CN205438537U - Displacement flexible robot clamping apparatus - Google Patents
Displacement flexible robot clamping apparatus Download PDFInfo
- Publication number
- CN205438537U CN205438537U CN201521120446.4U CN201521120446U CN205438537U CN 205438537 U CN205438537 U CN 205438537U CN 201521120446 U CN201521120446 U CN 201521120446U CN 205438537 U CN205438537 U CN 205438537U
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- clamping apparatus
- cylinder
- sucker
- contiguous block
- rod
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Abstract
The utility model discloses a displacement flexible robot clamping apparatus, including clamping apparatus frame (1), the roof of clamping apparatus frame (1) bottom is equipped with and sets up two at least sucking disc (3) in two drive opposite direction's cylinder (2) and clamping apparatus frame (1), the top fixed mounting that the bottom of sucking disc (3) was equipped with the soft joint of sucking disc (4) and sucking disc (3) has connecting block (5), it goes up to fix and is provided with cylinder ejector pad (6) simultaneously to be located clamping apparatus frame (1) both ends distolateral connecting block (5) along the length direction of clamping apparatus frame (1), cylinder ejector pad (6) are connected through corresponding cylinder connecting rod (7) piston rod with cylinder (2), the piston rod of two cylinder (2) then can make when stretching out and keep away from each other between corresponding sucking disc (3), otherwise then opposite. The utility model discloses an interval between the sucking disc can be adjusted in real time to the clamping apparatus, satisfies different kinds, different interval ice cream's vanning demand, and application scope is wide.
Description
Technical field
This utility model relates to a kind of clamping apparatus, a kind of stable and can make sucker synchronous interaction flexible with adjust interambulacrum away from the displacement flexible robot's clamping apparatus for robot.
Background technology
After existing ice cream prepares, need it is placed in packing crates to carry out storing and transport.Ice cream manufacturer still uses the mode of man power encasement to operate the most mostly, i.e. vanning workman is sitting in the both sides of ice cream finished product pipeline, when ice cream finished product runs along pipeline, packing crates is put in the ice cream layering that vanning workman picks up respective numbers according to the size of packing crates, this kind of method wastes time and energy, and artificial demand is compared with big but work efficiency is relatively low；The crawl currently also having part producer to realize ice cream by various clamping apparatus is cased, the clamping apparatus mentioned in such as Application No. 201220224454.3, this clamping apparatus has the negative pressure in integral type negative pressure chamber and negative pressure cavity and not only equalizes and be difficult to part, it is adaptable to the ice cream of different size shape captures vanning；But owing to whole clamping apparatus uses hard material to make, make to draw be limited in scope and single to draw the quantity of ice cream few and easily damage ice cream, can not be adjusted according to the real time position of ice cream, it is impossible to be applicable to ice cream the most of a great variety, that spacing is different vanning demand simultaneously.
Summary of the invention
The purpose of this utility model is the problem existed for prior art, it is provided that a kind of stable and can make sucker synchronous interaction flexible with adjust interambulacrum away from the displacement flexible robot's clamping apparatus for robot.
The purpose of this utility model solves by the following technical programs:
A kind of displacement flexible robot's clamping apparatus, including clamping apparatus framework, it is characterized in that: in being provided with two contrary cylinders of driving direction and clamping apparatus framework bottom the top board of described clamping apparatus framework, at least two sucker is set, the bottom of sucker is provided with sucker connecting hose and the fixed above of sucker is provided with contiguous block, and be positioned on the contiguous block of side, clamping apparatus framework two ends along the length direction of clamping apparatus framework and to be fixedly installed cylinder pushing block, cylinder pushing block is connected with the piston rod of cylinder by corresponding cylinder connecting rod；Then promote corresponding cylinder pushing block to make between the sucker of correspondence by cylinder connecting rod when the piston rod of two cylinders stretches out to be located remotely from each other, otherwise then make between the sucker of correspondence mutually adjacent.
When the quantity of the sucker of single air cylinder driven is no less than two, then on the framework location-plate below cylinder, pin being provided with master connecting-rod, master connecting-rod is connected with without the contiguous block of cylinder pushing block by actively propping up connecting rod and being connected with the contiguous block with cylinder pushing block and pass through passively to prop up connecting rod；Then promote corresponding cylinder pushing block that the corresponding sucker of far-end is moved to the length direction side of clamping apparatus framework by cylinder connecting rod when the piston rod of cylinder stretches out, pull master connecting-rod to stretch simultaneous with the connecting rod that actively props up on the contiguous block of cylinder pushing block and then gone to drive the contiguous block with passive the corresponding connection of connecting rod to move to the length direction side of clamping apparatus framework by passive connecting rod by master connecting-rod, when the piston rod of cylinder bounces back, then each contiguous block drives corresponding sucker adverse movement so that single cylinder can simultaneously drive multiple sucker and link.
When the quantity of described sucker is odd number, then in the middle of sucker position is motionless and the sucker of its both sides by corresponding air cylinder driven away from middle sucker or near middle sucker.
Length direction along clamping apparatus framework is provided with guide post on clamping apparatus framework, and guide post runs through whole contiguous block and contiguous block can be slided along guide post under the effect of respective cylinder.
Described guide post runs through corresponding contiguous block by the linear bearing set in contiguous block.
Described sucker includes sucker connecting hose, cavity and gas-tpe fitting, cavity is sealed up and is connected with cavity along being evenly arranged with multiple sucker connecting hose on the length direction of cavity cover plate by the cavity cover plate of cavity bottom, and gas-tpe fitting is arranged on the top of cavity and is connected with aerator by trachea and allows sucker form vacuum environment to draw subject matter so that aerator passes through to bleed simultaneously.
Described cylinder is arranged on the top board of clamping apparatus frame mid portion by air cylinder fixed plate.
This utility model has the following advantages compared to existing technology:
This utility model by cylinder connecting rod, cylinder pushing block drive single sucker or by cylinder connecting rod, cylinder pushing block and master connecting-rod, actively prop up connecting rod, the linkage of passively propping up connecting rod simultaneously drives multiple sucker, spacing between multiple suckers in clamping apparatus can be adjusted in real time, meet the vanning demand of variety classes, different spacing ice cream；Multiple clamping apparatus can be applied in combination on the mechanical hand of same robot, has simple in construction, feature easy to use, suitably promotes the use of.
Accompanying drawing explanation
Accompanying drawing 1 is the structural representation of displacement flexible robot's clamping apparatus of the present utility model；
Accompanying drawing 2 is the multiple structural representation fitted together of displacement flexible robot's clamping apparatus of the present utility model.
Wherein: 1 clamping apparatus framework；2 cylinders；3 suckers；4 sucker connecting hoses；5 contiguous blocks；6 cylinder pushing blocks；7 cylinder connecting rods；8 framework location-plates；9 pins；10 master connecting-rods；11 actively prop up connecting rod；12 passively prop up connecting rod；13 guide posts；14 linear bearings；15 cavitys；16 gas-tpe fittings；17 cavity cover plates；18 air cylinder fixed plate.
Detailed description of the invention
With embodiment, this utility model is further described below in conjunction with the accompanying drawings.
As shown in Figure 1: a kind of displacement flexible robot's clamping apparatus, including clamping apparatus framework 1, in being provided with two contrary cylinders of driving direction 2 and clamping apparatus framework 1 bottom the top board of clamping apparatus framework 1, at least two sucker 3 is set, wherein cylinder 2 is arranged on the top board in the middle part of clamping apparatus framework 1 by air cylinder fixed plate 18, sucker 3 includes sucker connecting hose 4, cavity 15 and gas-tpe fitting 16, cavity 15 is sealed up and is connected with cavity 15 along being evenly arranged with multiple sucker connecting hose 4 on the length direction of cavity cover plate 17 by the cavity cover plate 17 bottom cavity 15, gas-tpe fitting 16 is arranged on the top of cavity 15 and is connected with aerator by trachea and allows sucker 3 form vacuum environment to draw subject matter so that aerator passes through to bleed simultaneously.Fixed above at sucker 3 is provided with contiguous block 5, length direction along clamping apparatus framework 1 is provided with the guide post 13 for contiguous block 5 is positioned and guided on clamping apparatus framework 1, guide post 13 runs through corresponding contiguous block 5 by the linear bearing 14 set in contiguous block 5 and contiguous block 5 can be slided along guide post 13 under the effect of respective cylinder 2, and be positioned on the contiguous block 5 of side, clamping apparatus framework 1 two ends along the length direction of clamping apparatus framework 1 and to be fixedly installed cylinder pushing block 6, cylinder pushing block 6 is connected with the piston rod of cylinder 2 by corresponding cylinder connecting rod 7；Then promote corresponding cylinder pushing block 6 to make between the sucker 3 of correspondence by cylinder connecting rod 7 when the piston rod of two cylinders 2 stretches out to be located remotely from each other, otherwise then make between the sucker 3 of correspondence mutually adjacent.In said structure, when the quantity of sucker 3 is odd number, then middle sucker 3 position is motionless and the sucker 3 of its both sides is driven away from middle sucker 3 or near middle sucker 3 by corresponding cylinder 2；When the quantity of the sucker 3 additionally driven when single cylinder 2 is no less than two, then on the framework location-plate 8 below cylinder 2, pin 9 being provided with master connecting-rod 10, master connecting-rod 10 is connected with the contiguous block 5 with cylinder pushing block 6 and passes through passively to prop up connecting rod 12 be connected with the contiguous block 5 without cylinder pushing block 6 by actively propping up connecting rod 11；Then promote corresponding cylinder pushing block 6 that the corresponding sucker 3 of far-end is moved to the length direction side of clamping apparatus framework 1 by cylinder connecting rod 7 when the piston rod of cylinder 2 stretches out, pull master connecting-rod 10 to stretch simultaneous with the connecting rod 11 that actively props up on the contiguous block 5 of cylinder pushing block 6 and then gone to drive the contiguous block 5 with passive the respective corresponding connection of connecting rod 12 to move to the length direction side of clamping apparatus framework 1 by passive connecting rod 12 by master connecting-rod 10, when the piston rod of cylinder 2 bounces back, then each contiguous block 5 drives the adverse movement of corresponding sucker 3, make single cylinder 2 can simultaneously drive multiple sucker 3 to link.The most in actual use, the contiguous block 5 on sucker 3 is carried out guide-localization also by arranging the various ways such as gathering sill on the inwall of clamping apparatus framework 1.
Embodiment one
nullAs shown in Figure 1，Five suckers 3 it are provided with altogether in the clamping apparatus framework 1 of displacement flexible robot's clamping apparatus of the present utility model，Three sucker connecting hoses 4 all it are provided with on the cavity cover plate 17 of each sucker 3，Clamping apparatus framework 1 is provided with two guide posts 13，Five suckers 3 are all arranged on guide post 13 by contiguous block 5，The lower section that sucker 3 in the middle of wherein is just fixedly installed on framework location-plate 8 is motionless，Length direction along clamping apparatus framework 1 is positioned on the contiguous block 5 of side, clamping apparatus framework 1 two ends and is fixedly installed cylinder pushing block 6，Cylinder pushing block 6 is connected by the piston rod of corresponding cylinder connecting rod 7 with corresponding cylinder 2，Simultaneous with the contiguous block 5 of cylinder pushing block 6 by actively propping up connecting rod 11 and being arranged on master connecting-rod 10 corresponding on framework location-plate 8 and be connected，Two master connecting-rods 10 are connected by the contiguous block 5 on passive that sucker 3 between connecting rod 12 with sucker 3 and the sucker 3 of centre with cylinder pushing block 6 respectively simultaneously，Then promote corresponding cylinder pushing block 6 that the corresponding sucker 3 of far-end is moved to the length direction side of clamping apparatus framework 1 by cylinder connecting rod 7 when the piston rod of cylinder 2 stretches out，Pull master connecting-rod 10 to stretch simultaneous with the connecting rod 11 that actively props up on the contiguous block 5 of cylinder pushing block 6 and then gone to drive the contiguous block 5 with passive the corresponding connection of connecting rod 12 to move to the length direction side of clamping apparatus framework 1 by passive connecting rod 12 by master connecting-rod 10，When the piston rod of cylinder 2 bounces back, then each contiguous block 5 drives the adverse movement of corresponding sucker 3，Make two cylinders 2 simultaneously drive four sucker 3 synchronous interactions expand spacing or reduce spacing，It is suitable for ice cream and captures the different demands of vanning.
Additionally accompanying drawing 2 illustrates the structural representation that four clamping apparatus are fixed on transverse slat each via corresponding connection support, and transverse slat is fixed on the mechanical hand of robot and robot can be used to drive this clamping apparatus to work.Four clamping apparatus during the quantity of clamping apparatus is not limited to accompanying drawing 2 on transverse slat, can determine the number of clamping apparatus quantity according to actual needs.
This utility model by cylinder connecting rod 7, cylinder pushing block 6 drive single sucker 3 or by cylinder connecting rod 7, cylinder pushing block 6 and master connecting-rod 10, actively prop up connecting rod 11, the linkage of passively propping up connecting rod 12 simultaneously drives multiple sucker 3, spacing between multiple suckers 3 in clamping apparatus can be adjusted in real time, meet the vanning demand of variety classes, different spacing ice cream；Multiple clamping apparatus can be applied in combination on the mechanical hand of same robot, has simple in construction, feature easy to use, suitably promotes the use of.
Above example only illustrates technological thought of the present utility model; protection domain of the present utility model can not be limited with this; every according to the technological thought that the utility model proposes, any change done on the basis of technical scheme, within each falling within this utility model protection domain；The technology that this utility model is not directed to all can be realized by prior art.
Claims (7)
1. displacement flexible robot's clamping apparatus, including clamping apparatus framework (1), it is characterized in that: in being provided with two the contrary cylinder of driving directions (2) and clamping apparatus framework (1) bottom the top board of described clamping apparatus framework (1), at least two sucker (3) is set, the bottom of sucker (3) is provided with sucker connecting hose (4) and the fixed above of sucker (3) is provided with contiguous block (5), and be positioned on the contiguous block (5) of clamping apparatus framework (1) both end sides along the length direction of clamping apparatus framework (1) and to be fixedly installed cylinder pushing block (6), cylinder pushing block (6) is connected with the piston rod of cylinder (2) by corresponding cylinder connecting rod (7)；Then promote corresponding cylinder pushing block (6) to make between the sucker (3) of correspondence by cylinder connecting rod (7) when the piston rod of two cylinders (2) stretches out to be located remotely from each other, otherwise then make between the sucker (3) of correspondence mutually adjacent.
Displacement flexible robot's clamping apparatus the most according to claim 1, it is characterized in that: when the quantity of the sucker (3) that single cylinder (2) drives is no less than two, then framework location-plate (8) in cylinder (2) lower section is upper is provided with master connecting-rod (10) by pin (9), and master connecting-rod (10) passes through actively to prop up connecting rod (11) and is connected with the contiguous block (5) with cylinder pushing block (6) and passes through passively to prop up connecting rod (12) and be connected with the contiguous block (5) without cylinder pushing block (6)；Then promote corresponding cylinder pushing block (6) that the corresponding sucker (3) of far-end is moved to the length direction side of clamping apparatus framework (1) by cylinder connecting rod (7) when the piston rod of cylinder (2) stretches out, pull master connecting-rod (10) to stretch simultaneous with the connecting rod (11) that actively props up on the contiguous block (5) of cylinder pushing block (6) and then gone to drive the contiguous block (5) with passive the corresponding connection of connecting rod (12) to move to the length direction side of clamping apparatus framework (1) by passive connecting rod (12) by master connecting-rod (10), when the piston rod of cylinder (2) bounces back, then each contiguous block (5) drives corresponding sucker (3) adverse movement, make single cylinder (2) that multiple sucker (3) can be simultaneously driven to link.
Displacement flexible robot's clamping apparatus the most according to claim 1 and 2, it is characterized in that: when the quantity of described sucker (3) is odd number, then middle sucker (3) position is motionless and the sucker of its both sides (3) is driven away from middle sucker (3) or the sucker (3) near centre by corresponding cylinder (2).
Displacement flexible robot's clamping apparatus the most according to claim 1, it is characterized in that: the length direction along clamping apparatus framework (1) is provided with guide post (13) on clamping apparatus framework (1), guide post (13) runs through whole contiguous block (5) and contiguous block (5) can be slided along guide post (13) under the effect of respective cylinder (2).
Displacement flexible robot's clamping apparatus the most according to claim 4, it is characterised in that: described guide post (13) runs through corresponding contiguous block (5) by the linear bearing (14) set in contiguous block (5).
Displacement flexible robot's clamping apparatus the most according to claim 1, it is characterized in that: described sucker (3) includes sucker connecting hose (4), cavity (15) and gas-tpe fitting (16), cavity (15) is sealed up and is connected with cavity (15) along being evenly arranged with multiple sucker connecting hose (4) on the length direction of cavity cover plate (17) by the cavity cover plate (17) of cavity (15) bottom, gas-tpe fitting (16) is arranged on the top of cavity (15) and is connected with aerator by trachea and allows sucker (3) form vacuum environment to draw subject matter so that aerator passes through to bleed simultaneously.
Displacement flexible robot's clamping apparatus the most according to claim 1, it is characterised in that: described cylinder (2) is arranged on the top board at clamping apparatus framework (1) middle part by air cylinder fixed plate (18).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201521120446.4U CN205438537U (en) | 2015-12-30 | 2015-12-30 | Displacement flexible robot clamping apparatus |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201521120446.4U CN205438537U (en) | 2015-12-30 | 2015-12-30 | Displacement flexible robot clamping apparatus |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205438537U true CN205438537U (en) | 2016-08-10 |
Family
ID=56572461
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201521120446.4U Withdrawn - After Issue CN205438537U (en) | 2015-12-30 | 2015-12-30 | Displacement flexible robot clamping apparatus |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205438537U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105459087A (en) * | 2015-12-30 | 2016-04-06 | 苏州澳昆智能机器人技术有限公司 | Clamping apparatus of variable-pitch flexible robot |
| CN107695204A (en) * | 2017-10-18 | 2018-02-16 | 上海发那科机器人有限公司 | One kind becomes spacing drop stamping servo handgrip |
| CN108725618A (en) * | 2018-07-17 | 2018-11-02 | 嘉兴学院 | A kind of multiple degrees of freedom barrier-crossing wall-climbing robot |
| CN116101783A (en) * | 2023-03-21 | 2023-05-12 | 北京传力科技有限公司 | A intelligent walking snatchs robot for paper cup production line |
-
2015
- 2015-12-30 CN CN201521120446.4U patent/CN205438537U/en not_active Withdrawn - After Issue
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105459087A (en) * | 2015-12-30 | 2016-04-06 | 苏州澳昆智能机器人技术有限公司 | Clamping apparatus of variable-pitch flexible robot |
| CN107695204A (en) * | 2017-10-18 | 2018-02-16 | 上海发那科机器人有限公司 | One kind becomes spacing drop stamping servo handgrip |
| CN107695204B (en) * | 2017-10-18 | 2019-08-27 | 上海发那科机器人有限公司 | A kind of change spacing drop stamping servo handgrip |
| CN108725618A (en) * | 2018-07-17 | 2018-11-02 | 嘉兴学院 | A kind of multiple degrees of freedom barrier-crossing wall-climbing robot |
| CN108725618B (en) * | 2018-07-17 | 2019-05-03 | 嘉兴学院 | A kind of multiple degrees of freedom barrier-crossing wall-climbing robot |
| CN116101783A (en) * | 2023-03-21 | 2023-05-12 | 北京传力科技有限公司 | A intelligent walking snatchs robot for paper cup production line |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20160810 Effective date of abandoning: 20171031 |