CN108098802B - Door plate gripper assembly - Google Patents
Door plate gripper assembly Download PDFInfo
- Publication number
- CN108098802B CN108098802B CN201711356093.1A CN201711356093A CN108098802B CN 108098802 B CN108098802 B CN 108098802B CN 201711356093 A CN201711356093 A CN 201711356093A CN 108098802 B CN108098802 B CN 108098802B
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- CN
- China
- Prior art keywords
- mounting
- finger
- montant
- rod
- gripper assembly
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0023—Gripper surfaces directly activated by a fluid
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
- B25J15/0683—Details of suction cup structure, e.g. grooves or ridges
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Hooks, Suction Cups, And Attachment By Adhesive Means (AREA)
Abstract
The application provides a door plant tongs subassembly, the tongs subassembly include the frame and install the frame on a plurality of pneumatic finger subassembly, sucking disc subassembly, the frame include a plurality of horizontal poles and a plurality of montant, a plurality of horizontal poles for mutual parallel arrangement's first horizontal pole and second horizontal pole, a plurality of montants include first horizontal pole and second horizontal pole between be connected with first montant, second montant, third montant and the fourth montant of arranging the setting in proper order, first montant, second montant, third montant and the mutual parallel arrangement of fourth montant. The structure of the gripper assembly is designed for a specific door plate, and the gripper assembly is connected with the door plate in a proper shape through a plurality of rod pieces through connecting blocks. The robot drives the tongs subassembly and gets into the membrane intracavity, and the product is got to pneumatic finger clamp, and sucking disc group sucking disc absorbs the product, and the robot drives the tongs whole and retreats, takes out the product successfully.
Description
Technical Field
The application relates to a door panel tongs assembly.
Content of application
The technical problem that this application will be solved provides a door plant tongs subassembly.
In order to solve the technical problem, the application provides a door plant tongs subassembly, the tongs subassembly include the frame and install the frame on a plurality of pneumatic finger subassembly, sucking disc subassembly, the frame include a plurality of horizontal poles and a plurality of montant, a plurality of horizontal poles for mutual parallel arrangement's first horizontal pole and second horizontal pole, a plurality of montants include first horizontal pole and second horizontal pole between be connected with first montant, second montant, third montant and the fourth montant of arranging the setting in proper order, first montant, second montant, third montant and the mutual parallel arrangement of fourth montant.
Preferably, a mounting plate is further arranged between the second vertical rod and the third vertical rod.
Preferably, the gripper assembly further comprises a plurality of connecting blocks, the connecting blocks are made of carbon fiber materials, each connecting block comprises a first mounting portion, a second mounting portion and a connecting portion arranged between the first mounting portion and the second mounting portion, each first mounting portion comprises a first pipeline mounting hole penetrating through the corresponding first mounting portion, each first mounting portion further comprises two first fixing portions which are arranged oppositely, a first gap is formed between the two first fixing portions, the first gap is communicated with the corresponding first pipeline mounting hole, the two first fixing portions are provided with corresponding first fixing holes, and a hole axis of each first fixing hole is perpendicular to a hole axis of the corresponding first pipeline mounting hole; the second installation department including running through the second pipeline mounting hole of second installation department, the second installation department still including two second fixed parts of relative setting, two second fixed parts between have a second clearance, the second clearance with second pipeline mounting hole intercommunication, two the second fixed part on be provided with corresponding second fixed orifices, the hole axle of second fixed orifices with the hole axle mutually perpendicular of second pipeline mounting hole.
Preferably, the connecting block and the frame are formed by curing a plurality of layers of carbon fiber fabrics, and the carbon fiber fabrics are woven by carbon fibers.
Preferably, the gripper assembly further comprises at least one product sensor mounted on the frame.
Preferably, first montant and second montant on install respectively pneumatic finger subassembly, pneumatic finger subassembly include pneumatic finger, be used for the drive pneumatic finger's finger cylinder, be used for the installation the first finger installation pole of finger cylinder, with first finger installation pole rotate first rotating member of connection mutually, be used for the installation the second finger installation pole of first rotating member, first rotating member with first finger installation pole be connected through the finger connecting block.
Preferably, the sucking disc subassembly include the sucking disc, be used for installing the second rotating member of sucking disc, rotatable being connected to on an extension arm of second rotating member, the second rotating member with the extension arm be connected through the sucking disc connecting block.
Preferably, first montant and fourth montant on be provided with three respectively sucking disc subassembly and one pneumatic finger subassembly, the second horizontal pole on be provided with two the product inductor, the second montant on be provided with two sucking disc subassembly, the third montant on be provided with two sucking disc subassemblies.
This application door plant tongs subassembly, frame and connecting piece are made for carbon fiber material, and the quality of whole set of tongs is lighter, also more make things convenient for the dismouting debugging. The structure of the gripper assembly is designed for a specific door plate, and the gripper assembly is connected with the door plate in a proper shape through a plurality of rod pieces through connecting blocks. The robot drives the tongs subassembly and gets into the membrane intracavity, and the product is got to pneumatic finger clamp, and sucking disc group sucking disc absorbs the product, and the robot drives the tongs whole and retreats, takes out the product successfully. Due to the structures of the rod piece and the connecting block, parts such as the sucker assembly, the pneumatic finger and the like can be fixed at required positions according to actual requirements.
Drawings
FIG. 1 is a schematic structural view of a door panel gripper assembly according to the present application;
FIG. 2 is a schematic diagram of a pneumatic finger assembly according to the present application;
figure 3 is a schematic view of the construction of the chuck assembly described in the present application,
wherein: 11. a first cross bar; 12. a second cross bar; 21. a first vertical bar, 22, a second vertical bar; 23. a third vertical bar; 24. a fourth vertical bar; 3. a sucker component; 4. a pneumatic finger assembly; 5. a product sensor; 41. a pneumatic finger; 42. a first finger mounting bar; 43. a finger connecting block; 44. a first rotating member; 45. a second finger mounting bar; 31. a suction cup; 32. a second rotating member; 33. a sucker connecting block; 34. an extension arm; 6. and (7) mounting the plate.
Detailed Description
The present application is further described below in conjunction with the following figures and specific examples to enable those skilled in the art to better understand the present application and to practice it, but the examples are not intended to limit the present application.
As shown in fig. 1, in order to solve the above technical problem, the present application provides a door plank tongs subassembly, the tongs subassembly include the frame and install a plurality of pneumatic fingers 41 subassembly 4, sucking disc subassembly 3 on the frame, the frame include a plurality of horizontal poles and a plurality of montants, a plurality of horizontal poles for mutual parallel arrangement's first horizontal pole 11 and second horizontal pole 12, a plurality of montants include first horizontal pole 11 and second horizontal pole 12 between be connected with first montant 21, second montant 22, third montant 23 and the fourth montant 24 of arranging the setting in proper order, first montant 21, second montant 22, third montant 23 and fourth montant 24 mutual parallel arrangement. And a mounting plate 6 is also arranged between the second vertical rod 22 and the third vertical rod 23. The gripper assembly further comprises a plurality of connecting blocks, the connecting blocks are made of carbon fiber materials, each connecting block comprises a first mounting portion, a second mounting portion and a connecting portion arranged between the first mounting portion and the second mounting portion, each first mounting portion comprises a first pipeline mounting hole penetrating through the corresponding first mounting portion, each first mounting portion further comprises two first fixing portions which are arranged oppositely, a first gap is formed between the two first fixing portions, the first gap is communicated with the corresponding first pipeline mounting hole, the two first fixing portions are provided with corresponding first fixing holes, and the hole axis of each first fixing hole is perpendicular to the hole axis of the corresponding first pipeline mounting hole; the second installation department including running through the second pipeline mounting hole of second installation department, the second installation department still including two second fixed parts of relative setting, two second fixed parts between have a second clearance, the second clearance with second pipeline mounting hole intercommunication, two the second fixed part on be provided with corresponding second fixed orifices, the hole axle of second fixed orifices with the hole axle mutually perpendicular of second pipeline mounting hole. The connecting block and the frame are formed by curing a plurality of layers of carbon fiber fabrics, and the carbon fiber fabrics are formed by weaving carbon fibers. The gripper assembly further comprises at least one product sensor 5 mounted on the frame.
As shown in fig. 2, the pneumatic finger assembly 4 is mounted on the first vertical rod 21 and the second vertical rod 22, the pneumatic finger assembly 4 includes a pneumatic finger 41, a finger cylinder for driving the pneumatic finger 41, a first finger mounting rod 42 for mounting the finger cylinder, a first rotating member 44 rotatably connected to the first finger mounting rod 42, and a second finger mounting rod 45 for mounting the first rotating member 44, and the first rotating member 44 is connected to the first finger mounting rod 42 through a finger connecting block 43.
As shown in fig. 3, the suction cup assembly 3 comprises a suction cup 31, a second rotating member 32 for mounting the suction cup 31, the second rotating member 32 is rotatably connected to an extension arm 34, and the second rotating member 32 and the extension arm 34 are connected by a suction cup connecting block 33.
The above-described embodiments are merely preferred embodiments for fully illustrating the present application, and the scope of the present application is not limited thereto. The equivalent substitution or change made by the person skilled in the art on the basis of the present application is within the protection scope of the present application. The protection scope of this application is subject to the claims.
Claims (6)
1. A door sheet gripper assembly is characterized by comprising a frame, a plurality of pneumatic finger assemblies and sucker assemblies, wherein the pneumatic finger assemblies and the sucker assemblies are mounted on the frame, the frame comprises a plurality of transverse rods and a plurality of vertical rods, the transverse rods are a first transverse rod and a second transverse rod which are arranged in parallel, the vertical rods comprise a first vertical rod, a second vertical rod, a third vertical rod and a fourth vertical rod which are sequentially arranged between the first transverse rod and the second transverse rod, the first vertical rod, the second vertical rod, the third vertical rod and the fourth vertical rod are arranged in parallel,
a mounting plate is arranged between the second vertical rod and the third vertical rod,
the gripper assembly further comprises a plurality of connecting blocks, the connecting blocks are made of carbon fiber materials, each connecting block comprises a first mounting portion, a second mounting portion and a connecting portion arranged between the first mounting portion and the second mounting portion, each first mounting portion comprises a first pipeline mounting hole penetrating through the corresponding first mounting portion, each first mounting portion further comprises two first fixing portions which are arranged oppositely, a first gap is formed between the two first fixing portions, the first gap is communicated with the corresponding first pipeline mounting hole, the two first fixing portions are provided with corresponding first fixing holes, and the hole axis of each first fixing hole is perpendicular to the hole axis of the corresponding first pipeline mounting hole; the second installation department including running through the second pipeline mounting hole of second installation department, the second installation department still including two second fixed parts of relative setting, two second fixed parts between have a second clearance, the second clearance with second pipeline mounting hole intercommunication, two the second fixed part on be provided with corresponding second fixed orifices, the hole axle of second fixed orifices with the hole axle mutually perpendicular of second pipeline mounting hole.
2. The door panel gripper assembly of claim 1 wherein said connecting blocks and said frame are formed by curing a plurality of layers of carbon fiber fabric woven from carbon fiber.
3. The door panel gripper assembly of claim 2, wherein said gripper assembly further comprises at least one product sensor mounted to said frame.
4. The door panel gripper assembly of claim 3, wherein said first vertical bar and said second vertical bar are respectively provided with said pneumatic finger assembly, said pneumatic finger assembly comprises a pneumatic finger, a finger cylinder for driving said pneumatic finger, a first finger mounting rod for mounting said finger cylinder, a first rotating member rotatably connected to said first finger mounting rod, and a second finger mounting rod for mounting said first rotating member, said first rotating member being connected to said first finger mounting rod via a finger connecting block.
5. The door panel gripper assembly of claim 4, wherein said suction cup assembly comprises a suction cup, a second rotating member for mounting said suction cup, said second rotating member being rotatably connected to an extension arm, said second rotating member being connected to said extension arm via a suction cup connection block.
6. The door panel gripper assembly of claim 5, wherein said first vertical bar and said fourth vertical bar have three of said suction cup assemblies and one of said pneumatic finger assemblies, respectively, said second cross bar has two of said product sensors, said second vertical bar has two of said suction cup assemblies, and said third vertical bar has two of said suction cup assemblies.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711356093.1A CN108098802B (en) | 2017-12-16 | 2017-12-16 | Door plate gripper assembly |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711356093.1A CN108098802B (en) | 2017-12-16 | 2017-12-16 | Door plate gripper assembly |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108098802A CN108098802A (en) | 2018-06-01 |
| CN108098802B true CN108098802B (en) | 2020-04-21 |
Family
ID=62217451
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711356093.1A Active CN108098802B (en) | 2017-12-16 | 2017-12-16 | Door plate gripper assembly |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108098802B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112720002A (en) * | 2020-12-30 | 2021-04-30 | 贵州华科铝材料工程技术研究有限公司 | Ultra-flat precise aluminum plate overturning device and overturning method thereof |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0429901A1 (en) * | 1989-11-29 | 1991-06-05 | Fried. Krupp Gesellschaft mit beschränkter Haftung | Manipulating device, particularly for handling objects made of a flexible matter |
| WO2011144876A1 (en) * | 2010-05-21 | 2011-11-24 | Rise Ba | System for gripping objects attached to a robotised unit comprising two gripping means |
| CN205572408U (en) * | 2016-03-02 | 2016-09-14 | 广州钧天自动化科技有限责任公司 | Slide rail moving mechanism and PCB pickup apparatus |
| CN205889222U (en) * | 2016-06-20 | 2017-01-18 | 广州瑞松北斗汽车装备有限公司 | Work piece location tongs that robot intelligence roll extrusion is bordured systematically |
| CN206590569U (en) * | 2017-02-28 | 2017-10-27 | 上海道多汽车设备有限公司 | A kind of auto production line two-sided handgrip of top cover buckling plate |
-
2017
- 2017-12-16 CN CN201711356093.1A patent/CN108098802B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0429901A1 (en) * | 1989-11-29 | 1991-06-05 | Fried. Krupp Gesellschaft mit beschränkter Haftung | Manipulating device, particularly for handling objects made of a flexible matter |
| WO2011144876A1 (en) * | 2010-05-21 | 2011-11-24 | Rise Ba | System for gripping objects attached to a robotised unit comprising two gripping means |
| CN205572408U (en) * | 2016-03-02 | 2016-09-14 | 广州钧天自动化科技有限责任公司 | Slide rail moving mechanism and PCB pickup apparatus |
| CN205889222U (en) * | 2016-06-20 | 2017-01-18 | 广州瑞松北斗汽车装备有限公司 | Work piece location tongs that robot intelligence roll extrusion is bordured systematically |
| CN206590569U (en) * | 2017-02-28 | 2017-10-27 | 上海道多汽车设备有限公司 | A kind of auto production line two-sided handgrip of top cover buckling plate |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108098802A (en) | 2018-06-01 |
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