CN206201006U - Eight-corner tube handgrip framework and robot gripper - Google Patents
Eight-corner tube handgrip framework and robot gripper Download PDFInfo
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- CN206201006U CN206201006U CN201621053767.1U CN201621053767U CN206201006U CN 206201006 U CN206201006 U CN 206201006U CN 201621053767 U CN201621053767 U CN 201621053767U CN 206201006 U CN206201006 U CN 206201006U
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Abstract
The utility model is related to conveying equipment field, there is provided a kind of eight-corner tube handgrip framework and robot gripper, and the eight-corner tube handgrip framework includes main frame；The main frame includes the lower branch eight-corner tube of main eight-corner tube under two lower main eight-corner tubes be arrangeding in parallel and Duo Gen connections two；The lower main eight-corner tube is connected with corresponding two upper main eight-corner tubes respectively by many vertical eight-corner tubes, and two upper main eight-corner tubes are connected by upper branch eight-corner tube.The robot gripper includes：Handgrip connecting plate, eight-corner tube handgrip framework and multiple grasping units；The grasping unit and handgrip connecting plate are separately fixed on eight-corner tube handgrip framework.Eight-corner tube handgrip frame stability of the present utility model is good, and robot gripper being capable of convenient grabbing workpiece, it is possible to convenient to install, regulation and dismantle.
Description
Technical field
The utility model is related to conveying equipment field, more particularly to a kind of eight-corner tube handgrip framework and robot gripper.
Background technology
Conveying equipment is the material conveyance equipment of the continuous conveying material on certain aluminum alloy rail, and conveying equipment can enter
Water-filling is put down, is inclined and vertical transport, can also be conveyed along spatial course.Conveying equipment conveying capacity is big, haul distance is long, and saving of labor saves
Shi Shengli, rapidly and efficiently saves cost of labor.
Robot gripper is the important component of conveying equipment grabbing workpiece, and mainly workpiece is clamped, by gas circuit
Control to realize the release and clamping of handgrip.Handgrip framework in current car body welding producing line in assembling, mostly using steel
Plate, pipe, square tube etc. are welded, and have the disadvantage to be adjusted, and only polish and weld again, can just be adjusted and tear open
Dress, it is impossible to meet the use requirement that overall structure changes with the change of workpiece, it is impossible to realize adjustable, dismountable work(
Energy.Meanwhile, labour intensity is big during installation, very flexible.The another handgrip framework being made up of pipe, pipe fitting and installed part are easily slided,
Handgrip stability is poor.
Utility model content
Install for the handgrip framework for solving prior art, adjustment, dismounting be inconvenient and the technical problem such as stability difference, this
Utility model provides a kind of eight-corner tube handgrip framework and robot gripper, being capable of convenient grabbing workpiece, it is possible to easily
Install, regulation and dismantle, can also effectively prevent the pipe fitting of handgrip framework from rotating in use skew, increase sets
Standby stability and security.
The utility model provides a kind of eight-corner tube handgrip framework, including main frame；
The main frame includes main eight-corner tube (1) under two lower main eight-corner tubes (1) be arrangeding in parallel and many connections two
Lower branch eight-corner tube (2)；
The lower main eight-corner tube (1) is connected with corresponding two upper main eight-corner tubes (4) respectively by many vertical eight-corner tubes (3)
Connect, two upper main eight-corner tubes (4) are connected by upper branch eight-corner tube (5).
Further, the upper main eight-corner tube (4), upper branch eight-corner tube (5), lower main eight-corner tube (1) and lower branch eight-corner tube (2)
On be uniformly distributed multiple location and installation holes.
Further, the upper main eight-corner tube (4), upper branch eight-corner tube (5), lower main eight-corner tube (1) and lower branch eight-corner tube (2)
Outline be octagon, Internal periphery is circle, and internal sets reinforcement.
Further, the upper main eight-corner tube (4), upper branch eight-corner tube (5), lower main eight-corner tube (1) and lower branch eight-corner tube (2)
It is aluminum alloy materials.
Corresponding, the utility model also provides a kind of robot gripper, including：The eight-corner tube handgrip framework, handgrip connect
Fishplate bar (7) and multiple graspings unit (6)；
Grasping unit (6) and handgrip connecting plate (7) are separately fixed on eight-corner tube handgrip framework.
Further, grasping unit (6) includes：Clamping cylinder (101), upper pressing arm (102), upper holder block (103), under
Pressure arm (104), lower lock block (105) and mounting seat (106)；
The clamping cylinder (101) is fixed in mounting seat (106)；
Described upper pressing arm (102) one end is fixedly connected with the piston rod of clamping cylinder (101), the other end and upper holder block
(103) it is fixedly connected；
Described hold (104) one end is fixedly connected with the piston rod of clamping cylinder (101), the other end and lower lock block
(105) it is fixedly connected；
The upper holder block (103) and lower lock block (105) are oppositely arranged, and when the piston rod of clamping cylinder (101) stretches out,
The upper holder block (103) and lower lock block (105) can coordinate clamping workpiece.
Further, described grasping unit (6) bottom is positioned proximate to sensor.
Further, grasping unit (6) is fixed on main frame by pipe and connector.
A kind of eight-corner tube handgrip framework and robot gripper that the utility model is provided, compared with prior art with following
Advantage：
1st, the utility model is using anistree pipe profile composition eight-corner tube handgrip framework, and then constitutes robot gripper, due to
The architectural characteristic of eight-corner tube tubing possesses highest rigidity in light-duty gripping apparatus structure, so eight-corner tube handgrip frame of the present utility model
Frame stability is more preferable.Location and installation hole is uniformly distributed on anistree pipe profile, main frame is transferred not by the connector of different model
The anistree tubing of same model, can be applicable the workpiece of different shape and size, by changing direction or the extension of eight-corner tube, make eight
Cornue handgrip framework reaches the installation site that work piece holder needs.Meanwhile, installation is possessed the precision of superelevation, energy by eight-corner tube
The tolerance of guarantee ± 0.3MM in length 5M.
2nd, eight-corner tube handgrip framework is all connected by the way of bolt riveting in the utility model, ensure that structural rigidity
Also taken into account while with precision and be easily assembled, easily debug and quick detachable.And all of connection is all that the hole riveting mode for using will not
Deformation is slided in generation, thus it is safe and reliable in industrial application for a long time with high intensity, handgrip and framework are can guarantee that after installation
Intensity.Meanwhile, can effectively prevent the pipe fitting of framework from rotating in use skew using anistree pipe profile, rise
To anti-rotation effect, increase the stability and security of equipment.
3rd, eight-corner tube, the connector of eight-corner tube use all aluminium alloy structure, and overall light detachable, adjustable, structure can
Change with the change of workpiece, strong adaptability.
4th, anistree pipe connections are processed and are devised various connected modes using high accuracy, can fully mated eight-corner tube pipe
The mounting hole of material is reasonably installed connection and is stepped up the accessories such as cylinder, sensor.
5th, by the piston rod movement of clamping cylinder, drive pressure arm and briquetting to swing, briquetting is coordinated with fixed block
Workpiece is clamped, and by the regulation to multiple grasping unit set location and installation direction, multiple grasping units can be made to work
The diverse location of part is grasped, and to adapt to different workpieces shape, and picks up whole workpiece, the utility model robot gripper energy
The workpiece of different model is enough adapted to, it is wide using scope.
6th, the utility model robot gripper, simple and reasonable for structure, good stability can be grasped to workpiece, convenient
The transport of workpiece.And the convenient adjustment of equipment and dismounting, equipment are installed and using flexible.
Brief description of the drawings
Fig. 1 is the structural representation of the robot gripper that the utility model is provided；
Fig. 2 is the structural representation of eight-corner tube in eight-corner tube handgrip framework；
Fig. 3 is the connection diagram of lower main eight-corner tube and lower branch eight-corner tube；
Fig. 4 is the structural representation Fig. 1 for grasping unit；
Fig. 5 is the structural representation Fig. 2 for grasping unit.
The technical characteristic that reference is referred in figure：1st, lower main eight-corner tube；2nd, lower branch eight-corner tube；3rd, vertical eight-corner tube；4、
Upper main eight-corner tube；5th, upper branch eight-corner tube；6th, unit is grasped；7th, handgrip connecting plate；101st, clamping cylinder；102nd, upper pressing arm；103、
Upper holder block；104th, hold；105th, lower lock block；106th, mounting seat.
Specific embodiment
It is that the technical problem for solving the utility model, the technical scheme for using and the technique effect for reaching are clearer,
The utility model is described in further detail with reference to the accompanying drawings and examples.It is understood that described herein
Specific embodiment is used only for explanation the utility model, rather than to restriction of the present utility model.It also should be noted that, it is
It is easy to description, illustrate only part rather than the full content related to the utility model in accompanying drawing.
Fig. 1 is the structural representation of the robot gripper that the utility model is provided.As shown in figure 1, the utility model is implemented
The robot gripper that example is provided, including：Handgrip connecting plate 7, eight-corner tube handgrip framework and multiple grasping units 6, the grasping are single
Unit 6 and handgrip connecting plate 7 are separately fixed on eight-corner tube handgrip framework.Handgrip connecting plate 7 is used for being connected with conveying equipment main body.
Eight-corner tube handgrip framework is formed by connecting by many horizontal eight-corner tubes and the vertical eight-corner tubes of Duo Gen.Fig. 2 is that eight-corner tube is grabbed
The structural representation of eight-corner tube in hand framework.Fig. 3 is the connection diagram of lower main eight-corner tube and lower branch eight-corner tube.Such as Fig. 2,3 institutes
Show, the eight-corner tube handgrip framework, including main frame；The main frame includes two lower main eight-corner tubes 1 be arrangeding in parallel and many
The lower branch eight-corner tube 2 of main eight-corner tube 1 under root connection two；The lower main eight-corner tube 1 by many vertical eight-corner tubes 3 respectively with it is corresponding
Two upper main eight-corner tubes 4 connect, two upper main eight-corner tubes 4 are connected by upper branch eight-corner tube 5.Wherein, the upper main eight-corner tube
4th, multiple location and installation holes are uniformly distributed on upper branch eight-corner tube 5, lower main eight-corner tube 1 and lower branch eight-corner tube 2.The upper main eight-corner tube
4th, the outline of upper branch eight-corner tube 5, lower main eight-corner tube 1 and lower branch eight-corner tube 2 is that octagon, Internal periphery are circle, and internal
Reinforcement is set.The upper main eight-corner tube 4, upper branch eight-corner tube 5, lower main eight-corner tube 1 and lower branch eight-corner tube 2 are aluminum alloy materials.
Specifically, handgrip connecting plate 7 and multiple grasping units 6 are separately fixed on main frame.Fig. 4 is the knot for grasping unit
Structure schematic diagram 1.Fig. 5 is the structural representation Fig. 2 for grasping unit.As shown in Figures 4 and 5, the grasping unit 6 includes：Clamping cylinder
101st, upper pressing arm 102, upper holder block 103, hold 104, lower lock block 105 and mounting seat 106；The clamping cylinder 101 is fixed on
In mounting seat 106；The one end of the upper pressing arm 102 is fixedly connected with the piston rod of clamping cylinder 101, the other end and upper holder block 103
It is fixedly connected；The one end of the hold 104 is fixedly connected with the piston rod of clamping cylinder 101, and the other end is fixed with lower lock block 105
Connection；The upper holder block 103 and lower lock block 105 are oppositely arranged, and when the piston rod of clamping cylinder 101 stretches out, the upper pressure
Block 103 and lower lock block 105 can coordinate clamping workpiece.Grasping unit 6 bottom is positioned proximate to sensor.The grasping unit
6 are fixed on main frame by pipe and connector.
In such scheme, the shape of upper holder block 103 and lower lock block 105 can be adapted with the shape of pre- clamping workpiece.
The piston rod of clamping cylinder 101 can drive upper pressing arm 102 and hold 104 to move, and drive upper holder block 103 and lower lock block 105
Motion, and then grasping unit opened, closed.When unit picks workpiece is grasped, upper pressing arm 102 and hold 104 are all opened,
Can avoid being interfered with workpiece, upper pressing arm 102 and hold 104 move to clamped condition, clamp workpiece.A set of production line
On transporting equipment, grasping unit 6 can be adjusted according to the characteristics of pre- grabbing workpiece each grasping unit 6 setting direction, grab
Holding unit 6 can be arranged on vertical direction, can set in the horizontal direction, it is also possible to be arranged to incline.It is single by multiple grasping
First 6 diverse location respectively to workpiece is grasped, to pick up whole workpiece.In addition, grasping unit 6 bottom is settable close to biography
Whether sensor, convenient detection workpiece lifts in place.
The utility model is uniformly distributed location and installation hole using anistree pipe profile composition handgrip framework on anistree pipe profile,
The anistree tubing of the connector switching different model that eight-corner tube handgrip framework passes through different model, can be applicable different shape and chi
Very little workpiece, by changing direction or the extension of eight-corner tube, makes eight-corner tube handgrip framework reach the installation position of work piece holder needs
Put.Eight-corner tube handgrip framework coordinates with the mounting seat with phasing meter and pin hole simultaneously, can be the clamping in grasping unit 6
Cylinder is fixed on preferable installation site, can adjust connection easy for installation, high precision and length.In the present embodiment,
Each connector, the connected mode of mounting seat use blind riveting nut, easy for installation while ensure that installation accuracy.Due to
All of connection is all the hole riveting mode for using in the present embodiment, and pipe fitting will not occur to slide deformation, and installation accuracy is high, so
It is safe and reliable in industrial application for a long time with high intensity, the intensity of handgrip and framework is can guarantee that after installation.
The operation principle of the present embodiment robot gripper：When workpiece rises in place, proximity transducer is to external control system
System signals, and control system control clamping cylinder 101 drives upper pressing arm 102 and hold 104 to move, and upper holder block 103 and pushes
Block 105 is matched for clamping tightly workpiece, and the elevating mechanism of conveying equipment and walking mechanism are started working after grabbing workpiece, right so as to realize
The crawl and transport of workpiece.
Finally it should be noted that：Various embodiments above is only used to illustrate the technical solution of the utility model, rather than it is limited
System；Although being described in detail to the utility model with reference to foregoing embodiments, one of ordinary skill in the art should
Understand：It modifies to the technical scheme described in foregoing embodiments, or to which part or all technical characteristic
Equivalent is carried out, does not make the scope of essence disengaging each embodiment technical scheme of the utility model of appropriate technical solution.
Claims (8)
1. a kind of eight-corner tube handgrip framework, it is characterised in that including main frame；
The main frame includes the lower branch of main eight-corner tube (1) under two lower main eight-corner tubes (1) be arrangeding in parallel and many connections two
Eight-corner tube (2)；
The lower main eight-corner tube (1) is connected with corresponding two upper main eight-corner tubes (4) respectively by many vertical eight-corner tubes (3),
Two upper main eight-corner tubes (4) are connected by upper branch eight-corner tube (5).
2. eight-corner tube handgrip framework according to claim 1, it is characterised in that the upper main eight-corner tube (4), upper branch are anistree
Multiple location and installation holes are uniformly distributed on pipe (5), lower main eight-corner tube (1) and lower branch eight-corner tube (2).
3. eight-corner tube handgrip framework according to claim 2, it is characterised in that the upper main eight-corner tube (4), upper branch are anistree
Pipe (5), the outline of lower main eight-corner tube (1) and lower branch eight-corner tube (2) are octagon, Internal periphery is circle, and internal setting
Reinforcement.
4. the eight-corner tube handgrip framework according to Claims 2 or 3, it is characterised in that the upper main eight-corner tube (4), upper branch
Eight-corner tube (5), lower main eight-corner tube (1) and lower branch eight-corner tube (2) are aluminum alloy materials.
5. a kind of robot gripper, it is characterised in that including：Described in handgrip connecting plate (7), any one of Claims 1-4 eight
Cornue handgrip framework and multiple graspings unit (6)；
Grasping unit (6) and handgrip connecting plate (7) are separately fixed on eight-corner tube handgrip framework.
6. robot gripper according to claim 5, it is characterised in that the grasping unit (6) includes：Clamping cylinder
(101), upper pressing arm (102), upper holder block (103), hold (104), lower lock block (105) and mounting seat (106)；
The clamping cylinder (101) is fixed in mounting seat (106)；
Described upper pressing arm (102) one end is fixedly connected with the piston rod of clamping cylinder (101), and the other end is solid with upper holder block (103)
Fixed connection；
Described hold (104) one end is fixedly connected with the piston rod of clamping cylinder (101), and the other end is solid with lower lock block (105)
Fixed connection；
The upper holder block (103) and lower lock block (105) are oppositely arranged, and when the piston rod of clamping cylinder (101) stretches out, it is described
Upper holder block (103) and lower lock block (105) can coordinate clamping workpiece.
7. the robot gripper according to claim 5 or 6, it is characterised in that grasping unit (6) bottom is positioned proximate to
Sensor.
8. the robot gripper according to claim 5 or 6, it is characterised in that the grasping unit (6) is by pipe and company
Fitting is fixed on main frame.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621053767.1U CN206201006U (en) | 2016-09-14 | 2016-09-14 | Eight-corner tube handgrip framework and robot gripper |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621053767.1U CN206201006U (en) | 2016-09-14 | 2016-09-14 | Eight-corner tube handgrip framework and robot gripper |
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| Publication Number | Publication Date |
|---|---|
| CN206201006U true CN206201006U (en) | 2017-05-31 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621053767.1U Active CN206201006U (en) | 2016-09-14 | 2016-09-14 | Eight-corner tube handgrip framework and robot gripper |
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| Country | Link |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108381270A (en) * | 2018-05-16 | 2018-08-10 | 上汽通用五菱汽车股份有限公司 | A kind of accurate rack of flexibility |
| CN110193841A (en) * | 2019-05-30 | 2019-09-03 | 武汉百舸自动化工程有限责任公司 | A kind of lightweight manipulator |
| CN111054840A (en) * | 2019-10-12 | 2020-04-24 | 斯特姆(江苏)智能科技有限公司 | Blank pressing gripper mechanism for automobile front cover tire membrane |
| CN113459128A (en) * | 2021-08-06 | 2021-10-01 | 无锡贝斯特精机股份有限公司 | Three-axis duplex pneumatic attitude conversion mechanism and conversion method thereof |
-
2016
- 2016-09-14 CN CN201621053767.1U patent/CN206201006U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108381270A (en) * | 2018-05-16 | 2018-08-10 | 上汽通用五菱汽车股份有限公司 | A kind of accurate rack of flexibility |
| CN110193841A (en) * | 2019-05-30 | 2019-09-03 | 武汉百舸自动化工程有限责任公司 | A kind of lightweight manipulator |
| CN111054840A (en) * | 2019-10-12 | 2020-04-24 | 斯特姆(江苏)智能科技有限公司 | Blank pressing gripper mechanism for automobile front cover tire membrane |
| CN113459128A (en) * | 2021-08-06 | 2021-10-01 | 无锡贝斯特精机股份有限公司 | Three-axis duplex pneumatic attitude conversion mechanism and conversion method thereof |
| CN113459128B (en) * | 2021-08-06 | 2023-01-06 | 无锡贝斯特精机股份有限公司 | Three-axis duplex pneumatic attitude conversion mechanism and conversion method thereof |
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