CN209113073U - The grasping mechanism of charging tray catching robot - Google Patents
The grasping mechanism of charging tray catching robot Download PDFInfo
- Publication number
- CN209113073U CN209113073U CN201821622835.0U CN201821622835U CN209113073U CN 209113073 U CN209113073 U CN 209113073U CN 201821622835 U CN201821622835 U CN 201821622835U CN 209113073 U CN209113073 U CN 209113073U
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- pawl point
- charging tray
- guiding axis
- bottom plate
- link block
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Abstract
The utility model relates to the technical fields of automation equipment, disclose a kind of grasping mechanism of charging tray catching robot, including actuator, bottom plate, guide holder, guiding axis, the first pawl point and the second pawl point, first pawl point and the second pawl point are symmetrically set on the side of bottom plate, actuator is connected with guiding axis, guiding axis is arranged on guide holder, and guiding axis is connected with the first pawl point and/or the second pawl point；It is fitted using bottom plate and charging tray, actuator drives the folding of the first pawl point and/or the second pawl point by guiding axis, it realizes and pick-and-place is carried out to the side of charging tray, guiding axis can be moved along guide holder, so that it is more stable during crawl, it can achieve pick-and-place quick to charging tray and stable, it is compact-sized, stability is high, is more in line with the demand of automated production.
Description
Technical field
The utility model relates to the technical field of automation equipment, in particular to a kind of gripper of charging tray catching robot
Structure.
Background technique
With the development of society, the rise of automation industry, automation equipment are widely used, the use of automation equipment
Production efficiency is improved, a large amount of man power and material is saved, and can be improved the precision of product, promotes quality, such as in IC core
During the various fritter rule material productions such as piece, tablet, handware, the production efficiency promoted by automation pick-and-place is especially bright
It is aobvious.
In the process of manufacture of various fritter rule materials, it is often necessary to by it from an accurate pick-and-place in position to another
One position, as semiconductor chip is frequently necessary to grab from a kind of specification matrix form charging tray and is precisely put into another specification matrix
Formula charging tray；For another example in tablet production packaging process, it is often necessary to by it from a kind of charging tray pick-and-place of specification to another specification
It goes to encapsulate in tablet slot；For another example packaging process is produced in hardware, can equally encounters above-mentioned situation.In process of production, core
Piece or tablet need pallet and are filled with and are carried, and commonly realize crawl by way of vacuum suction at present, but
It is that the absorptive element of this scheme needs to be replaced frequently, just can guarantee better adsorption effect, the frequency for drawing carrying is higher, damage
It is bad faster, production cost is improved, production efficiency is reduced.
Utility model content
In order to overcome the shortcomings of the prior art, the utility model provides a kind of realize to the quick pick-and-place of charging tray and fortune
The grasping mechanism of the stable charging tray catching robot of row.
In order to solve the above-mentioned technical problem, the utility model provides a kind of grasping mechanism of charging tray catching robot, packet
Actuator, bottom plate, guide holder, guiding axis, the first pawl point and the second pawl point are included, first pawl point and second pawl point are equal
L-shaped, first pawl point and second pawl point are symmetrically set on the side of the bottom plate, and first pawl point and described
Second pawl point is protruded relative to the bottom surface of the bottom plate, and the actuator and the guide holder are set on the top surface of the bottom plate,
The actuator is connected with the guiding axis, and the guiding axis is arranged on the guide holder, the guiding axis and described the
One pawl point and/or second pawl point are connected.
Further, first pawl point is set to the front side edge of the bottom plate, and first pawl point and the guiding axis
It is connected, second pawl point is set to the back side edge of the bottom plate, and second pawl point is equipped with for being installed on the bottom plate
Waist-shaped hole.
Further, the shape of the bottom plate is rectangle, and first pawl point and second pawl point are equipped with the bottom plate
A pair of of parallel sides on, another pair parallel sides of the bottom plate are equipped with the locating piece in inverted L shape.
Further, the locating piece is equipped with the waist-shaped hole for being installed on the bottom plate.
Further, first pawl point, second pawl point and the locating piece are equipped with intilted inclined surface.
Further, the quantity of the guiding axis is two, and the same side of two guiding axis passes through the first link block
It is connected, another same side of two guiding axis is connected by the second link block, first link block and the drive
Moving part is connected, and second link block is connected with first pawl point.
Further, first link block is in rectangle, and the both ends of first link block are connected with the guiding axis,
The middle part of first link block is set to the groove for connecting the output shaft of the actuator.
Further, the output shaft of the actuator is set to adjusting nut, the adjusting nut and first link block
Front and back sides abut against.
Further, second link block is T-shaped, the two sides of the horizontal ends of second link block and the guiding axis
It is connected, the vertical end of second link block is connected with first pawl point.
The utility model provides a kind of grasping mechanism of charging tray catching robot, is fitted, is passed through using bottom plate and charging tray
First pawl point and the second pawl point, which are realized, carries out pick-and-place to the side of charging tray, actuator by guiding axis the first pawl point of drive and/or
The folding of second pawl point realizes that quickly crawl function, guiding axis can be moved along guide holder, so that during crawl more
Stablize, can achieve pick-and-place quick to charging tray and stable, compact-sized, stability is high, is more in line with the need of automated production
It asks.
Detailed description of the invention
Fig. 1 is the grasping mechanism structural schematic diagram of the charging tray catching robot of the preferred embodiment in the utility model；
Fig. 2 is the structural schematic diagram of A-A in Fig. 1；
Fig. 3 is the scheme of installation using the grasping mechanism of the charging tray catching robot of the preferred embodiment in the utility model.
In figure, 1, actuator；2, bottom plate；3, guide holder；4, guiding axis；5, the first pawl point；6, the second pawl point；7, it positions
Block；8, waist-shaped hole；9, inclined surface；10, the first link block；11, the second link block；12, adjusting nut；13, connecting plate.
Specific embodiment
With reference to the accompanying drawings and examples, specific embodiments of the present invention will be described in further detail.Implement below
Example is not intended to limit the scope of the invention for illustrating the present invention.
In the description of the present invention, it is to be understood that, term " on ", "lower", "left", "right", "top", "bottom" etc. indicate
Orientation or positional relationship be based on the orientation or positional relationship shown in the drawings, be merely for convenience of description the present invention and simplification retouch
It states, rather than the device or element of indication or suggestion meaning must have a particular orientation, be constructed and operated in a specific orientation,
Therefore it is not considered as limiting the invention.
In conjunction with shown in Fig. 1 to Fig. 3, the utility model embodiment provides a kind of grasping mechanism of charging tray catching robot,
Including actuator 1, bottom plate 2, guide holder 3, guiding axis 4, the first pawl point 5 and the second pawl point 6, the first pawl point 5 and the second pawl point 6
L-shaped, the first pawl point 5 and the second pawl point 6 are symmetrically set on the side of bottom plate 2, and the first pawl point 5 and the second pawl point 6 are opposite
It is protruded in the bottom surface of bottom plate 2, actuator 1 and guide holder 3 are set on the top surface of bottom plate 2, and actuator 1 is connected with guiding axis 4, leads
It is arranged on guide holder 3 to axis 4, guiding axis 4 is connected with the first pawl point 5 and/or the second pawl point 6.
The grasping mechanism of charging tray catching robot based on features described above is fitted with charging tray using bottom plate 2, passes through first
Pawl point 5 and the second pawl point 6, which are realized, carries out pick-and-place to the side of charging tray, actuator 1 by guiding axis 4 drive the first pawl point 5 and/or
The folding of second pawl point 6 realizes that quickly crawl function, guiding axis 4 can be moved along guide holder 3, so that during crawl
It is more stable, it can achieve pick-and-place quick to charging tray and stable, compact-sized, stability is high, is more in line with automated production
Demand.
Further, as shown in figure 3, the first pawl point 5 is set to the front side edge of bottom plate 2, and the first pawl point 5 and 4 phase of guiding axis
Connection, the second pawl point 6 are set to the back side edge of bottom plate 2, and convenient for carrying out the work such as safeguarding to grasping mechanism, the second pawl point 6, which is equipped with, to be used
In the waist-shaped hole 8 being installed on bottom plate 2, for adjusting the position of the second pawl point 6, to adapt to grabbing for different size type charging tray
It puts.In addition, the top of bottom plate 2 is also set to the connecting plate 13 for being fixed on external device, position further can be realized to charging tray
The movement such as carrying set.
Further, as shown in Figures 1 and 2, the shape of bottom plate 2 is rectangle, and the first pawl point 5 and the second pawl point 6 are equipped with bottom
In a pair of of parallel sides of plate 2, another pair parallel sides of bottom plate 2 are equipped with the locating piece 7 in inverted L shape, realize and position to charging tray,
So that charging tray is located at the position at 2 middle part of bottom plate, avoids charging tray disequilibrium and topple over, specifically, locating piece 7 is equipped with for installing
In the waist-shaped hole 8 on bottom plate 2, for adjusting the position of locating piece 7, to adapt to the positioning of the charging tray of different in width.
Further, the first pawl point 5, the second pawl point 6 and locating piece 7 are equipped with intilted inclined surface 9, inclined surface 9
Certain buffer function is played to the pick-and-place of charging tray, is conducive to the pick-and-place of charging tray.
Further, the quantity of guiding axis 4 is two, and the same side of two guiding axis 4 is connected by the first link block 10
It connecing, another same side of two guiding axis 4 is connected by the second link block 11, and the first link block 10 is connected with actuator 1,
Second link block 11 is connected with the first pawl point 5, guarantees that guiding axis 4 more steadily moves in guide holder 3, so that the first pawl
The folding of point 5 is more firm.
Further, the first link block 10 is in rectangle, and the both ends of the first link block 10 are connected with guiding axis 4, and first connects
The middle part of block 10 is connect set on the groove for connecting the output shaft of actuator 1, is adjusted convenient for assembly, specifically, actuator 1 is defeated
Shaft is set to adjusting nut 12, and adjusting nut 12 and the front and back sides of the first link block 10 abut against, adjustable actuator 1 and the
Connection distance between one link block 10, convenient for assembly and maintenance.
Further, the second link block 11 is T-shaped, and the two sides of the horizontal ends of the second link block 11 are connected with guiding axis 4,
The vertical end of second link block 11 is connected with the first pawl point 5, so that two guiding axis 4 can be acted on simultaneously in the first pawl point 5,
Realize reliable clamping.
It should be understood that in the present embodiment, actuator 1 can use straight line cylinder, movement control is carried out to the first pawl point 5
System, when charging tray to be grabbed, the piston rod of cylinder is retracted, and is driven the first pawl point 5 toward recycling, is realized the clamping to charging tray；When falling
When discharge plate, the piston rod of cylinder stretches out, and in the case where the gravity of charging tray and inclined surface 9 act on, charging tray automatically falls into designated position；Separately
Outside, the clamping appearance of grasping mechanism can be adjusted by adjusting the mounting screw in the waist-shaped hole 8 on the second pawl point 6 and locating piece 7
Gesture realizes reliable retention.
In conclusion the grasping mechanism of the utility model embodiment charging tray catching robot is using straight line cylinder as driving
Part 1 realizes the folding control to the first pawl point 5 by the cooperation of guiding axis 4 and guide holder 3, to realize to the reliable of charging tray
Crawl can substitute the mode that traditional sucker draws charging tray completely, have compact-sized, and follow-up maintenance work is small, reduces production
The advantages that cost.
It should be understood that various information are described in the present invention using term " first ", " second " etc., but these information
It should not necessarily be limited by these terms, these terms are only used to for same type of information being distinguished from each other out.For example, not departing from the present invention
In the case where range, " first " information can also be referred to as " second " information, and similar, " second " information can also be referred to as
" first " information.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, without departing from the technical principles of the invention, several improvement and replacement can also be made, these are improved and replacement
Also it should be regarded as protection scope of the present invention.
Claims (9)
1. a kind of grasping mechanism of charging tray catching robot, which is characterized in that including actuator, bottom plate, guide holder, guiding axis,
First pawl point and the second pawl point, first pawl point and second pawl point are L-shaped, first pawl point and described second
Pawl point is symmetrically set on the side of the bottom plate, and the bottom surface of first pawl point and second pawl point relative to the bottom plate
Protrusion, the actuator and the guide holder are set on the top surface of the bottom plate, and the actuator is connected with the guiding axis,
The guiding axis is arranged on the guide holder, and the guiding axis is connected with first pawl point and/or second pawl point.
2. the grasping mechanism of charging tray catching robot according to claim 1, which is characterized in that first pawl point is set to
The front side edge of the bottom plate, and first pawl point is connected with the guiding axis, second pawl point is set to the bottom plate
Back side edge, second pawl point are equipped with the waist-shaped hole for being installed on the bottom plate.
3. the grasping mechanism of charging tray catching robot according to claim 2, which is characterized in that the shape of the bottom plate is
Rectangle, first pawl point and second pawl point are equipped in a pair of of parallel sides of the bottom plate, another pair of the bottom plate
Parallel sides are equipped with the locating piece in inverted L shape.
4. the grasping mechanism of charging tray catching robot according to claim 3, which is characterized in that the locating piece, which is equipped with, to be used
In the waist-shaped hole being installed on the bottom plate.
5. the grasping mechanism of charging tray catching robot according to claim 3, which is characterized in that first pawl point, institute
It states the second pawl point and the locating piece is equipped with intilted inclined surface.
6. the grasping mechanism of charging tray catching robot according to claim 2, which is characterized in that the quantity of the guiding axis
It is two, the same side of two guiding axis is connected by the first link block, another same side of two guiding axis
It is connected by the second link block, first link block is connected with the actuator, second link block and described the
One pawl point is connected.
7. the grasping mechanism of charging tray catching robot according to claim 6, which is characterized in that first link block is in
The both ends of rectangle, first link block are connected with the guiding axis, and the middle part of first link block is set to for connecting
The groove of the output shaft of the actuator.
8. the grasping mechanism of charging tray catching robot according to claim 7, which is characterized in that the output of the actuator
It is located in adjusting nut, the front and back sides of the adjusting nut and first link block abut against.
9. the grasping mechanism of charging tray catching robot according to claim 6, which is characterized in that second link block is in
The two sides of T-type, the horizontal ends of second link block are connected with the guiding axis, the vertical end of second link block and institute
The first pawl point is stated to be connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821622835.0U CN209113073U (en) | 2018-09-30 | 2018-09-30 | The grasping mechanism of charging tray catching robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821622835.0U CN209113073U (en) | 2018-09-30 | 2018-09-30 | The grasping mechanism of charging tray catching robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209113073U true CN209113073U (en) | 2019-07-16 |
Family
ID=67200169
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821622835.0U Active CN209113073U (en) | 2018-09-30 | 2018-09-30 | The grasping mechanism of charging tray catching robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209113073U (en) |
-
2018
- 2018-09-30 CN CN201821622835.0U patent/CN209113073U/en active Active
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20220307 Address after: 518000 1st to 3rd floors of phase II plant of Granda equipment Industrial Park, 33 Cuijing Road, Zhukeng community, Longtian street, Pingshan District, Shenzhen City, Guangdong Province Patentee after: Shenzhen Gexin integrated circuit equipment Co.,Ltd. Address before: Granda equipment Industrial Park, 33 Cuijing Road, Pingshan new area, Shenzhen City, Guangdong Province Patentee before: SHENZHEN GRAND INTELLIGENT EQUIPMENT Co.,Ltd. |
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| TR01 | Transfer of patent right |