CN108529248A - A kind of gripper - Google Patents
A kind of gripper Download PDFInfo
- Publication number
- CN108529248A CN108529248A CN201810367629.8A CN201810367629A CN108529248A CN 108529248 A CN108529248 A CN 108529248A CN 201810367629 A CN201810367629 A CN 201810367629A CN 108529248 A CN108529248 A CN 108529248A
- Authority
- CN
- China
- Prior art keywords
- hock
- gripper
- arm
- transverse slat
- riser
- 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.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/901—Devices for picking-up and depositing articles or materials provided with drive systems with rectilinear movements only
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
Abstract
The present invention proposes a kind of gripper, including：Gripper frame, cylinder, pawl pincers；Frame includes transverse slat and three risers being located at below transverse slat, and intermediate riser is equipped with connection clip, and the riser of the right and left is equipped with rotating turret, and rotating clip includes two arc panels and the Rotational Cylindrical that is fixed on arc panel；Pawl is clamped to be rotatablely connected with rotating clip, and pawl pincers include hock, hock arm, and hock arm is rotatablely connected with Rotational Cylindrical；Cylinder one end is hinged on connection clip, and the other end is hinged with hock arm end；The gripper of the present invention has larger grasping force, stable working state when capturing product, and shock resistance is strong.
Description
Technical field
The present invention relates to mechanical equipment technical fields, in particular to a kind of gripper.
Background technology
The robot components of similar human hand function may be implemented in robot hand.Robot hand be for hold workpiece or
The component of tool, is important one of executing agency.The workpiece shapes held according to robot are different, and there are many classes for paw
Type, gripper capture the gripper of product as stacking, need good shock resistance and huge grasping force, existing machinery
Pawl is poor in shock resistance, it is difficult to meet production requirement.
Invention content
The present invention is based at least one above-mentioned technical problem, it is proposed that a kind of new gripper, grasping force is big, grabs
It is in stable condition when taking product.
In view of this, the present invention proposes a kind of gripper, including：Gripper frame, cylinder, pawl pincers；The frame packet
Three risers for including transverse slat and being located at below the transverse slat, the intermediate riser be equipped with connection clip, the right and left it is described
Riser is equipped with rotating turret, and the rotating clip includes two arc panels and the Rotational Cylindrical that is fixed on the arc panel；The pawl
Pincers are rotatablely connected with the rotating clip, and the pawl pincers include hock, hock arm, and the hock arm connects with Rotational Cylindrical rotation
It connects；Described cylinder one end is hinged on the connection clip, and the other end is hinged with hock arm end.
Preferably, it is equipped with sucker below the riser.
Preferably, it is equipped with terminal pad above the transverse slat.
The beneficial effects of the invention are as follows：By above technical scheme, gripper has larger grasping force, captures product
When stable working state, shock resistance is strong.
Description of the drawings
Fig. 1 has gone out the structural schematic diagram of packing ＆ palletizing line according to an embodiment of the invention；
Fig. 2 has gone out stacking machine top view illustration according to an embodiment of the invention；
Fig. 3 has gone out stacking machine front view schematic diagram according to an embodiment of the invention；
Fig. 4 has gone out the structural schematic diagram of baling press front view according to an embodiment of the invention；
Fig. 5 has gone out the structural schematic diagram of baling press vertical view according to an embodiment of the invention；
Fig. 6 has gone out turning machine top view illustration according to an embodiment of the invention；
Fig. 7 has gone out turning machine front view schematic diagram according to an embodiment of the invention；
Fig. 8 has gone out the structural schematic diagram of gripper according to an embodiment of the invention；
In figure：1 is stacking machine, and 2 be baling press, and 3 be turning machine, and 4 be backgauge frame, and 5 be feeder, and 6 be conveyer belt, and 7 be pallet,
8 be guardrail, and 9 be gripper, and 100 be bottom plate, and 101 be swivel mount, and 102 be connecting plate, and 103 be mounting plate, and 104 be the first driving
Bar, 105 be the second drive rod, and 106 be connecting rod, and 107 be third hydraulic stem, and 108 be fixed link, and 200 be fuselage, and 201 be gantry
Frame, 202 be tep reel, and 203 be driving drum, and 204 be shoulder, and 205 be hydraulic stem, and 206 be plastics planchet, and 207 be castor, 300
It is lower plate for framework, 301,302 be side plate, and 303 be conveying cylinder, and 304 be deflecting plate, and 305 be support plate, and 306 be bull stick,
307 be motor, and 308 be turning machine hydraulic stem, and 309 be baffle, and 900 be transverse slat, and 901 be riser, and 902 be connection clip, and 903 be arc
Shape plate, 904 be Rotational Cylindrical, and 905 be hock, and 906 be hock arm, and 907 be sucker, and 908 be terminal pad.
Specific implementation mode
To better understand the objects, features and advantages of the present invention, below in conjunction with the accompanying drawings and specific real
Mode is applied the present invention is further described in detail.It should be noted that in the absence of conflict, the implementation of the application
Feature in example and embodiment can be combined with each other.
Many details are elaborated in the following description to facilitate a thorough understanding of the present invention, still, the present invention may be used also
To be implemented different from other modes described here using other, therefore, protection scope of the present invention is not by described below
Specific embodiment limitation.
It is described further below in conjunction with Fig. 1 to Fig. 8 technical scheme of the present invention.
As shown in Figure 1, the present invention proposes a kind of packing ＆ palletizing line, including：Stacking machine, pipeline, pallet 7；It is defeated
Line sending is equipped with feeder 5, lateral baling press 2, turning machine 3, vertical baling press 2, gear successively along the direction of material transmission
Rack 4 and the conveyer belt 6 being located on transmission line；Stacking machine both sides correspond to two strip transmission lines and two pallets 7 respectively, and pipeline exists
On straight line, space is reduced, stacking machine both sides are equipped with guardrail 8, increase the safety of production, and material passes through feeder 5
It is sent to lateral baling press 2 and carries out lateral packing, 90 ° are turned to using turning machine 3, change material direction and pass through vertical packing
Machine 2 vertically pass through the position of the further limitation material of backgauge frame 4 so that material accurately reaches stacking position, one in the present invention
A stacking machine corresponds to two strip transmission lines, is carried out at the same time stacking.
As shown in Figure 2 and Figure 3, stacking machine 1 includes：Bottom plate 100, the swivel mount 101 for being located at 100 top of bottom plate, swivel mount
101 tops are equipped with connecting plate 102, and 102 both ends of connecting plate are set there are two mounting plate 103, and 103 both ends of mounting plate lower section is equipped with machinery
Arm, mechanical arm include turntable, and turntable is equipped with the first drive rod 104, the second drive rod 105, the first drive rod 104, the
Two drive rods 105 are hinged with connecting rod 106, and connecting rod 106 is equipped with third hydraulic stem 107, third hydraulic stem 107 and connecting rod 106 with
Gripper 9 is hinged, and floor is equipped with the fixed link 108 connect with whirler, increase stability, when work, two machines of one end
Machinery claw 9 captures material simultaneously under the control of mechanical arm, and swivel mount 101 is rotated, two grippers 9 of crawl material one end
Stacking is carried out, material is placed on pallet 7, while two grippers 9 of the other end capture material, both ends work at the same time increase
Working efficiency.
As shown in figure 8, gripper 9 includes：9 frame of gripper, cylinder, pawl pincers；Frame includes transverse slat 900 and is located at transverse slat
Three risers 901 of 900 lower sections, intermediate riser 901 are equipped with connection clip 902, and the riser 901 of the right and left is equipped with rotation
Frame, rotating clip include two arc panels 903 and the Rotational Cylindrical 904 that is fixed on arc panel 903；Pawl is clamped to be connected with rotating clip rotation
It connects, pawl pincers include hock 905, hock arm 906, and hock arm 906 is rotatablely connected with Rotational Cylindrical 904；Cylinder one end is hinged on connection
On folder 902, the other end is hinged with 906 end of hock arm, and 901 lower section of riser ensures when capturing material not equipped with sucker 907
Stability when can destroy product while ensure crawl, 900 top of transverse slat is equipped with terminal pad 908, convenient for being connect with mechanical arm.
As shown in figs. 4 and 5, baling press 2 includes：Fuselage 200, portal frame 201, tep reel 202, portal frame 201 are located at machine
200 top of body, fuselage 200 are equipped with driving drum 203, and driving drum 203 is located at 201 lower section of portal frame, 203 liang of driving drum
Side is equipped with shoulder 204, and tep reel 202 is located at 200 side of fuselage, and shoulder 204 is set there are four hydraulic stem 205, and hydraulic stem 205 is symmetrical
201 front and rear sides of portal frame are located at, hydraulic stem 205 is equipped with plastics planchet 206, and 200 lower section of fuselage is equipped with locking device
Castor 207, when material reaches baling press 2, hydraulic stem 205 reaches the position of setting, and correction material direction is prevented because of material side
It causes to be packaged the case where effect is poor, and tape skew is beaten in appearance to crooked.
As shown in Figures 6 and 7, turning machine 3, including：Framework 300, steering gear；Steering gear is located at the lower plate 301 of framework 300
On, 300 upper end of framework is equipped with side plate 302 and the conveying cylinder 303 being located on side plate 302；Steering gear includes the steering of " well " shape
Plate 304, support plate 305, deflecting plate 304 are fixed on bull stick 306, and 306 bottom of bull stick is rotatablely connected with support plate 305, support
Plate 305 is equipped with the motor 307 being connect with bull stick 306, and lower plate 301 is fixed in 305 lower section of support plate by turning machine hydraulic stem 308
On, the material moved on is blocked in 305 left side of support plate equipped with baffle 309 when turning machine 3 works, to prevent causing production thing
Therefore deflecting plate 304 is equipped with anti-skid chequer and ensures that the angle of rotation is more accurate, 90 ° of 304 rotational angle of deflecting plate is so that material warp
It crosses and laterally plays band with vertical, keep product packaging more firm.
It is described in detail technical scheme of the present invention above in association with attached drawing, technical scheme of the present invention proposes a kind of new
Gripper, gripper have larger grasping force, stable working state when capturing product, and shock resistance is strong.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, any made by repair
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (3)
1. a kind of gripper, which is characterized in that including：Gripper frame, cylinder, pawl pincers；The frame includes transverse slat and be located at
Three risers below the transverse slat, the intermediate riser are equipped with connection clip, and the riser of the right and left, which is equipped with, to be turned
Moving frame, the rotating clip include two arc panels and the Rotational Cylindrical that is fixed on the arc panel；The pawl pincers and the rotation
Folder rotation connection, the pawl pincers include hock, hock arm, and the hock arm is rotatablely connected with the Rotational Cylindrical；The cylinder one
End is hinged on the connection clip, and the other end is hinged with hock arm end.
2. gripper according to claim 1, it is characterised in that：Sucker is equipped with below the riser.
3. gripper according to claim 2, it is characterised in that：Terminal pad is equipped with above the transverse slat.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810367629.8A CN108529248A (en) | 2018-04-23 | 2018-04-23 | A kind of gripper |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810367629.8A CN108529248A (en) | 2018-04-23 | 2018-04-23 | A kind of gripper |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108529248A true CN108529248A (en) | 2018-09-14 |
Family
ID=63477491
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810367629.8A Pending CN108529248A (en) | 2018-04-23 | 2018-04-23 | A kind of gripper |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108529248A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112356052A (en) * | 2020-10-29 | 2021-02-12 | 陆水龙 | Magnetic force paw |
| CN113084853A (en) * | 2021-03-17 | 2021-07-09 | 武汉理工大学 | Flexible gripper at tail end of robot |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2007116080A1 (en) * | 2006-04-12 | 2007-10-18 | Schott Ag | Thin-glass gripper |
| FR2928855A1 (en) * | 2008-03-21 | 2009-09-25 | Applic De Productivite Logisti | Suction gripper for transporting e.g. package, has ballast elements distributing efforts towards annular skirt to coat skirt around load when gripper is in depression, and pocket inserted between rigid structure and lower face of membrane |
| CN204172041U (en) * | 2014-09-15 | 2015-02-25 | 江苏牧羊控股有限公司 | A kind of robot gripper |
| CN205011047U (en) * | 2015-09-16 | 2016-02-03 | 合肥美的暖通设备有限公司 | Automatic pile up neatly anchor clamps |
| CN206032661U (en) * | 2016-08-12 | 2017-03-22 | 卓达新材料科技集团威海股份有限公司 | Sucking disc translation hacking machine claw mechanism |
| CN206645533U (en) * | 2017-03-16 | 2017-11-17 | 烟台瓦鲁机器人自动化有限公司 | A kind of compound gripper equipment of robot |
| CN107381078A (en) * | 2017-08-26 | 2017-11-24 | 广东利迅达机器人***股份有限公司 | A kind of composite fixture of Palletised carry robot |
-
2018
- 2018-04-23 CN CN201810367629.8A patent/CN108529248A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2007116080A1 (en) * | 2006-04-12 | 2007-10-18 | Schott Ag | Thin-glass gripper |
| FR2928855A1 (en) * | 2008-03-21 | 2009-09-25 | Applic De Productivite Logisti | Suction gripper for transporting e.g. package, has ballast elements distributing efforts towards annular skirt to coat skirt around load when gripper is in depression, and pocket inserted between rigid structure and lower face of membrane |
| CN204172041U (en) * | 2014-09-15 | 2015-02-25 | 江苏牧羊控股有限公司 | A kind of robot gripper |
| CN205011047U (en) * | 2015-09-16 | 2016-02-03 | 合肥美的暖通设备有限公司 | Automatic pile up neatly anchor clamps |
| CN206032661U (en) * | 2016-08-12 | 2017-03-22 | 卓达新材料科技集团威海股份有限公司 | Sucking disc translation hacking machine claw mechanism |
| CN206645533U (en) * | 2017-03-16 | 2017-11-17 | 烟台瓦鲁机器人自动化有限公司 | A kind of compound gripper equipment of robot |
| CN107381078A (en) * | 2017-08-26 | 2017-11-24 | 广东利迅达机器人***股份有限公司 | A kind of composite fixture of Palletised carry robot |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112356052A (en) * | 2020-10-29 | 2021-02-12 | 陆水龙 | Magnetic force paw |
| CN113084853A (en) * | 2021-03-17 | 2021-07-09 | 武汉理工大学 | Flexible gripper at tail end of robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| EP2540629B1 (en) | Gripping assembly for the automated handling of big bags | |
| WO2017182217A1 (en) | Method and device for handling piece goods moved in at least two parallel rows | |
| DE102013021533B4 (en) | Device for loading a load carrier such as a pallet or the like | |
| CN107878820B (en) | Intelligent automatic stacking and turning stacking device for packaging bags and automatic packaging production line | |
| CN108529248A (en) | A kind of gripper | |
| CN105458368A (en) | Cutting device for PCB connecting plates | |
| CN110498244A (en) | Long handle bevel gear finishing automatic assembly line | |
| DE112016005252B4 (en) | Robot and work process performed by the robot | |
| DE102014218040A1 (en) | Gripping and / or manipulation unit and method for handling objects | |
| CN208100408U (en) | A kind of multipurpose grabbing device for manipulator | |
| WO2017182165A1 (en) | Method and a device for handling piece goods moved one after the other in at least one row | |
| EP3445687A1 (en) | Method and device for handling piece goods moved one after the other in at least one row | |
| WO2017182169A1 (en) | Method and device for handling piece goods moved one after the other in at least one row | |
| CN107804536B (en) | Automatic packaging production line for packaging bags | |
| CN116281256B (en) | Continuous automatic loading system for bagged articles | |
| CN108557161A (en) | A kind of packing ＆ palletizing line | |
| CN108502251A (en) | A kind of turning machine | |
| EP1940711A1 (en) | Device and method for arranging stacks of flat objects on pallets | |
| CN212605963U (en) | Soft bag box filling machine | |
| CN108545250A (en) | A kind of stacking machine | |
| WO2019042715A1 (en) | Method and device for handling piece goods moved one after the other in at least one row | |
| CN204688504U (en) | For the automatic slash pocket device of valve bag packaging powder | |
| CN107892026B (en) | Automatic opening and bagging device for packaging bags and automatic packaging production line | |
| CN108545251A (en) | A kind of baling press | |
| EP3558828B1 (en) | Fitting device and method for fitting valve bags |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20180914 |
|
| WD01 | Invention patent application deemed withdrawn after publication |