.Both sides, right baffle plate 12 top respectively are welded with side plate, and side plate is fixed on the sliding sleeve 17 by right supported plate 16, and sliding sleeve 17 is sleeved on the guide rail 15.The perforate of Rodless cylinder 19 by right baffle plate 12 is through wherein and drive right baffle plate 12, and its two ends are supported and are fixed on the cylinder support plate 11 by inner bearing type cylinder support 8, and cylinder support plate 11 is installed in right the reinforcement on the thick stick 20.Like this, drive right baffle plates 12 and sliding sleeve 17 along guide rail 15 sway, realize clamping and opening the workpiece of clamping by Rodless cylinder 19.
When carrying and piling workpiece, drive parallelogram lindage drive finger 3 by cylinder 25 and insert from below, workpiece bottom, the right baffle plate 12 of Rodless cylinder 19 drivings moves and clamps casing, and implements carrying, when casing is transported to assigned address, cylinder 25 drives parallelogram lindage and drives finger 3 from the bottom half extraction, and workpiece is just piled up at assigned address, then, whole hand rises, Rodless cylinder 19 drives right baffle plate 12 and opens, and robot hand is got back to original position, finishes a working cycle.
The utility model is simple in structure, compact, light, road-holding property is good, cost is low, and the degree of automation height is specially adapted to the carrying of many kinds case series products, is a kind of desirable robot for carrying and piling hand.
Claims (4)
1, a kind of robot for carrying and piling hand is made up of finger part and clamping part, and finger part is by driving cylinder, and parallelogram lindage is pointed and formed, and it is characterized in that pointing on the connecting rod of the four-bar mechanism that is fixed in air cylinder driven; Clamping part is made up of left and right baffle plate, it is characterized in that Rodless cylinder by the perforate in the middle of the right baffle plate through wherein, connect a support on the Rodless cylinder, support is connected on the right baffle plate by spring, right baffle plate both upper ends thereof respectively is welded with side plate, side plate is fixed on the sliding sleeve by planker, and sliding sleeve is sleeved on the guide rail, and right baffle-plate is fixed on the guide rail by two side plates of left supported plate one end and middle welding.
2, robot for carrying and piling hand as claimed in claim 1 is characterized in that a distolateral plate of left supported plate is connected with a day plate, and the medial side sleeve-board is contained in the guide rail left end, and by bolt.
3, robot for carrying and piling hand as claimed in claim 1 is characterized in that Rodless cylinder is supported and is fixed on the cylinder support plate by the inner bearing type cylinder saddle, and the cylinder support plate is installed in to be strengthened on the thick stick.
4, robot for carrying and piling hand as claimed in claim 1 is characterized in that right baffle-plate and right baffle plate are up-narrow and down-wide, i.e. " protruding " font.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 00244065 CN2467476Y (en) | 2000-08-03 | 2000-08-03 | Handling stacking robot hand |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 00244065 CN2467476Y (en) | 2000-08-03 | 2000-08-03 | Handling stacking robot hand |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN2467476Y true CN2467476Y (en) | 2001-12-26 |
Family
ID=33603822
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 00244065 Expired - Fee Related CN2467476Y (en) | 2000-08-03 | 2000-08-03 | Handling stacking robot hand |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN2467476Y (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105945931A (en) * | 2016-06-12 | 2016-09-21 | 青岛万龙智控科技有限公司 | Underpinning carrying manipulator |
-
2000
- 2000-08-03 CN CN 00244065 patent/CN2467476Y/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105945931A (en) * | 2016-06-12 | 2016-09-21 | 青岛万龙智控科技有限公司 | Underpinning carrying manipulator |
| CN105945931B (en) * | 2016-06-12 | 2018-05-04 | 青岛万龙智控科技有限公司 | A kind of backing conveying robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107775337A (en) | Intelligent assembly work station | |
| CN206854963U (en) | A kind of auto-stitching machine | |
| CN211056179U (en) | Novel compact suction and clamping integrated device | |
| CN110744531A (en) | Portable compact type material grabbing robot | |
| CN103101771B (en) | Tire dismantling and stacking dual purpose machine | |
| CN210084409U (en) | Snatch hacking machine | |
| CN2355854Y (en) | Stacking robot claw | |
| CN2467476Y (en) | Handling stacking robot hand | |
| CN212100883U (en) | Conveying and feeding device for machining | |
| CN111689189B (en) | Automatic overturning line for processing large surface of steel plate | |
| CN102658895B (en) | Automatic tidying equipment for upper handle of carton handlebar | |
| CN113548453A (en) | Clamping translation carrying mechanism for multiple products | |
| CN208527991U (en) | A kind of high-speed rail brake block riveting machine | |
| CN200948664Y (en) | Automatic bottle feeding mechanism for straight line type bottle blowing machine | |
| CN113501152B (en) | Rotary finger and package stacking gripper | |
| CN212919428U (en) | Feeding and discharging mechanical arm for machine manufacturing | |
| CN212044803U (en) | Power gripping apparatus for robot | |
| CN201157876Y (en) | Automatic fetching device for punching machine | |
| CN209577815U (en) | The U-shaped head pillow frame bending machine of automotive seat | |
| CN203006506U (en) | Tire stacking and unstacking dual-purpose machine | |
| CN105668413A (en) | 180-degree tilter for washing machine tank | |
| CN215037448U (en) | Manipulator and cooperation handling system | |
| CN214392815U (en) | 3D laser engraving machine for machining automobile hub | |
| CN2589424Y (en) | Bagged goods catching and placing machine | |
| CN208218325U (en) | Waste product folder |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C19 | Lapse of patent right due to non-payment of the annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |