CN104309077B - A kind of can the multi-sucker handgrip of compact gathering goods - Google Patents
A kind of can the multi-sucker handgrip of compact gathering goods Download PDFInfo
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- CN104309077B CN104309077B CN201410537552.6A CN201410537552A CN104309077B CN 104309077 B CN104309077 B CN 104309077B CN 201410537552 A CN201410537552 A CN 201410537552A CN 104309077 B CN104309077 B CN 104309077B
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- hole
- connecting rod
- chain block
- dynamic
- plate
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C45/00—Injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould; Apparatus therefor
- B29C45/17—Component parts, details or accessories; Auxiliary operations
- B29C45/40—Removing or ejecting moulded articles
- B29C45/42—Removing or ejecting moulded articles using means movable from outside the mould between mould parts, e.g. robots
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
- B25J15/0683—Details of suction cup structure, e.g. grooves or ridges
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C45/00—Injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould; Apparatus therefor
- B29C45/17—Component parts, details or accessories; Auxiliary operations
- B29C45/1769—Handling of moulded articles or runners, e.g. sorting, stacking, grinding of runners
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C45/00—Injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould; Apparatus therefor
- B29C45/17—Component parts, details or accessories; Auxiliary operations
- B29C45/40—Removing or ejecting moulded articles
- B29C45/42—Removing or ejecting moulded articles using means movable from outside the mould between mould parts, e.g. robots
- B29C45/4225—Take-off members or carriers for the moulded articles, e.g. grippers
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manufacturing & Machinery (AREA)
- Load-Engaging Elements For Cranes (AREA)
Abstract
The invention discloses a kind of can the multi-sucker handgrip of compact gathering goods, including Shang Dingban (1), Xia Dingban (2), interior chain block (3), dynamic plate (4), outer chain block (5), upper connecting rod (6), lower link (7), dynamic connecting rod (8), dish connecting rod (9), fulcrum shaft (10), cylinder (11), sucker (12).The present invention uses and is determined plate by interior chain block by upper and lower determine plate and be connected as entirety, and dynamic plate is positioned at the lower lower section determining plate, and the cylinder body of cylinder is determined plate be connected with lower, and piston rod is connected with dynamic plate；Upper connecting rod, lower link, interior chain block and outer chain block are connected as deformable quadrilateral structure；The dynamic upper end of connecting rod is rotatably connected with the fulcrum hole of lower link, and the lower end of dynamic connecting rod is rotatably connected with dynamic plate, and the lower end of outer chain block is connected with sucker through dish connecting rod；During work, four scattered goods drawn respectively by four suckers, air cylinder driven is moved plate and is moved down and drive described quadrilateral structure to make the technical scheme of the amoeboid movement cause centripetal gathering of goods through dynamic connecting rod, make the work of multi-sucker handgrip, reach reduction cost, improved efficiency, be suitable for the purpose that man-machine isolation automated production requires.
Description
Technical field
The present invention relates to tongs device, specifically refer to produce for injection machine, goods are taken off from the injection mold that a mould has more, and can by compact for multiple goods draw load in Turnover Box a kind of in can the multi-sucker handgrip of compact gathering goods.
Background technology
It is called for short mechanical hand for automatically taking off the mechanical hand of injection-molded item on injection machine mould, mechanical hand is made up of machinery elbow and handgrip, handgrip is for capturing goods from injection machine mould, based on the frame mode capturing goods, the handgrip using the lower goods of machinery gripping is referred to as mechanical gripper, the handgrip using negative pressure sucker to take off goods is referred to as sucker gripper, common sucker gripper is provided with multiple sucker, for taking off multiple goods from the mould that a mould has more the most simultaneously, thus referred to as multi-sucker handgrip；Present document relates to multi-sucker handgrip and be called for short polydisc handgrip.After prior art polydisc handgrip takes off multiple goods, by the temporary horizontalization platform being shelved on injection machine side the most at random for goods, by manually being put in order neatly goods at random, compacter piling up is transported to Turnover Box；Manually putting in order vanning, how expensive recruitment is, and cost is high, efficiency is low, additionally, be not suitable for the full-automatic production requirement in man-machine isolation or unmanned workshop, therefore, prior art exists that cost is high, efficiency is low, is not suitable for man-machine isolation, problems and shortcomings that unmanned Workshop Production requires.
Summary of the invention
The problems and shortcomings existed for above-mentioned prior art, the present invention use by upper determine plate, Xia Dingban, interior chain block, dynamic plate, outer chain block, upper connecting rod, lower link, move connecting rod, device that dish connecting rod, cylinder, sucker are constituted；This device is line centered by the axis of cylinder, is divided into four symmetrical linkage part, overlooks in cross radial configuration, and with main depending on right part carry out structure representation；Interior chain block is determined plate by upper and lower determine plate and be connected as entirety, and dynamic plate is positioned at the lower lower section determining plate, and with lower, the cylinder body of cylinder determines that plate is fixing to be connected, the piston rod of cylinder is fixed with dynamic plate and is connected；By position up and down, upper connecting rod, lower link, interior chain block and outer chain block are connected as mutual rotating quadrilateral structure；The dynamic upper end of connecting rod is rotatably connected with the fulcrum hole of lower link, and the lower end of dynamic connecting rod is rotatably connected with dynamic plate, and the lower end of outer chain block is fixing with the left end of dish connecting rod to be connected, and the right-hand member of dish connecting rod is fixing with the upper end of sucker to be connected；During work, four mutual scattered goods break away from moulds drawn respectively by four suckers, air cylinder driven is moved plate and is moved down, dynamic plate drives outer chain block through dynamic connecting rod, upper connecting rod, within lower link work, chain block is the quadrilateral area motion of fixed edge, make outer chain block band Moving plate connecting rod, sucker and goods make the most centripetal gathering campaign, the technical scheme of Turnover Box will be loaded after four compact gatherings of goods, there is provided a kind of can the multi-sucker handgrip of compact gathering goods, it is intended to make the work of multi-sucker handgrip, reduce cost, improve efficiency, it is suitable for man-machine isolation, the purpose that unmanned Workshop Production requires.
The object of the present invention is achieved like this: a kind of can the multi-sucker handgrip of compact gathering goods, including Shang Dingban, Xia Dingban, interior chain block, dynamic plate, outer chain block, upper connecting rod, lower link, dynamic connecting rod, dish connecting rod, fulcrum shaft, cylinder, sucker, this device is line centered by the axis of cylinder, it is divided into four symmetrical linkage part, overlook in cross radial configuration, wherein: described interior chain block, outer chain block, upper connecting rod, lower link, dynamic connecting rod, dish connecting rod, fulcrum shaft, sucker carry out structure representation with main depending on right part；
Described upper determining the steel components that plate is rectangular plate-like, the upper center determining plate is provided with manhole and is referred to as emptiness avoiding hole；Upper determine plate be respectively provided with at right position before and after described emptiness avoiding hole periphery the through hole of connection referred to as on surely connect hole；
Described lower determining the steel components that plate is bar shaped tabular, the lower center determining plate is provided with and is referred to as lower determining hole for the circular through hole connected；
Described interior chain block is the steel components of rectangular block shape, and the right part center of interior chain block is provided with above-below direction, opening groove to the right and is referred to as link slot；The upper right quarter of interior chain block is provided with fore-and-aft direction and passes the interior upper hole of manhole of described link slot, and the right lower quadrant of interior chain block is provided with the fore-and-aft direction interior lower opening of manhole through described link slot；
The described steel components that dynamic plate is bar shaped tabular, the center of dynamic plate is provided with and is referred to as disorder of internal organs hole for the circular through hole connected；Left and right two end of dynamic plate is provided with the manhole of fore-and-aft direction and is referred to as dynamic turning hole；
Described outer chain block is the steel components of rectangular block shape, and the upper end of outer chain block is provided with the manhole of fore-and-aft direction and is referred to as outside upper hole；The middle part of outer chain block is provided with the manhole of fore-and-aft direction and is referred to as outer mesopore；The lower surface of outer chain block is provided with the inner bolt hole for connecting；
Described upper connecting rod is the steel components that Π font is block, and left and right two end of upper connecting rod is respectively equipped with the manhole of fore-and-aft direction and company of being called left hole and upper company right hole；
Described lower link is the steel components that the font of falling Π is block, left and right two end of lower link is respectively equipped with the manhole of fore-and-aft direction and is called lower even left hole and lower even right hole, and lower link is additionally provided with one in the right of described lower even left hole and is referred to as fulcrum hole with the described lower even manhole that left hole is parallel；
Described dynamic connecting rod is the steel components of the bar shaped bulk at upwards 135 ° of angles of bending, middle part, and left and right two end of dynamic connecting rod is respectively equipped with the manhole of fore-and-aft direction and is called dynamic left hole and dynamic right hole；
The described steel components that dish connecting rod is rectangular plate-like, the left end of dish connecting rod is provided with the manhole of above-below direction and is referred to as dish bar left hole, and the middle part of dish connecting rod to right-hand member is provided with above-below direction, oblong through hole is referred to as dish bar right hole；
Described fulcrum shaft is the stepped steel components of cylinder table that front end is provided with flange；
Described cylinder is the Pneumatic extension executive component being made up of cylinder body, piston rod；
Described sucker is that top is provided with and connects that screw thread, middle part are provided with vacuum passage, bottom is provided with the vac sorb executive component of rubber mass sucker；
Determining the orthogonal lower section determining plate that is positioned at of plate upper and lower superposition cross under two, four interior chain blocks lay respectively at determines plate and the lower centrifugal end determined between plate, determines plate through the described upper hole that surely connects by upper and lower determine plate and be connected as entirety；Two dynamic plate upper and lower superposition crosses are orthogonal is positioned at the lower lower section determining plate；The cylinder body of cylinder is passed down through the described emptiness avoiding hole determining plate, described lower determine lower mutually orthogonal with two in hole through coincide with the upper and lower and determines that plate is fixing to be connected；The piston rod of the cylinder described disorder of internal organs hole through the coinciding with the upper and lower dynamic plate mutually orthogonal with two is fixing to be connected；
By this device master depending on right part position up and down as a example by state upper connecting rod, lower link, interior chain block and the annexation of outer chain block；Upper connecting rod, lower link, interior chain block and outer chain block are connected as mutual rotating quadrilateral structure, and wherein, the left end of upper connecting rod slides in the described link slot being embedded in interior chain block, and the described upper even left hole of upper connecting rod is rotatably connected with the described interior upper hole of interior chain block；The described upper even right hole of upper connecting rod is rotatably connected with the described outside upper hole of outer chain block；The left end of lower link slides in the described link slot being embedded in interior chain block, and the described lower even left hole of lower link is rotatably connected with the described interior lower opening of interior chain block；The described lower even right hole of lower link is rotatably connected with the described outer mesopore of outer chain block；Move the described dynamic left hole of connecting rod and the described dynamic of dynamic plate turns hole and be rotatably connected；The described dynamic right hole of dynamic connecting rod is rotatably connected through the described fulcrum hole of described fulcrum shaft with lower link；The lower end of outer chain block is fixing with the described dish bar left hole of dish connecting rod to be connected；The described dish bar right hole of dish connecting rod is fixing with the top of sucker to be connected.
The face, direction of said structure statement is divided into up, down, left, right, front, rear side, wherein, before be the face in the face of device front view, after be and be described before the most relative face；Centripetal direction is the direction of the axis of orthogonal sensing cylinder, described is centrifuged as the direction relative with described centripetal direction.
Operation principle and beneficial effect
During work, four mutual scattered goods break away from moulds drawn respectively by four suckers, air cylinder driven is moved plate and is moved down, dynamic plate chain block within dynamic connecting rod drives outer chain block, upper connecting rod, lower link to make is the quadrilateral area motion of fixed edge, make outer chain block band Moving plate connecting rod, sucker and goods make the most centripetal gathering campaign, Turnover Box will be loaded after four compact gatherings of goods.
This apparatus structure is simple, and reliable operation makes the work of multi-sucker handgrip, reduces cost, improves efficiency, meets for man-machine isolation, the requirement of unmanned Workshop Production.
Above-mentioned, the present invention use by upper determine plate, Xia Dingban, interior chain block, dynamic plate, outer chain block, upper connecting rod, lower link, move connecting rod, device that dish connecting rod, cylinder, sucker are constituted；This device is line centered by the axis of cylinder, is divided into four symmetrical linkage part, overlooks in cross radial configuration, and with main depending on right part carry out structure representation；Interior chain block is determined plate by upper and lower determine plate and be connected as entirety, and dynamic plate is positioned at the lower lower section determining plate, and with lower, the cylinder body of cylinder determines that plate is fixing to be connected, the piston rod of cylinder is fixed with dynamic plate and is connected；By position up and down, upper connecting rod, lower link, interior chain block and outer chain block are connected as mutual rotating quadrilateral structure；The dynamic upper end of connecting rod is rotatably connected with the fulcrum hole of lower link, and the lower end of dynamic connecting rod is rotatably connected with dynamic plate, and the lower end of outer chain block is fixing with the left end of dish connecting rod to be connected, and the right-hand member of dish connecting rod is fixing with the upper end of sucker to be connected；During work, four mutual scattered goods break away from moulds drawn respectively by four suckers, air cylinder driven is moved plate and is moved down, dynamic plate drives outer chain block through dynamic connecting rod, upper connecting rod, within lower link work, chain block is the quadrilateral area motion of fixed edge, make outer chain block band Moving plate connecting rod, sucker and goods make the most centripetal gathering campaign, the technical scheme of Turnover Box will be loaded after four compact gatherings of goods, overcome prior art and there is cost height, efficiency is low, be not suitable for man-machine isolation, the problems and shortcomings that unmanned Workshop Production requires, thered is provided a kind of can the multi-sucker handgrip of compact gathering goods, make the work of multi-sucker handgrip, reach reduction cost, improve efficiency, it is suitable for man-machine isolation, the purpose that unmanned Workshop Production requires.
Accompanying drawing explanation
Fig. 1 be the present invention a kind of can compact gathering goods multi-sucker handgrip master regard sectional structure schematic diagram；
Fig. 2 is the extraction enlarged drawing in A portion in Fig. 1；
Fig. 3 is that a kind of of the present invention can the axle geodesic structure schematic diagram of multi-sucker handgrip of compact gathering goods；
Fig. 4 be the present invention a kind of can the multi-sucker handgrip of compact gathering goods, be operated in the principle schematic of four goods 01 compact gathering tenses；
Fig. 5 be the present invention a kind of can compact gathering goods multi-sucker handgrip axle survey decomposing schematic representation.
The present invention is described in further detail by the embodiment in below in conjunction with the accompanying drawings, but should not be construed as any limitation of the invention.
In figure: above determine plate 1, lower determine plate 2, interior chain block 3, dynamic plate 4, outer chain block 5, upper connecting rod 6, lower link 7, dynamic connecting rod 8, dish connecting rod 9, fulcrum shaft 10, cylinder 11, sucker 12, goods 01.
Detailed description of the invention
Refering to Fig. 1～Fig. 5, the a kind of of the present invention can the multi-sucker handgrip of compact gathering goods, including upper determining plate 1, lower determining plate 2, interior chain block 3, dynamic plate 4, outer chain block 5, upper connecting rod 6, lower link 7, dynamic connecting rod 8, dish connecting rod 9, fulcrum shaft 10, cylinder 11, sucker 12, this device is line centered by the axis of cylinder 11, it is divided into four symmetrical linkage part, overlook in cross radial configuration, wherein: described interior chain block 3, outer chain block 5, upper connecting rod 6, lower link 7, dynamic connecting rod 8, dish connecting rod 9, fulcrum shaft 10, sucker 12 carry out structure representation with main depending on right part；
Described upper determining the steel components that plate 1 is rectangular plate-like, the upper center determining plate 1 is provided with manhole and is referred to as emptiness avoiding hole；Upper determine plate 1 be respectively provided with at right position before and after described emptiness avoiding hole periphery the through hole of connection referred to as on surely connect hole；
Described lower determining the steel components that plate 2 is bar shaped tabular, the lower center determining plate 2 is provided with and is referred to as lower determining hole for the circular through hole connected；
Described interior chain block 3 is the steel components of rectangular block shape, and the right part center of interior chain block 3 is provided with above-below direction, opening groove to the right and is referred to as link slot；The upper right quarter of interior chain block 3 is provided with fore-and-aft direction and passes the interior upper hole of manhole of described link slot, and the right lower quadrant of interior chain block 3 is provided with the fore-and-aft direction interior lower opening of manhole through described link slot；
The described steel components that dynamic plate 4 is bar shaped tabular, the center of dynamic plate 4 is provided with and is referred to as disorder of internal organs hole for the circular through hole connected；Left and right two end of dynamic plate 4 is provided with the manhole of fore-and-aft direction and is referred to as dynamic turning hole；
Described outer chain block 5 is the steel components of rectangular block shape, and the upper end of outer chain block 5 is provided with the manhole of fore-and-aft direction and is referred to as outside upper hole；The middle part of outer chain block 5 is provided with the manhole of fore-and-aft direction and is referred to as outer mesopore；The lower surface of outer chain block 5 is provided with the inner bolt hole for connecting；
Described upper connecting rod 6 is the steel components that ∏ font is block, and left and right two end of upper connecting rod 6 is respectively equipped with the manhole of fore-and-aft direction and company of being called left hole and upper company right hole；
Described lower link 7 is the steel components that the font of falling ∏ is block, left and right two end of lower link 7 is respectively equipped with the manhole of fore-and-aft direction and is called lower even left hole and lower even right hole, and lower link 7 is additionally provided with one in the right of described lower even left hole and is referred to as fulcrum hole with the described lower even manhole that left hole is parallel；
Described dynamic connecting rod 8 is the steel components of the bar shaped bulk at upwards 135 ° of angles of bending, middle part, and left and right two end of dynamic connecting rod 8 is respectively equipped with the manhole of fore-and-aft direction and is called dynamic left hole and dynamic right hole；
Described dish connecting rod 9 is the steel components of rectangular plate-like, and the left end of dish connecting rod 9 is provided with the manhole of above-below direction and is referred to as dish bar left hole, and the middle part of dish connecting rod 9 to right-hand member is provided with above-below direction, oblong through hole is referred to as dish bar right hole；
Described fulcrum shaft 10 is provided with the stepped steel components of cylinder table of flange for front end；
Described cylinder 11 is the Pneumatic extension executive component being made up of cylinder body, piston rod；
Described sucker 12 is provided with for top and connects that screw thread, middle part are provided with vacuum passage, bottom is provided with the vac sorb executive component of rubber mass sucker；
Determining the orthogonal lower section determining plate 1 that is positioned at of plate about 2 superposition cross under two, four interior chain blocks 3 lay respectively at determines plate 1 and the lower centrifugal end determined between plate 2, determines plate 1 through the described upper hole that surely connects by upper and lower determine plate 2 and be connected as entirety；Two dynamic plate about 4 superposition crosses are orthogonal is positioned at the lower lower section determining plate 2；The cylinder body of cylinder 11 is passed down through the described emptiness avoiding hole determining plate 1, described lower determine lower mutually orthogonal with two in hole through coincide with the upper and lower and determines that plate 2 is fixing to be connected；The piston rod of the cylinder 11 described disorder of internal organs hole through the coinciding with the upper and lower dynamic plate mutually orthogonal with two 4 is fixing to be connected；
By this device master depending on right part position up and down as a example by state upper connecting rod 6, lower link 7, interior chain block 3 and the annexation of outer chain block 5；Upper connecting rod 6, lower link 7, interior chain block 3 and outer chain block 5 are connected as mutual rotating quadrilateral structure, wherein, the left end of upper connecting rod 6 slides in the described link slot being embedded in interior chain block 3, and the described upper even left hole of upper connecting rod 6 is rotatably connected with the described interior upper hole of interior chain block 3；The described upper even right hole of upper connecting rod 6 is rotatably connected with the described outside upper hole of outer chain block 5；The left end of lower link 7 slides in the described link slot being embedded in interior chain block 3, and the described lower even left hole of lower link 7 is rotatably connected with the described interior lower opening of interior chain block 3；The described lower even right hole of lower link 7 is rotatably connected with the described outer mesopore of outer chain block 5；Move the described dynamic left hole of connecting rod 8 and the described dynamic of dynamic plate 4 turns hole and be rotatably connected；The described dynamic right hole of dynamic connecting rod 8 is rotatably connected through the described fulcrum hole of described fulcrum shaft 10 with lower link 7；The lower end of outer chain block 5 is fixing with the described dish bar left hole of dish connecting rod 9 to be connected；The described dish bar right hole of dish connecting rod 9 is fixing with the top of sucker 12 to be connected.
The face, direction of said structure statement is divided into up, down, left, right, front, rear side, wherein, before be the face in the face of device front view, after be and be described before the most relative face；Centripetal direction is the direction of the axis of orthogonal sensing cylinder 11, described is centrifuged as the direction relative with described centripetal direction.
Operation principle and beneficial effect
During work, four mutual scattered goods 01 break away from moulds drawn respectively by four suckers 12, cylinder 11 drives dynamic plate 4 to move down, dynamic plate 4 chain block 3 within dynamic connecting rod 8 drives outer chain block 5, upper connecting rod 6, lower link 7 to make is the quadrilateral area motion of fixed edge, make outer chain block 5 band Moving plate connecting rod 9, sucker 12 and goods 01 make the most centripetal gathering campaign, Turnover Box will be loaded after four compact gatherings of goods 01.
This apparatus structure is simple, and reliable operation makes the work of multi-sucker handgrip, reduces cost, improves efficiency, meets for man-machine isolation, the requirement of unmanned Workshop Production.
Claims (1)
1. can the multi-sucker handgrips of compact gathering goods, including Shang Dingban (1), Xia Dingban (2), interior
Chain block (3), dynamic plate (4), outer chain block (5), upper connecting rod (6), lower link (7), dynamic connecting rod (8), dish connecting rod
(9), fulcrum shaft (10), cylinder (11), sucker (12), this device is line centered by the axis of cylinder (11),
Be divided into four symmetrical linkage part, overlook in cross radial configuration, described interior chain block (3), outer chain block (5),
Upper connecting rod (6), lower link (7), dynamic connecting rod (8), dish connecting rod (9), fulcrum shaft (10), sucker (12) are with master
Structure representation is carried out depending on right part；It is characterized in that: described upper to determine plate (1) be the steel components of rectangular plate-like,
The upper center determining plate (1) is provided with manhole and is referred to as emptiness avoiding hole；Above determine plate (1) before described emptiness avoiding hole periphery
Position, rear left and right is respectively provided with the through hole of connection and is referred to as surely connecing hole；
Described lower determining the steel components that plate (2) is bar shaped tabular, the center of Xia Dingban (2) is provided with for connecting
Circular through hole be referred to as lower determining hole；
Described interior chain block (3) is the steel components of rectangular block shape, and the right part center of interior chain block (3) is provided with up and down
Direction, opening groove to the right is referred to as link slot；The upper right quarter of interior chain block (3) is provided with fore-and-aft direction through described
The manhole of link slot is upper hole in being referred to as, and the right lower quadrant of interior chain block (3) is provided with fore-and-aft direction through described connection
The manhole of groove is referred to as interior lower opening；
The described steel components that dynamic plate (4) is bar shaped tabular, the center of dynamic plate (4) is provided with the circle for connecting
The through hole of shape is referred to as disorder of internal organs hole；Left and right two end of dynamic plate (4) is provided with the manhole of fore-and-aft direction and is referred to as dynamic turning
Hole；
Described outer chain block (5) is the steel components of rectangular block shape, and the upper end of outer chain block (5) is provided with fore-and-aft direction
Manhole be referred to as outside upper hole；The middle part of outer chain block (5) be provided with the manhole of fore-and-aft direction be referred to as outer in
Hole；The lower surface of outer chain block (5) is provided with the inner bolt hole for connecting；
Described upper connecting rod (6) is the steel components that ∏ font is block, and left and right two end of upper connecting rod (6) sets respectively
There are the manhole of fore-and-aft direction and the company's of being called left hole and upper even right hole；
Described lower link (7) is the steel components that the font of falling ∏ is block, and left and right two end of lower link (7) is respectively
Being provided with the manhole of fore-and-aft direction and be called lower even left hole and lower even right hole, lower link (7) is under described
The right of company's left hole is additionally provided with one and is referred to as fulcrum hole with the described lower even manhole that left hole is parallel；
Described dynamic connecting rod (8) is the steel components of the bar shaped bulk at upwards 135 ° of angles of bending, middle part, dynamic connecting rod
(8) left and right two end is respectively equipped with the manhole of fore-and-aft direction and is called dynamic left hole and dynamic right hole；
Described dish connecting rod (9) is the steel components of rectangular plate-like, and the left end of dish connecting rod (9) is provided with above-below direction
Manhole be referred to as dish bar left hole, middle part to the right-hand member of dish connecting rod (9) is provided with above-below direction, oblong logical
Hole is referred to as dish bar right hole；
Described fulcrum shaft (10) is the stepped steel components of cylinder table that front end is provided with flange；
Described cylinder (11) is the Pneumatic extension executive component being made up of cylinder body, piston rod；
Described sucker (12) is that top is provided with connection screw thread, middle part is provided with vacuum passage, bottom is provided with rubber
The vac sorb executive component of matter sucker；
Plate (2) the orthogonal lower section being positioned at Shang Dingban (1) of superposition cross up and down, four interior chain blocks (3) point are determined under two
Be not positioned at Shang Dingban (1) and the lower centrifugal end determined between plate (2), through described upper surely connect hole by upper determine plate (1) and under
Determine plate (2) and be connected as entirety；Two dynamic plate (4) orthogonal lower sections being positioned at Xia Dingban (2) of superposition cross up and down；Gas
The cylinder body of cylinder (11) is passed down through the described emptiness avoiding hole of Shang Dingban (1), described lower determines hole and two through coincide with the upper and lower
The most mutually orthogonal lower determine that plate (2) is fixing to be connected；The piston rod of cylinder (11) the described disorder of internal organs hole through coinciding with the upper and lower
The dynamic plate (4) mutually orthogonal with two is fixing to be connected；
As follows with the annexation statement that single unit system master regards, upper connecting rod (6), lower link (7), interior chain block (3)
Being connected as mutual rotating quadrilateral structure with outer chain block (5), wherein, the left end of upper connecting rod (6) slides embedding
In the described link slot of interior chain block (3), the described upper even left hole of upper connecting rod (6) is described interior with interior chain block (3)
Upper hole is rotatably connected；The described upper even right hole of upper connecting rod (6) is rotatable with the described outside upper hole of outer chain block (5)
Connect；The left end of lower link (7) slides in the described link slot being embedded in interior chain block (3), lower link (7) described
Lower even left hole is rotatably connected with the described interior lower opening of interior chain block (3)；The described lower even right hole of lower link (7) with
The described outer mesopore of outer chain block (5) is rotatably connected；The described dynamic left hole of dynamic connecting rod (8) is described with dynamic plate (4)
Dynamic turn hole and be rotatably connected；The described dynamic right hole of dynamic connecting rod (8) is through described fulcrum shaft (10) and lower link (7)
Described fulcrum hole is rotatably connected；The lower end of outer chain block (5) is fixing with the described dish bar left hole of dish connecting rod (9) to be connected
Connect；The described dish bar right hole of dish connecting rod (9) is fixing with the top of sucker (12) to be connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410537552.6A CN104309077B (en) | 2014-09-24 | 2014-09-24 | A kind of can the multi-sucker handgrip of compact gathering goods |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410537552.6A CN104309077B (en) | 2014-09-24 | 2014-09-24 | A kind of can the multi-sucker handgrip of compact gathering goods |
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| Publication Number | Publication Date |
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| CN104309077A CN104309077A (en) | 2015-01-28 |
| CN104309077B true CN104309077B (en) | 2016-09-07 |
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| CN201410537552.6A Expired - Fee Related CN104309077B (en) | 2014-09-24 | 2014-09-24 | A kind of can the multi-sucker handgrip of compact gathering goods |
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Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106273285B (en) * | 2016-08-31 | 2018-08-17 | 英力电子科技（重庆）有限公司 | The clamp device of plastic part is gripped for manipulator |
| US10195747B1 (en) * | 2017-08-03 | 2019-02-05 | General Electric Company | Multi-faced apparatus and system for automated handling of components |
| CN108165776B (en) * | 2017-12-18 | 2024-03-12 | 重庆中色新材料有限公司 | Water immersion tank for rare earth processing |
| CN109037127B (en) * | 2018-07-06 | 2024-03-22 | 天长市百盛半导体科技有限公司 | Inserting sheet device for crystalline silicon of solar cell |
| CN110883784A (en) * | 2019-12-03 | 2020-03-17 | 天津市天锻压力机有限公司 | Robot feeding and discharging gripper applied to double-mold tubular liquid-filling forming part |
| CN111590828A (en) * | 2020-05-29 | 2020-08-28 | 杭州蒙图机械设计有限公司 | Injection mold facilitating discharging |
| CN113211486B (en) * | 2021-05-20 | 2022-10-21 | 李文敏 | Medicine packing is with hand claw of getting it filled |
| CN116619432B (en) * | 2023-07-20 | 2023-09-26 | 广东宏兴机械有限公司 | Feeding manipulator for high-speed stamping |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1919545A (en) * | 2006-09-08 | 2007-02-28 | 清华大学 | Robot for carrying and piling |
| CN103538754A (en) * | 2013-08-20 | 2014-01-29 | 江苏仅一包装技术有限公司 | Foam plate packing clamp of packing equipment |
| CN203558257U (en) * | 2013-08-20 | 2014-04-23 | 江苏仅一包装技术有限公司 | Foam plate packing clamp of packing device |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TWI483819B (en) * | 2012-12-25 | 2015-05-11 | Ind Tech Res Inst | Gripper appararus and method for controlling the same |
| CN204123626U (en) * | 2014-09-24 | 2015-01-28 | 宁波问鼎机器人有限公司 | A kind of can the multi-sucker handgrip of compact gathering goods |
-
2014
- 2014-09-24 CN CN201410537552.6A patent/CN104309077B/en not_active Expired - Fee Related
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1919545A (en) * | 2006-09-08 | 2007-02-28 | 清华大学 | Robot for carrying and piling |
| CN103538754A (en) * | 2013-08-20 | 2014-01-29 | 江苏仅一包装技术有限公司 | Foam plate packing clamp of packing equipment |
| CN203558257U (en) * | 2013-08-20 | 2014-04-23 | 江苏仅一包装技术有限公司 | Foam plate packing clamp of packing device |
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| CN104309077A (en) | 2015-01-28 |
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