CN203245884U

CN203245884U - Round cup picking mechanism

Info

Publication number: CN203245884U
Application number: CN 201320282470
Authority: CN
Inventors: 张子超; 张赛; 刘盘伟; 张健
Original assignee: JINAN ROBOT PHOENIX AUTOMATION SCIENCE & TECHNOLOGY Co Ltd
Current assignee: JINAN ROBOT PHOENIX AUTOMATION SCIENCE & TECHNOLOGY Co Ltd
Priority date: 2013-05-22
Filing date: 2013-05-22
Publication date: 2013-10-23
Anticipated expiration: 2023-05-22

Abstract

This utility model discloses a round cup gripping mechanism, comprising a pressure plate, a cylinder, a connecting rod, rollers, clamps, pins, and tension springs. The cylinder is mounted in the middle of the pressure plate. The middle part of the connecting rod is a square block connecting to the actuator end of the cylinder. Bearings are mounted at both ends of the connecting rod. The clamps are mounted to the connecting rod via the bearings. A through hole is opened at the lower end of the clamps, through which a pin passes. A small through hole is opened at the front end of the pin. The two ends of the tension spring are respectively mounted on the pins in the small through holes of the two rods of the clamp. Rollers are mounted at the upper ends of the two rods of the clamp. When the gripper closes, the rollers are in close contact with the bottom surface of the pressure plate. The advantages of this utility model are: simple structure; it can achieve individual gripping and simultaneous placement of round cup yogurt using only one cylinder, which can greatly improve efficiency and save costs.

Description

A kind of circle cup grasping mechanism

Technical field

The utility model relates to the Robotics field, particularly relates to a kind of circle cup grasping mechanism.

Background technology

Nowadays parallel robot is widely used in every field, but the grasping mechanism complex structure of existing robot, production cost is high, the crawl inefficiency, and therefore being necessary to propose a kind of new crawl structure solves the problems referred to above.

Summary of the invention

In order to overcome above-mentioned the deficiencies in the prior art, the utility model provides a kind of circle cup grasping mechanism.

The technical scheme that the utility model adopts is: a kind of circle cup grasping mechanism, comprise pressing plate, cylinder, connecting rod, roller, clamp, bearing pin and extension spring consist of, described pressing plate medium position is equipped with cylinder, the mid portion of connecting rod is the actuating station that a square connects cylinder, the two ends of connecting rod are equipped with bearing, clamp is installed together by bearing and connecting rod, the clamp lower end has through hole, penetrate bearing pin in the through hole, the front end of bearing pin has thin through hole, the two ends of extension spring are installed in respectively on the bearing pin of thin through hole of two rod member bearing pins that penetrate clamp, roller is equipped with in the upper end of two rod members of clamp, when handgrip was closed, the bottom surface of roller and pressing plate fitted tightly.

As preferably, the both sides, bottom surface of described pressing plate are processed as smooth flat, and roller can smooth and easyly roll thereon, the width the when width of pressing plate opens fully greater than handgrip.

As preferably, the centre position of described pressing plate is provided with installing hole, and cylinder is installed together by screw and pressing plate.

As preferably, described square is provided with installing hole, and the actuating station of cylinder links together by screw and connecting rod.

As preferably, described clamp is comprised of two duplicate rod members, and each rod member can rotate around connecting rod by bearing.

As preferably, two rod member lower ends of described clamp have groove, and groove shapes matches with the profile on circle cup Yogurt container limit.

As preferably, be the inclined-plane below the described groove, in order to guiding.

As preferably, when described handgrip was closed, the lower opening size of clamp was slightly less than the external diameter on circle cup Yogurt container limit.

As preferably, described clamp is at least 2 groups.

Compared with prior art, the beneficial effects of the utility model are: features simple structure, in the situation of only using a cylinder, can realize independent crawl and the simultaneously placement of circle cup sour milk, and can raise the efficiency significantly, save cost.

Description of drawings

In order to be illustrated more clearly in the technical solution of the utility model, the accompanying drawing of required use was done to introduce simply during the below will describe embodiment, apparently, accompanying drawing in the following describes only is embodiment more of the present utility model, for those of ordinary skills, under the prerequisite of not paying creative work, can also obtain according to these accompanying drawings other accompanying drawing.

Fig. 1 is the structure chart of a kind of embodiment of the present utility model.

The specific embodiment

In order more clearly to understand the technical solution of the utility model, below in conjunction with accompanying drawing the utility model is further specified.

A kind of circle cup grasping mechanism as shown in Figure 1, consisted of by pressing plate 1, cylinder 2, connecting rod 3, roller 4, clamp 5, bearing pin 6 and extension spring 7, the both sides, bottom surface of pressing plate 1 are processed with two smooth flat, so that roller 4 smooth and easy rolling thereon, simultaneously the width of pressing plate 1 is wanted enough so that sour milk handgrip when opening, roller still can not leave pressing plate 1 bottom surface, and the mid portion of pressing plate 1 leaves installing hole, and cylinder 2 is installed together by screw and pressing plate 1.Connecting rod 3 mid portions are a square, and the above leaves installing hole, and the actuating station of cylinder 2 links together by screw and connecting rod 3.So when cylinder 2 ventilation, can drive connecting rod 3 and move up and down.When handgrip was in closure state, the actuating station of cylinder 2 was in bottom.The two ends of connecting rod 3 are equipped with bearing, and clamp 5 is installed together by bearing and connecting rod 3.Clamp 5 is comprised of two duplicate rod members, and each rod member can rotate around connecting rod 3 by bearing.Each rod member lower end has through hole, penetrates bearing pin 6, and the front end of bearing pin 6 has through hole, and the two ends of extension spring 7 penetrate respectively and are installed in 5 two rod member bearing pin 6 through holes of clamp.When handgrip was closed, extension spring 7 was in the state that slight pretightning force is arranged.Roller 4 is equipped with in the upper end of 5 two rod members of clamp, and when the sour milk handgrip was closed, roller 4 fitted tightly with the bottom surface of pressing plate 1.The lower end of 5 two rod members of clamp has groove, and groove shapes matches with the profile on circle cup Yogurt container limit, and the groove below is the inclined-plane, in order to guiding.When the sour milk handgrip was closed, the lower opening size of clamp 5 was slightly less than the external diameter on circle cup Yogurt container limit.Be symmetrically installed with two clamps 5 on the sour milk handgrip, thereby realize grasping simultaneously the purpose of two boxes circle cup sour milk.

During crawl, handgrip is in closure state, from top to bottom vertical contact circle cup sour milk.In this process, the lower opening of clamp 5 can be strutted by the box limit of circle cup sour milk, until the box checkpost enters in the groove of clamp 5, this moment is under the pulling force effect of extension spring 7, circle cup sour milk is grasped firmly among clamp 5, in like manner can pick up another circle cup sour milk with another clamp 5, in the crawl process, do not need the gas circuit action, the actuating station of cylinder 2 is in bottom all the time.

During placement, robot drives the sour milk handgrip to assigned address, and cylinder 2 ventilations move up to topmost its actuating station.Under the drive of cylinder 2, connecting rod 3 also can move up, and the upper end of clamp 5 can strut to both sides under the extruding of pressing plate 1, thereby so that also open simultaneously the lower end of clamp 5, puts down circle cup sour milk.In this process, two clamps 5 move simultaneously, thereby can place simultaneously two circle cup sour milks.

The above only is preferred embodiments of the present utility model, so all equivalences of doing according to the described structure of the utility model patent claim, feature and principle change or modify, is included in the utility model patent claim.

Claims

1. justify the cup grasping mechanism for one kind, it is characterized in that: comprise pressing plate, cylinder, connecting rod, roller, clamp, bearing pin and extension spring consist of, described pressing plate medium position is equipped with cylinder, the mid portion of connecting rod is the actuating station that a square connects cylinder, the two ends of connecting rod are equipped with bearing, clamp is installed together by bearing and connecting rod, the clamp lower end has through hole, penetrate bearing pin in the through hole, the front end of bearing pin has thin through hole, the two ends of extension spring are installed in respectively on the bearing pin of thin through hole of two rod member bearing pins that penetrate clamp, roller is equipped with in the upper end of two rod members of clamp, the lower end is provided with handgrip, and when handgrip was closed, the bottom surface of roller and pressing plate fitted tightly.

2. a circle cup grasping mechanism according to claim 1, it is characterized in that: the both sides, bottom surface of described pressing plate are processed as smooth flat, and roller can smooth and easyly roll thereon, the width the when width of pressing plate opens fully greater than handgrip.

3. a circle cup grasping mechanism according to claim 1, it is characterized in that: the centre position of described pressing plate is provided with installing hole, and cylinder is installed together by screw and pressing plate.

4. a circle cup grasping mechanism according to claim 1, it is characterized in that: described square is provided with installing hole, and the actuating station of cylinder links together by screw and connecting rod.

5. a circle cup grasping mechanism according to claim 1, it is characterized in that: described clamp is comprised of two duplicate rod members, and each rod member can rotate around connecting rod by bearing.

6. circle cup grasping mechanism according to claim 1, it is characterized in that: two rod member lower ends of described clamp have groove, and groove shapes matches with the profile on circle cup Yogurt container limit.

7. circle cup grasping mechanism according to claim 6 is characterized in that: be the inclined-plane below the described groove, in order to guiding.

8. circle cup grasping mechanism according to claim 1, it is characterized in that: when described handgrip was closed, the lower opening size of clamp was slightly less than the external diameter on circle cup Yogurt container limit.

9. a circle cup grasping mechanism according to claim 1, it is characterized in that: described clamp is at least 2 groups.