CN104802176A - Gripping device and mechanical hand applying gripping device - Google Patents
Gripping device and mechanical hand applying gripping device Download PDFInfo
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- CN104802176A CN104802176A CN201510196634.3A CN201510196634A CN104802176A CN 104802176 A CN104802176 A CN 104802176A CN 201510196634 A CN201510196634 A CN 201510196634A CN 104802176 A CN104802176 A CN 104802176A
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- handgrip
- gripping device
- grabbing device
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- slide block
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Abstract
The invention discloses a gripping device and a mechanical hand applying the gripping device. The gripping device comprises grippers, and a fixing plate which is used for fixing the grippers, wherein two or more than two grippers are arranged; each gripper is composed of two parallel fingers; one end of each gripper is open; the other end of each gripper is fixed on the fixing plate; each gripper is provided with two or more than two clamping openings; a liftable pressing plate is arranged above the grippers; the inner side face of each finger of each gripper is provided with a rubber sheet; the end face of each finger at the open end of each gripper is an inclined plane. The mechanical hand comprises the gripping device and a supporting truss, wherein the gripping device is connected with a lifting cylinder; the lifting cylinder is fixed on a transverse movement sliding block for controlling the ascending and descending of the gripping device. The transverse movement sliding block moves on a transverse guide rail; the transverse guide rail is fixedly connected with a longitudinal movement sliding block; the longitudinal movement sliding block moves on a longitudinal guide rail; the longitudinal movement guide rail is fixed on the supporting truss. The gripping device and the mechanical hand applying the gripping device have the advantages that the gripping device can grip a plurality of goblets every time, the structure is simple, the gripping effect is reliable, and the production efficiency can be effectively improved.
Description
Technical field
The present invention relates to glassware production equipment technical field, be specially a kind of grabbing device and apply the manipulator of this grabbing device.
Background technology
In the process of producing goblet, need glassware to be transported to conveyer belt from annealing kiln, and be transported to down one manufacturing procedure by conveyer belt.Because existing grabbing device does not mate with the shape of goblet, cannot be applied in the operation carrying of goblet production line.At present, goblet semi-finished product have come primarily of manual operation in the carrying of inter process, and this kind mode production efficiency is low, labor cost is high and working strength is large, thus adds the production cost of enterprise.
Summary of the invention
The object of the invention is to overcome above-mentioned deficiency, there is provided a kind of structure simple and be applicable to the grabbing device of goblet inter process carrying, the manipulator installing this grabbing device is applied to goblet handling process, can enhances productivity, reduce production cost and improve production security.
For solving the problems of the technologies described above, the present invention is by the following technical solutions: a kind of grabbing device, comprise the fixed head of handgrip and fixing handgrip, described handgrip quantity is two or more, each handgrip is made up of two parallel fingers, handgrip one end open, the other end is fixed on fixed head, each handgrip is provided with two and plural gripping port.
Further, above described handgrip, be provided with liftable pressing plate, for strengthening the stability of goblet in handling process.
Further, the facies digitales mediales manus of described handgrip is provided with sheet rubber, can effectively prevent from doing spend the outer surface of goblet and cushion the pressure of handgrip to glassware.
Further, the finger end face of the open end of described handgrip is inclined plane shape, for strengthening the security of accuracy and the movement captured.
A kind of manipulator installing above-mentioned grabbing device, comprise grabbing device and sub-truss, described grabbing device is connected with its lifting cylinder be elevated of control, described lifting cylinder is fixed on transverse shifting slide block, described transverse shifting slide block moves on cross slide way, described cross slide way and vertically move slide block and be fixed together, vertically move the motion of slide block on longitudinal rail, longitudinal movement rail is fixed on sub-truss.
The movement of described transverse shifting slide block on cross slide way is controlled by ball-screw by servomotor.
Describedly vertically move the movement of slide block on longitudinal rail and controlled by ball-screw by servomotor.
The invention has the beneficial effects as follows: gripper equipment of the present invention designs for the special construction of goblet, often organize parallel finger and define handgrip, gripping port on handgrip and the form fit of goblet, after capturing, goblet position is fixed and not easily slides, and enhances the accuracy of crawl and the security of movement.The robot manipulator structure applying this gripper equipment is reasonable in design, can carry multiple goblet at every turn, effectively can enhance productivity, reduces labor strength and improve production security.
Accompanying drawing explanation
Fig. 1 and Fig. 2 is the structural representation of grabbing device in embodiment 1;
Fig. 3 is the robot manipulator structure schematic diagram applying this grabbing device in embodiment 1;
Fig. 4 is the production line applying manipulator of the present invention in embodiment 1;
Fig. 5 and Fig. 6 is the structural representation of grabbing device in embodiment 2.
Fig. 7 is the robot manipulator structure schematic diagram applying this grabbing device in embodiment 2;
Fig. 8 is the production line applying manipulator of the present invention in embodiment 2;
In figure: 1 grabbing device, 2 lifting cylinders, 3 transverse shifting slide blocks, 4 horizontal ball-screws, 5 cross slide waies, 6 transverse shifting servomotors, 7 vertically move slide block, 8 longitudinal ball-screws, 9 longitudinal rails, 10 vertically move servomotor, 11 sub-trusses, 12 conveyer belts, 13 annealing kilns, 14 goblet arrays, 15 emergent platforms, 16 floors, 17 handgrips, 18 fixed heads, 19 pressing plates, 20 compression cylinders, 21 fingers, 22 gripping ports, 23 inclined-planes.
Detailed description of the invention
Below in conjunction with drawings and Examples, the present invention is described further, but the present invention is not limited to embodiment.
Embodiment 1
Present embodiments provide a kind of glass grabbing device 1 as illustrated in fig. 1 and 2, this device comprises fixed head 18 and five handgrips 17, each handgrip 17 is made up of two parallel fingers 21, handgrip 17 one end open, the other end is fixed on fixed head 18, fixed head 18 is connected with lifting cylinder 2, each handgrip 17 is provided with two gripping ports 22.The corresponding gripping port 22 of each glass in gripping process, the grabbing device 1 of the present embodiment disposable gripping two can arrange totally ten goblets.
In order to ensure the stability of whole handling process, be provided with pressing plate 19 above handgrip 17, pressing plate 19 controls lifting by the compression cylinder 20 be fixed on fixed head 18.
Finger 21 medial surface of described handgrip 17 is provided with sheet rubber, can effectively prevent from doing spend the outer surface of goblet and cushion the pressure of handgrip to glassware.
The finger end face of described handgrip 17 open end is inclined-plane 23, and two finger inclined-planes 23 extensions forming same handgrip intersect at gripping port, and this inclined-plane can reduce the probability that in crawl process, handgrip 17 and goblet collide.
Present embodiments provide the manipulator of a kind of this grabbing device of application as shown in Figure 3, this manipulator comprises grabbing device 1 and sub-truss 11 etc., described grabbing device 1 is connected with lifting cylinder 2, lifting cylinder 2 controls the lifting of grabbing device 1, lifting cylinder 2 is fixed on transverse shifting slide block 3, and the movement of transverse shifting slide block 3 on cross slide way 5 drives horizontal ball-screw 4 to control by transverse shifting servomotor 6.Cross slide way 5 and vertically move slide block 7 and be fixed together, vertically move the motion of slide block 7 on longitudinal rail 9 and controlled by longitudinal ball-screw 8 by vertically moving servomotor 10, longitudinal movement rail 9 is fixed on sub-truss 11.Sub-truss 11 is fixed on floor 16.
During described robot work, transverse shifting servomotor 6 and vertically move servomotor 10 and control grabbing device 1 in horizontal and vertical position, grabbing device 1 is dropped to proper height by lifting cylinder 2, and before placing it in the cup needing gripping (as shown in Figure 4), carry out the preparation of front gripping.Transverse shifting servomotor 6 drives grabbing device 1 transverse shifting to do gripping action, and handgrip 17 is inserted in the cup array of two rows five row.Meanwhile, compression cylinder 20 controls pressing plate 19 and compresses downwards, ensures the stable of goblet attitude.Then, lifting cylinder 2 driving mechanical hand 1 rises.Simultaneously, transverse shifting servomotor 6 controls the transverse shifting of grabbing device 1, goblet is placed in above conveyer belt 12, compression cylinder 20 controls pressing plate 19 and rises, handgrip 17 continues transverse shifting, after shifting out grabbing device 1 from side, grabbing device 1 can be placed on next position, clamp next group goblet.
Present embodiments provide a kind of production line applying manipulator of the present invention as shown in Figure 4, this manipulator is arranged on the side of annealing kiln 13, across the driving-belt 12 of next process, goblet out lines up goblet array 14 from annealing kiln 13, goblet in goblet array 14 is transported on conveyer belt 12 by manipulator, and is transported to next process.Between annealing kiln 13 and manipulator, be provided with emergent platform 15, when carrying fault and occurring, goblet can temporarily be transported on emergent platform 15 by manipulator.
Embodiment 2
The present embodiment robot manipulator structure is similar to embodiment 1.As shown in Figure 5, the manipulator of the present embodiment is installed on the top of annealing furnace 13, simultaneously across the driving-belt 12 of next process.In the present embodiment, grabbing device 1 is substantially the same manner as Example 1, and just grabbing device 1 is made up of two handgrips 17, each handgrip is provided with five gripping ports 22, at every turn also can gripping 10 goblets.Other identical structures repeat no more.
During described robot work, transverse shifting servomotor 6 and vertically move servomotor 10 and control manipulator in horizontal and vertical position, manipulator is dropped to proper height by lifting cylinder 2, and before placing it in the cup needing gripping (as shown in Figure 8), carries out the preparation of gripping from the side.Transverse shifting servomotor 6 drives grabbing device 1 transverse shifting to do gripping action, and handgrip 17 inserts in the cup array of two rows five row.Meanwhile, lifting cylinder 20 controls pressing plate 19 and presses down, and ensures the stable of goblet attitude.Then, lifting cylinder 2 drives grabbing device 1 to rise.Simultaneously, vertically move servomotor 10 and control vertically moving of grabbing device 1, goblet is placed in above conveyer belt 12, lifting cylinder 20 controls pressing plate 19 and rises, transverse shifting servomotor 6 controls the transverse shifting of grabbing device 1, after shifting out grabbing device 1 from side, grabbing device 1 can be placed on next position, clamp next group goblet.
The present invention is not limited to above-mentioned detailed description of the invention; above-described embodiment is only schematic; be not restrictive; those skilled in the art are under enlightenment of the present invention; when not departing from the invention aim; capture angle and mode etc. without creationary change, much similar frame mode and embodiment can be made, all within protection scope of the present invention.
Claims (7)
1. a grabbing device, comprise the fixed head of handgrip and fixing handgrip, it is characterized in that: described handgrip quantity is two or more, each handgrip is made up of two parallel fingers, handgrip one end open, the other end is fixed on fixed head, each handgrip is provided with two and plural gripping port.
2. grabbing device according to claim 1, is characterized in that: be provided with liftable pressing plate above described handgrip.
3. grabbing device according to claim 1, is characterized in that: the facies digitales mediales manus of described handgrip is provided with sheet rubber.
4. grabbing device according to claim 1, is characterized in that: the finger end face of the open end of described handgrip is inclined plane shape.
5. the manipulator of the arbitrary grabbing device of application rights requirement 1-4, it is characterized in that: grabbing device is connected with its lifting cylinder be elevated of control, described lifting cylinder is fixed on transverse shifting slide block, described transverse shifting slide block moves on cross slide way, described cross slide way and vertically move slide block and be fixed together, vertically move the motion of slide block on longitudinal rail, longitudinal movement rail is fixed on sub-truss.
6. manipulator according to claim 5, is characterized in that: the movement of described transverse shifting slide block on cross slide way is controlled by ball-screw by servomotor.
7. manipulator according to claim 5, is characterized in that: described in vertically move the movement of slide block on longitudinal rail and controlled by ball-screw by servomotor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510196634.3A CN104802176B (en) | 2015-04-24 | 2015-04-24 | Gripping device and mechanical hand applying gripping device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510196634.3A CN104802176B (en) | 2015-04-24 | 2015-04-24 | Gripping device and mechanical hand applying gripping device |
Publications (2)
| Publication Number | Publication Date |
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| CN104802176A true CN104802176A (en) | 2015-07-29 |
| CN104802176B CN104802176B (en) | 2017-02-22 |
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| CN201510196634.3A Expired - Fee Related CN104802176B (en) | 2015-04-24 | 2015-04-24 | Gripping device and mechanical hand applying gripping device |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106914911A (en) * | 2017-03-08 | 2017-07-04 | 浙江理工大学 | Kiln grabbing device on multifunctional glass insulator |
| CN107053226A (en) * | 2017-02-12 | 2017-08-18 | 上海云线娃娃信息科技有限公司 | It is a kind of to clamp and hold up simultaneously the manipulator of article |
| CN108994825A (en) * | 2018-09-19 | 2018-12-14 | 河北卓秋实业有限公司 | Cantilevered Dual-spindle linked bionic mechanical hand spreading machine |
| CN109291065A (en) * | 2018-11-20 | 2019-02-01 | 北京墨狄科技有限公司 | A kind of mechanical gripper |
| CN109436788A (en) * | 2018-12-24 | 2019-03-08 | 重庆江东机械有限责任公司 | A kind of composite material ground platen grabbing device |
| CN109434805A (en) * | 2018-10-12 | 2019-03-08 | 章婧 | A kind of screening manipulator of low energy consumption |
| CN111649598A (en) * | 2020-07-07 | 2020-09-11 | 吉林华微电子股份有限公司 | Pulling device applied to diffusion furnace and pulling control method |
| CN113184523A (en) * | 2020-01-14 | 2021-07-30 | 济宁协力特种气体有限公司 | Gas cylinder grabbing device |
| CN114752969A (en) * | 2022-04-20 | 2022-07-15 | 铜陵有色金属集团股份有限公司 | A kind of electrolytic short circuit automatic treatment device and method |
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| CN104260102A (en) * | 2014-09-15 | 2015-01-07 | 江苏牧羊控股有限公司 | Robot gripper |
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Patent Citations (10)
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| JPH10316109A (en) * | 1997-05-14 | 1998-12-02 | Lion Corp | Product transferring apparatus |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107053226A (en) * | 2017-02-12 | 2017-08-18 | 上海云线娃娃信息科技有限公司 | It is a kind of to clamp and hold up simultaneously the manipulator of article |
| CN107053226B (en) * | 2017-02-12 | 2023-11-17 | 玉沣科技(西安)有限公司 | Manipulator capable of simultaneously clamping and supporting articles |
| CN106914911A (en) * | 2017-03-08 | 2017-07-04 | 浙江理工大学 | Kiln grabbing device on multifunctional glass insulator |
| CN108994825A (en) * | 2018-09-19 | 2018-12-14 | 河北卓秋实业有限公司 | Cantilevered Dual-spindle linked bionic mechanical hand spreading machine |
| CN109434805A (en) * | 2018-10-12 | 2019-03-08 | 章婧 | A kind of screening manipulator of low energy consumption |
| CN109291065A (en) * | 2018-11-20 | 2019-02-01 | 北京墨狄科技有限公司 | A kind of mechanical gripper |
| CN109436788A (en) * | 2018-12-24 | 2019-03-08 | 重庆江东机械有限责任公司 | A kind of composite material ground platen grabbing device |
| CN109436788B (en) * | 2018-12-24 | 2023-09-12 | 重庆江东机械有限责任公司 | Composite material ground platen grabbing device |
| CN113184523A (en) * | 2020-01-14 | 2021-07-30 | 济宁协力特种气体有限公司 | Gas cylinder grabbing device |
| CN111649598A (en) * | 2020-07-07 | 2020-09-11 | 吉林华微电子股份有限公司 | Pulling device applied to diffusion furnace and pulling control method |
| CN114752969A (en) * | 2022-04-20 | 2022-07-15 | 铜陵有色金属集团股份有限公司 | A kind of electrolytic short circuit automatic treatment device and method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104802176B (en) | 2017-02-22 |
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