CN203390939U - Robot gripper for disassembling packaged stacks - Google Patents
Robot gripper for disassembling packaged stacks Download PDFInfo
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- CN203390939U CN203390939U CN201320487048.0U CN201320487048U CN203390939U CN 203390939 U CN203390939 U CN 203390939U CN 201320487048 U CN201320487048 U CN 201320487048U CN 203390939 U CN203390939 U CN 203390939U
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- base plate
- adpting flange
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- bag
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Abstract
The utility model discloses a robot gripper for disassembling packaged stacks, which can improve protect a robot from collision and increase the reaction speed of the robot. The robot gripper for disassembling the packaged stacks comprises a connecting flange, a floating mechanism, a detecting mechanism and a sucker. The connecting flange comprises a top plate, a bottom plate and a flange shaft, wherein the top plate is connected with the tail end of the arm of the robot, and the bottom plate is uniformly provided with a plurality of through holes; the floating mechanism comprises a base plate, a plurality of linear bearings, a plurality of polished shafts, a plurality of springs and a plurality of stopping rings, wherein the base plate is arranged in parallel under the bottom plate of the connecting flange, the plurality of linear bearings are correspondingly inserted inside the plurality of through holes of the bottom plate of the connecting flange, the plurality of polished shafts are fixed onto the upper end surface of the base plate and inserted inside the linear bearings, the plurality of the springs are sleeved outside the polished shafts and between the lower end surface of the linear bearings and the upper end surface of the base plate, and the plurality of stopping rings are fixedly sleeved at the tops of the plurality of the polished shafts; the detecting mechanism is a proximity sensor arranged on the bottom plate of the connecting flange; the sucker is mounted on the lower end surface of the base plate.
Description
Technical field
The utility model relates to a kind of robot, is specifically related to a kind of robot hand for the bag buttress of unpacking.
Background technology
At present, the disclosed robot hand hard thing buttress such as son, brick, glass of can only devaning on market, the error of the general every layer height size of buttress shape of these hard things buttress is very little.When tearing the hard thing buttress of this class open, as long as sucker is directly connected on robot arm and just can be operated, therefore can not adapt to the buttress shape that every layer height scale error is larger.Due to bag bag surface irregularity, after a lot of sacks stack, every layer of size apart from bag buttress bottom is not the size of array way, robot there will be paw also not touch bag just to start air-breathing when getting bag, or directly striking bag wraps, make periods of robot operation stop, can not run well.Conventionally band bag is only by manually being used suspension hook sucker to carry out de-stacking, and the speed of this method de-stacking is slow, and operator is easily tired, and one day needs in shifts repeatedly.
Summary of the invention
The purpose of this utility model is to overcome the defect of prior art, and a kind of robot hand for the bag buttress of unpacking is provided, and it can protect robot not collided, and can improve the reaction speed of robot simultaneously.
The purpose of this utility model is achieved in that a kind of robot hand for the bag buttress of unpacking, and comprises adpting flange, relocation mechanism, testing agency and sucker, wherein,
Described adpting flange comprise top board, base plate and be connected to top board and base plate between flange shaft, the top board of described adpting flange is connected with the arm end of described robot, offers in uniform way some through holes on the base plate of described adpting flange;
Described relocation mechanism comprises a substrate, some linear bearings, some optical axises, some springs and some back-up rings, and described substrate is set in parallel in the below of the base plate of described adpting flange; Described some linear bearings are inserted in some through holes of base plate of described adpting flange correspondingly; Described some optical axises are vertically fixed on the upper surface of described substrate and are inserted into correspondingly in the linear bearing in some through holes of base plate of described adpting flange, and described some springs are enclosed within on described optical axis and between the lower surface of described linear bearing and the upper surface of described substrate correspondingly; Described some back-up rings are solidly set on the top of the base plate top that is positioned at described adpting flange of described some optical axises correspondingly;
Described testing agency is the proximity transducer being arranged on the base plate of described adpting flange;
Described sucker is arranged on the lower surface of described substrate.
The above-mentioned robot hand for the bag buttress of unpacking, wherein, described relocation mechanism also comprises some bumpers that are arranged on correspondingly the lower end of described some back-up rings.
An above-mentioned robot hand for the bag buttress of unpacking, wherein, described proximity transducer by a support adjustable-height be arranged on the base plate of described adpting flange.
The technical scheme of the robot hand for the bag buttress of unpacking of the present utility model; between robot arm and end and sucker, increase a relocation mechanism and testing agency; can protect robot not collided; can improve the reaction speed of robot, to eliminate the scale error of the every layer height of bag buttress shape simultaneously.Rotor gripper structure for the bag buttress of unpacking of the present utility model is simple, is convenient to make, and can improve greatly the efficiency of the bag buttress of unpacking, and can reduce significantly labour simultaneously.
Accompanying drawing explanation
Fig. 1 is the stereogram of the robot hand for the de-stacking of bag class of the present utility model;
Fig. 2 a is the front view of the robot hand for the de-stacking of bag class of the present utility model;
Fig. 2 b is the state diagram of the robot hand for the de-stacking of bag class of the present utility model when pressing down;
Fig. 3 is the top view of the robot hand for the de-stacking of bag class of the present utility model;
Fig. 4 is the use state diagram of the robot hand for the de-stacking of bag class of the present utility model.
The specific embodiment
In order to understand the technical solution of the utility model better, below by specific embodiment, be also described in detail by reference to the accompanying drawings.
Refer to Fig. 1 to Fig. 4, the robot hand for the bag buttress of unpacking of the present utility model, comprises adpting flange 1, relocation mechanism 2, testing agency 3 and sucker 4.
Adpting flange 1 comprise top board 11 and the base plate 13 be arrangeding in parallel and be vertically connected on top board 11 and base plate 13 between flange shaft 12, wherein, arm 10 ends of the top board 11Yu robot of adpting flange 1 connect, and offer in uniform way four through holes on the base plate 13 of adpting flange 1.
The course of work of the robot hand for the bag buttress of unpacking of the present utility model is: bag buttress is placed on assigned address, robot is from home position setting in motion, paw on robot arm 10 moves to the top layer bag top of bag buttress thereupon, then robot arm 10 moves downward, when paw is depressed into bag, sucker 4, be connected to the substrate 21 on sucker 4, be connected to the optical axis 22 on substrate 21 and be arranged on back-up ring 25 stop motions on optical axis 22, robot arm 10 continues to press down, make adpting flange 1 drive testing agency 3 to continue to move downward, spring 24 compressed (seeing Fig. 2 b) now, when proximity transducer detects back-up ring 25, the signal feedback of proximity transducer is to robot controller, make robot arm 10 stop moving downward, sucker 4 starts air-breathing, the top layer bag of bag buttress is caught by sucker 4, then robot arm rises paw, spring 24 restores, top layer bag leaves bag buttress, robot motion is to blowing position, sucker 4 stops suction bag is dropped, last robot turns back to the action that the above-mentioned bag buttress of unpacking is repeated in home position.
For the height tolerance size of different bag buttress, optical axis 22 should be by the height tolerance size design of maximum bag buttress with the size of spring 24.
Above embodiment is only for illustration of the utility model, but not to restriction of the present utility model, person skilled in the relevant technique, in the situation that not departing from spirit and scope of the present utility model, can also make various conversion or modification, therefore all technical schemes that are equal to also should belong to category of the present utility model, should be limited by each claim.
Claims (3)
1. for a robot hand for the bag buttress of unpacking, comprise adpting flange, relocation mechanism, testing agency and sucker, it is characterized in that,
Described adpting flange comprise top board, base plate and be connected to top board and base plate between flange shaft, the top board of described adpting flange is connected with the arm end of described robot, offers in uniform way some through holes on the base plate of described adpting flange;
Described relocation mechanism comprises a substrate, some linear bearings, some optical axises, some springs and some back-up rings, and described substrate is set in parallel in the below of the base plate of described adpting flange; Described some linear bearings are inserted in some through holes of base plate of described adpting flange correspondingly; Described some optical axises are vertically fixed on the upper surface of described substrate and are inserted into correspondingly in the linear bearing in some through holes of base plate of described adpting flange, and described some springs are enclosed within on described optical axis and between the lower surface of described linear bearing and the upper surface of described substrate correspondingly; Described some back-up rings are solidly set on the top of the base plate top that is positioned at described adpting flange of described some optical axises correspondingly;
Described testing agency is the proximity transducer being arranged on the base plate of described adpting flange;
Described sucker is arranged on the lower surface of described substrate.
2. the robot hand for the bag buttress of unpacking according to claim 1, is characterized in that, described relocation mechanism also comprises some bumpers that are arranged on correspondingly the lower end of described some back-up rings.
3. the robot hand for the bag buttress of unpacking according to claim 1, is characterized in that, described proximity transducer by a support adjustable-height be arranged on the base plate of described adpting flange.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320487048.0U CN203390939U (en) | 2013-08-09 | 2013-08-09 | Robot gripper for disassembling packaged stacks |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320487048.0U CN203390939U (en) | 2013-08-09 | 2013-08-09 | Robot gripper for disassembling packaged stacks |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203390939U true CN203390939U (en) | 2014-01-15 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201320487048.0U Expired - Lifetime CN203390939U (en) | 2013-08-09 | 2013-08-09 | Robot gripper for disassembling packaged stacks |
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Cited By (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103803393A (en) * | 2014-02-28 | 2014-05-21 | 成都大漠石油机械有限公司 | Hoisting device capable of reducing collision impacts |
| CN104476553A (en) * | 2014-11-13 | 2015-04-01 | 常州先进制造技术研究所 | Sucker type stacking manipulator capable of remaining gap |
| CN104803189A (en) * | 2015-03-27 | 2015-07-29 | 东莞市信腾机器人科技有限公司 | High-temperature moving spherical rearview mirror glass suction device |
| CN105171768A (en) * | 2015-09-17 | 2015-12-23 | 苏州博众精工科技有限公司 | Gripping device |
| CN105269554A (en) * | 2014-07-24 | 2016-01-27 | 上海日立电器有限公司 | Robot gripper capable of eliminating accumulated errors of migration program |
| CN105500384A (en) * | 2016-02-02 | 2016-04-20 | 江苏豪林自动化科技有限公司 | Manipulator sucker operating signal trigger device |
| CN105500392A (en) * | 2016-02-02 | 2016-04-20 | 江苏豪林自动化科技有限公司 | Manipulator capable of judging grabbing quantity of plates |
| CN105881586A (en) * | 2016-05-26 | 2016-08-24 | 北京新长征天高智机科技有限公司 | Robot end execution protection mechanism with one-way buffering function |
| CN105936427A (en) * | 2016-06-01 | 2016-09-14 | 合肥雄鹰自动化工程科技有限公司 | Multifunctional gripper equipment for tray sucking and destacking |
| CN105965530A (en) * | 2016-03-09 | 2016-09-28 | 合肥工业大学 | Taking device with multi-spring buffering mechanism with adjustable stretching length |
| CN106000904A (en) * | 2016-05-26 | 2016-10-12 | 北京新长征天高智机科技有限公司 | Automatic sorting system for household refuse |
| CN107127779A (en) * | 2017-05-25 | 2017-09-05 | 东莞质研工业设计服务有限公司 | A kind of sucker installing plate |
| CN107378425A (en) * | 2017-07-06 | 2017-11-24 | 格力电器（郑州）有限公司 | Wai Ji material allocations mechanism and air-conditioning outdoor unit assembling equipment |
| WO2018214576A1 (en) * | 2017-05-25 | 2018-11-29 | 邝嘉豪 | Suction disc mounting plate having partitioning wall |
| CN108974936A (en) * | 2018-09-05 | 2018-12-11 | 珠海格力智能装备有限公司 | Material loading system |
| CN110228708A (en) * | 2018-03-05 | 2019-09-13 | 珠海格力大金机电设备有限公司 | A kind of Automatic-feeding equipment of workpiece |
| CN112297049A (en) * | 2020-11-05 | 2021-02-02 | 泉州装备制造研究所 | Composite gripper |
| CN114248286A (en) * | 2022-01-14 | 2022-03-29 | 湖南视比特机器人有限公司 | End effector, control method of end effector, and sorting system |
| CN115635400A (en) * | 2022-10-13 | 2023-01-24 | 西北有色金属研究院 | Automatic surface defect polishing equipment for medical titanium alloy plates |
-
2013
- 2013-08-09 CN CN201320487048.0U patent/CN203390939U/en not_active Expired - Lifetime
Cited By (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103803393A (en) * | 2014-02-28 | 2014-05-21 | 成都大漠石油机械有限公司 | Hoisting device capable of reducing collision impacts |
| CN105269554A (en) * | 2014-07-24 | 2016-01-27 | 上海日立电器有限公司 | Robot gripper capable of eliminating accumulated errors of migration program |
| CN104476553A (en) * | 2014-11-13 | 2015-04-01 | 常州先进制造技术研究所 | Sucker type stacking manipulator capable of remaining gap |
| CN104803189A (en) * | 2015-03-27 | 2015-07-29 | 东莞市信腾机器人科技有限公司 | High-temperature moving spherical rearview mirror glass suction device |
| CN105171768A (en) * | 2015-09-17 | 2015-12-23 | 苏州博众精工科技有限公司 | Gripping device |
| CN105500384A (en) * | 2016-02-02 | 2016-04-20 | 江苏豪林自动化科技有限公司 | Manipulator sucker operating signal trigger device |
| CN105500392A (en) * | 2016-02-02 | 2016-04-20 | 江苏豪林自动化科技有限公司 | Manipulator capable of judging grabbing quantity of plates |
| CN105965530A (en) * | 2016-03-09 | 2016-09-28 | 合肥工业大学 | Taking device with multi-spring buffering mechanism with adjustable stretching length |
| CN106000904A (en) * | 2016-05-26 | 2016-10-12 | 北京新长征天高智机科技有限公司 | Automatic sorting system for household refuse |
| CN105881586A (en) * | 2016-05-26 | 2016-08-24 | 北京新长征天高智机科技有限公司 | Robot end execution protection mechanism with one-way buffering function |
| CN105936427A (en) * | 2016-06-01 | 2016-09-14 | 合肥雄鹰自动化工程科技有限公司 | Multifunctional gripper equipment for tray sucking and destacking |
| CN107127779A (en) * | 2017-05-25 | 2017-09-05 | 东莞质研工业设计服务有限公司 | A kind of sucker installing plate |
| WO2018214576A1 (en) * | 2017-05-25 | 2018-11-29 | 邝嘉豪 | Suction disc mounting plate having partitioning wall |
| CN107378425A (en) * | 2017-07-06 | 2017-11-24 | 格力电器（郑州）有限公司 | Wai Ji material allocations mechanism and air-conditioning outdoor unit assembling equipment |
| CN110228708A (en) * | 2018-03-05 | 2019-09-13 | 珠海格力大金机电设备有限公司 | A kind of Automatic-feeding equipment of workpiece |
| CN108974936A (en) * | 2018-09-05 | 2018-12-11 | 珠海格力智能装备有限公司 | Material loading system |
| CN112297049A (en) * | 2020-11-05 | 2021-02-02 | 泉州装备制造研究所 | Composite gripper |
| CN114248286A (en) * | 2022-01-14 | 2022-03-29 | 湖南视比特机器人有限公司 | End effector, control method of end effector, and sorting system |
| CN115635400A (en) * | 2022-10-13 | 2023-01-24 | 西北有色金属研究院 | Automatic surface defect polishing equipment for medical titanium alloy plates |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CX01 | Expiry of patent term | ||
| CX01 | Expiry of patent term |
Granted publication date: 20140115 |