CN211615662U - Compatible robot tongs of grabbing adjustable interval more - Google Patents
Compatible robot tongs of grabbing adjustable interval more Download PDFInfo
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- CN211615662U CN211615662U CN201921661591.1U CN201921661591U CN211615662U CN 211615662 U CN211615662 U CN 211615662U CN 201921661591 U CN201921661591 U CN 201921661591U CN 211615662 U CN211615662 U CN 211615662U
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Abstract
The utility model discloses a compatible robot tongs of grabbing adjustable interval more, including the installing support, wherein be provided with the sharp guide shaft on the installing support, be provided with linear bearing on the sharp guide shaft, it grabs to be provided with gas on the linear bearing, still be provided with the motion connecting rod group on the sharp guide shaft, the one end of motion connecting rod group is passed through the cylinder drive connecting block and is fixed linear bearing is last, and the other end passes through motion connecting rod group fixed axle and one fixed connection is grabbed to gas, gas is grabbed and is in through the fixed connection seat setting linear bearing is last, still be provided with the interval adjustment on the installing support and drive actuating cylinder, the sharp guide shaft with the interval adjustment drives and is provided with the cylinder drive connecting block between the actuating cylinder. The utility model discloses can compatible single-phase communication module and three-phase communication module's not unidimensional to can realize the regulation of interval between the tongs.
Description
Technical Field
The utility model relates to an industry or civilian metering device technical field of measurement electric energy, and more specifically relate to a compatible robot tongs of grabbing adjustable interval more.
Background
In the technical field of electrical measurement, the automatic detection system of the assembly line type communication module can complete the full-automatic detection of the communication module according to the relevant detection standard requirements, can be connected with an automatic vertical warehouse system and an upper management platform, can receive a detection task issued by the upper management platform, realizes the receiving of a turnover box of a module to be detected from the automatic vertical warehouse, and completes the conveying, the automatic loading and unloading, the module conveying, the dynamic detection of various detection units and the like of the turnover box. When the work is finished, an electric energy meter, an acquisition terminal, a concentrator, an electricity consumption information acquisition terminal and the like are required to be installed on the production line, so that the detection of different metering devices is finished. And then data transmission can be carried out by adopting a broadband power line carrier, a narrowband power line carrier, wireless communication, GPRS communication and the like.
In the communication module detection assembly line, two communication modules with different sizes need to be compatible, the length and width of a three-phase communication module is about 65X24mm, the size of a single-phase communication module is about 50X24mm, the communication modules are arranged in a turnover box with the same specification, and the communication modules are arranged in 6 columns and X8 rows in the turnover box and are arranged in rows and columns at equal intervals. When detecting the communication module, the manipulator is required to be used for grabbing or placing the communication module, in the conventional technology, a single gripper is usually adopted, only one communication module can be grabbed and placed at a time in the mode, and for the pipeline type batch operation, the scheme has low efficiency and cannot meet the running mode of the pipeline with fast beat. And the other manipulator grabbing mode is that two different forms of grippers are adopted, namely one single-phase gripper and one three-phase gripper, and the grippers are replaced in due time according to grabbing different workpieces.
SUMMERY OF THE UTILITY MODEL
Technical problem to be solved
The utility model provides a not enough to prior art, the utility model provides a compatible different work piece size's many robots tongs, the not unidimensional that can compatible single-phase communication module and three-phase communication module for once grab the work piece from the turnover case with a set of (6) as the unit on the examination assembly line, perhaps grab from the assembly line and get the turnover case in, and can realize the regulation of interval between the tongs.
(II) technical scheme
In order to achieve the above purpose, the utility model discloses a following technical scheme realizes:
the utility model provides a compatible robot tongs of grabbing adjustable interval more, includes the installing support, wherein be provided with the sharp guide shaft on the installing support, be provided with linear bearing on the sharp guide shaft, the last gas that is provided with of linear bearing is grabbed, still be provided with the motion connecting rod group on the sharp guide shaft, the one end of motion connecting rod group is passed through the cylinder drive connecting block and is fixed linear bearing is last, and the other end passes through motion connecting rod group fixed axle and one the gas is grabbed fixed connection, the gas is grabbed and is set up through fixed connection seat linear bearing is last, still be provided with interval adjustment on the installing support and drive actuating cylinder, the sharp guide shaft with interval adjustment drives and is provided with cylinder drive connecting block between the actuating cylinder.
Further, the linear guide shafts are 2 linear guide shafts which are arranged in parallel and are positioned on the same horizontal plane.
Further, the air grippers are at least 6 air grippers arranged in parallel.
Further, in the gas is grabbed, first gas is grabbed and is set up the one end of installing support, and the setting is grabbed to the sixth gas is grabbed the other end of installing support, wherein first gas is grabbed for fixed gas and is grabbed the end, the sixth gas is grabbed and is held for the activity gas.
Further, the sixth pneumatic gripper is connected with the motion linkage through a linear bearing.
Further, the motion connecting rod group is an X-shaped motion connecting rod group connected end to end,
furthermore, an X motion intersection point and an X head-tail connection point are further arranged on the motion connecting rod group.
Further, the number of the X movement intersections is 5.
Further, the number of the X motion intersections is 5 pairs.
Furthermore, the air grippers and the fixed connecting seats are arranged in a one-to-one corresponding relationship.
The utility model provides a pair of a carry feed mechanism for communication module automated inspection assembly line has following positive profitable effect:
the utility model discloses can compatible different appearance size communication module such as single-phase electric energy meter, three-phase electric energy meter to can realize the automatic adjustment of interval between the assistant, the utility model discloses once can snatch 6 work pieces, it is efficient.
When the utility model is used for adjusting the distance, one cylinder is used for driving, and power such as an electric push rod or a linear motor can be used for replacing, so that the application range is wide;
the utility model has two positions for the distance adjustment, and the adjustment of any position of 6 grippers between the farthest and the nearest regions can be realized by a linear motor between the two distances, and the adjustment range is wide;
the 6 grippers of the utility model are used pneumatic grippers, can be replaced by electric grippers, and have obvious replaceability;
the utility model discloses an one set of tongs has 6 gas and grabs, but not only limits in 6, and scalability is big, and the detachable ability is strong.
Drawings
Fig. 1 is a schematic view of a three-dimensional structure of a compatible multi-gripper robot gripper with adjustable spacing of the present invention;
fig. 2 is a schematic perspective view of an embodiment of a compatible multi-gripper robot gripper with adjustable space according to the present invention;
fig. 3 is a schematic perspective view of another embodiment of the robot gripper compatible with multiple grippers and capable of adjusting the distance according to the present invention;
in the figure: 1. mounting a bracket; 2. a linear guide shaft; 3. a linear bearing; 4. air grabbing; 5. a sixth gas grab; 6, grabbing the workpiece; 7. a distance adjusting driving cylinder; 8. the cylinder drives the connecting block; 9. a motion linkage; 10. a motion linkage fixed shaft; x motion crossing; 12. x is a head-tail connection point; 13. a first pneumatic gripper; 14. and fixing the connecting seat.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
As shown in fig. 1, a compatible multi-gripper robot gripper with adjustable spacing comprises a mounting bracket 1, wherein a linear guide shaft 2 is arranged on the mounting bracket 1, a linear bearing 3 is arranged on the linear guide shaft 2, an air gripper 4 is arranged on the linear bearing 3, a motion linkage 9 is further arranged on the linear guide shaft 2, one end of the motion linkage 9 is fixed on the linear bearing 3 through an air cylinder driving connecting block 8, the other end of the motion linkage is fixedly connected with one air gripper 4 through a motion linkage fixing shaft 10, the air gripper 4 is arranged on the linear bearing 3 through a fixing connecting block 14, a spacing adjustment driving air cylinder 7 is further arranged on the mounting bracket 1, and an air cylinder driving connecting block 8 is arranged between the linear guide shaft 2 and the spacing adjustment driving air cylinder 7.
In the present invention, the linear guide shafts 2 are 2 linear guide shafts which are arranged in parallel and are located on the same horizontal plane.
In the utility model discloses in, 4 are grabbed for 6 at least gas that set up side by side and are grabbed 4 to gas.
The utility model discloses in, in 4 are grabbed to gas, first gas is grabbed 13 and is set up the one end of installing support 1, the setting is grabbed 5 to the sixth gas is in the other end of installing support 1, wherein first gas is grabbed 13 and is fixed gas grab end, the sixth gas is grabbed 5 and is movable gas grab end.
In the present invention, the sixth pneumatic gripper 5 is connected to the motion linkage 9 through the linear bearing 3. In yet another embodiment, the linear bearings, the air grippers 4 and the stationary connection blocks 14 are arranged in a one-to-one correspondence, even though each air gripper 4 is provided with a linear bearing and a stationary connection block 14.
In the present invention, the motion linkage 9 is an X-shaped motion linkage connected end to end;
in the present invention, the motion linkage 9 is further provided with an X motion intersection 11 and an X head-tail connection point 12.
In the present invention, the number of the X movement intersections 11 is 5.
In the present invention, the number of the X movement intersections 11 is 5 pairs.
In the present invention, the gas claw 4 and the fixed connection seat 14 are set to a one-to-one correspondence relationship.
As shown in fig. 2 and 3, the present invention realizes the equidistant adjustment of the space between the 6 pneumatic grippers under the pushing of a cylinder mainly through a double-linear guide shaft 2 and a group of X-motion linkage 9. In a specific embodiment, the utility model discloses a 6 gas that snatch 6 work pieces 6 (communication module) are grabbed and are grabbed the design structure. In concrete structure, 6 pairs of linear bearing 3 are equipped with on two sharp guide shaft 2, and the gas through the installation of a fixed connection seat 14 is grabbed 4 (first gas is grabbed, the second gas is grabbed, the third gas is grabbed, the fourth gas is grabbed, the fifth gas is grabbed, the sixth gas is grabbed) on two a pair of linear bearing 3, and the first gas on right side is grabbed immovably, and other 5 gas are grabbed and can be followed the linear guide shaft axial and grab drive and telescopic motion linkage effect of 9 of connecting rod group under the sixth gas and move in step. When the pneumatic gripper is in work, X-movement cross points (5) of the movement connecting rod set 9 are connected with corresponding fixed connecting seats 14 of 2-5 pneumatic gripper movable grippers (namely a second gripper, a third gripper, a fourth gripper and a fifth gripper, which are not numbered in the figure), when the distance between the pneumatic grippers 4 needs to be adjusted, the distance adjusting driving cylinder 7 retracts to drive the sixth pneumatic gripper 5 to move rightwards, and under the linkage action of the X-type movement connecting rod set 9 which is connected end to end, the 2-6 pneumatic grippers 4 (namely the second pneumatic gripper, the third pneumatic gripper, the fourth pneumatic gripper, the fifth pneumatic gripper and the sixth pneumatic gripper) are driven to synchronously move rightwards, and the state shown in the figure 2 is achieved after the movement is finished.
The working states of the air grippers 4 are two, one is a cage closing state, the distance between the 6 air grippers is 50mm (the width of the single-phase carrier module is the same), the other state is an extending equidistant state, the distance between the 6 air grippers is 65mm, the extending state is the rotating distance of the single-phase communication module in the turnover box, and the arrangement distance of the three-phase module in the turnover box or on the detection conveying line.
The gas claw 4 can be compatible with the grabbing of the single-phase carrier module and the three-phase carrier module, as shown in fig. 3, fig. 3 shows the grabbing state of the three-phase carrier module, and in the working state of the three-phase carrier module, the distance between the gas claw 4 is fixed in the wide-distance state without adjustment.
To sum up, the utility model discloses can different appearance size communication module such as compatible single-phase electric energy meter, three-phase electric energy meter to can realize the automatic adjustment of interval between the assistant, the utility model discloses once can snatch 6 work pieces, it is efficient.
When the utility model is used for adjusting the distance, one cylinder is used for driving, and power such as an electric push rod or a linear motor can be used for replacing, so that the application range is wide;
the utility model has two positions for the distance adjustment, and the adjustment of any position of 6 grippers between the farthest and the nearest regions can be realized by a linear motor between the two distances, and the adjustment range is wide;
the 6 grippers of the utility model are used pneumatic grippers, can be replaced by electric grippers, and have obvious replaceability;
the utility model discloses an one set of tongs has 6 gas and grabs, but not only limits in 6, and scalability is big, and the detachable ability is strong.
The basic principles and the main features of the invention and the advantages of the invention have been shown and described above. It will be understood by those skilled in the art that the present invention is not limited to the above embodiments, and that the foregoing embodiments and descriptions are provided only to illustrate the principles of the present invention without departing from the spirit and scope of the present invention. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (10)
1. The utility model provides a compatible robot tongs of grabbing adjustable interval more, includes installing support (1), its characterized in that: be provided with sharp guide shaft (2) on installing support (1), be provided with linear bearing (3) on sharp guide shaft (2), it grabs (4) to be provided with gas on linear bearing (3), still be provided with motion linkage (9) on sharp guide shaft (2), the one end of motion linkage (9) is fixed through cylinder drive connecting block (8) on linear bearing (3), the other end through motion linkage fixed axle (10) with gas grabs a fixed connection in (4), gas is grabbed (4) and is set up through fixed connection seat (14) on linear bearing (3), still be provided with interval adjustment on installing support (1) and drive actuating cylinder (7), sharp guide shaft (2) with interval adjustment drives and is provided with cylinder drive connecting block (8) between actuating cylinder (7).
2. The compatible multi-grip adjustable-spacing robotic gripper of claim 1, wherein: the linear guide shafts (2) are 2 linear guide shafts which are arranged in parallel and are positioned on the same horizontal plane.
3. The compatible multi-grip adjustable-spacing robotic gripper of claim 1, wherein: the air grippers (4) are at least 6 air grippers (4) which are arranged in parallel.
4. The compatible multi-grip adjustable-spacing robotic gripper of claim 3, wherein: in the gas grabbing (4), a first gas grabbing body (13) is arranged at one end of the mounting support (1), a sixth gas grabbing body (5) is arranged at the other end of the mounting support (1), wherein the first gas grabbing body (13) is a fixed gas grabbing end, and the sixth gas grabbing body (5) is a movable gas grabbing end.
5. The compatible multi-grip adjustable-spacing robotic gripper of claim 4, wherein: and the sixth pneumatic gripper (5) is connected with the motion connecting rod group (9) through a linear bearing (3).
6. The compatible multi-grip adjustable-spacing robotic gripper of claim 5, wherein: the motion connecting rod group (9) is an X-shaped motion connecting rod group connected end to end.
7. The compatible multi-grip adjustable-spacing robotic gripper of claim 6, wherein: the motion connecting rod group (9) is also provided with an X motion intersection point (11) and an X head-tail connecting point (12).
8. The compatible multi-grip adjustable-spacing robotic gripper of claim 7, wherein: the number of the X movement intersection points (11) is 5.
9. The compatible multi-grip adjustable-spacing robotic gripper of claim 7, wherein: the number of the X movement intersection points (11) is 5 pairs.
10. The compatible multi-grip adjustable-spacing robotic gripper of claim 1, wherein: the pneumatic claw (4) and the fixed connecting seat (14) are arranged in a one-to-one corresponding relationship.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921661591.1U CN211615662U (en) | 2019-10-07 | 2019-10-07 | Compatible robot tongs of grabbing adjustable interval more |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921661591.1U CN211615662U (en) | 2019-10-07 | 2019-10-07 | Compatible robot tongs of grabbing adjustable interval more |
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| Publication Number | Publication Date |
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| CN211615662U true CN211615662U (en) | 2020-10-02 |
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| CN201921661591.1U Active CN211615662U (en) | 2019-10-07 | 2019-10-07 | Compatible robot tongs of grabbing adjustable interval more |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112938470A (en) * | 2021-01-25 | 2021-06-11 | 安徽工业大学 | Multi-specification pipe conveying manipulator with mechanical lifting structure |
| CN114506671A (en) * | 2022-03-25 | 2022-05-17 | 北京京东乾石科技有限公司 | Snatch mechanism interval adjusting device and commodity circulation transfer chain |
| CN116141259A (en) * | 2023-04-24 | 2023-05-23 | 南京仁厚科技有限公司 | Graphite boat assembly calibrating device and graphite boat |
-
2019
- 2019-10-07 CN CN201921661591.1U patent/CN211615662U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112938470A (en) * | 2021-01-25 | 2021-06-11 | 安徽工业大学 | Multi-specification pipe conveying manipulator with mechanical lifting structure |
| CN114506671A (en) * | 2022-03-25 | 2022-05-17 | 北京京东乾石科技有限公司 | Snatch mechanism interval adjusting device and commodity circulation transfer chain |
| CN114506671B (en) * | 2022-03-25 | 2023-09-01 | 北京京东乾石科技有限公司 | Snatch mechanism interval adjusting device and commodity circulation transfer chain |
| CN116141259A (en) * | 2023-04-24 | 2023-05-23 | 南京仁厚科技有限公司 | Graphite boat assembly calibrating device and graphite boat |
| CN116141259B (en) * | 2023-04-24 | 2023-06-20 | 南京仁厚科技有限公司 | Graphite boat assembly calibrating device and graphite boat |
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