CN106743548A - Grasping mechanism - Google Patents
Grasping mechanism Download PDFInfo
- Publication number
- CN106743548A CN106743548A CN201611117150.6A CN201611117150A CN106743548A CN 106743548 A CN106743548 A CN 106743548A CN 201611117150 A CN201611117150 A CN 201611117150A CN 106743548 A CN106743548 A CN 106743548A
- Authority
- CN
- China
- Prior art keywords
- support frame
- grasping mechanism
- catching robot
- mechanism according
- drive motor
- 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.)
- Pending
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/902—Devices for picking-up and depositing articles or materials provided with drive systems incorporating rotary and rectilinear movements
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of grasping mechanism, it includes：Support frame, the drive component being installed on support frame and the two ends of support frame and the catching robot that is connected with drive component are slidedly arranged on, support frame includes some line slide rails, and line slide rail is connected with catching robot.Drive component includes the driving seat being installed on support frame, is installed on the drive motor driven on seat, the turning arm being installed in drive motor.Catching robot includes the sliding panel being slidedly arranged on line slide rail, the swing arm and handgrip that are installed on sliding panel, and swing arm is connected with turning arm, and handgrip is protruded out downwards from sliding panel.Arm rotation is rotated during drive motor, so as to drive catching robot inwardly or outwardly to slide.Above grasping mechanism, can according to actual needs change the plastic sucking disc that size adapts to different size, and versatility is good, and two ends uniform force during crawl, crawl effect is good.
Description
Technical field
The present invention relates to machinery automation processing technical field, more particularly to a kind of grasping mechanism.
Background technology
With continuing to develop for society, traditional manual processing cannot meet Production requirement, in order to meet production
Demand, application of the mechanical automation in production and processing is more and more.Different types of zero is frequently referred in machinery production to match somebody with somebody
Substantial amounts of spare and accessory parts often typically will be mounted in plastic uptake by part in spare and accessory parts production from a local transport to another place
On disk, then transport is captured by grasping mechanism.But, the specification of plastic sucking disc is not of uniform size, the usual immutable size of grasping mechanism
To adapt to the plastic sucking disc of different size, poor universality, crawl effect are bad, are made troubles to production.
The content of the invention
Based on this, it is necessary to for the problem that presence is carried in machinery production, there is provided a kind of versatility is good, crawl effect is good
Grasping mechanism.
A kind of grasping mechanism, including：Support frame, the drive component being installed on support frame as described above and it is slidedly arranged on the branch
The two ends of support and the catching robot being connected with the drive component；Support frame as described above includes some line slide rails, described straight
Line slide rail is connected with the catching robot；The drive component includes the driving being installed on support frame as described above seat, is installed on
Drive motor on the driving seat, the turning arm being installed in the drive motor；The catching robot includes being slidedly arranged on
Sliding panel on the line slide rail, the swing arm and handgrip being installed on the sliding panel, the swing arm and the rotation
Arm is connected, and the handgrip is protruded out downwards from the sliding panel；The turning arm is driven to rotate during the drive motor, so that
The catching robot is driven inwardly or outwardly to slide.
Above-mentioned grasping mechanism, mainly including support frame, the drive component being installed on support frame, be slidedly arranged on support frame two
End and the catching robot being connected with drive component.When using, the grasping mechanism is moved to work under the drive of mechanical arm
At station, drive motor catching robot is flexed outward along line slide rail until plastic sucking disc can be placed on two crawls
On manipulator, drive motor drives catching robot to firmly grasp plastic sucking disc to centre is mobile simultaneously afterwards.Because catching robot can
With the size degree stretched according to the size conversion of plastic sucking disc, it is backward in the middle of it is mobile firmly grasp plastic sucking disc, versatility is good；One drive
Dynamic motor can simultaneously drive the catching robot at two ends to be synchronized with the movement, and grasping movement is convenient and swift, two ends uniform force, crawl
Effect is good.
Wherein in one embodiment, also including two stopping means, the stopping means be installed on support frame as described above and
Positioned at drive motor outside.
Wherein in one embodiment, the stopping means include one end be connected with support frame as described above tie rod, be installed on
The limiter of the tie rod other end.
Wherein in one embodiment, one end of the turning arm is provided with a limit induction block, the limit induction block
It is adapted to the limiter.
Wherein in one embodiment, if support frame as described above also includes supporting plate, the Heavenly Stems and Earthly Branches being installed in the supporting plate
Dagger, the mounting bracket being installed on the support column, the line slide rail are located at the two ends of the mounting bracket.
Wherein in one embodiment, the supporting plate is provided with installation handle, and the installation handle is located at the support
On plate top surface.
Wherein in one embodiment, the mounting bracket is provided with two strips mouthful, and the strip mouthful is slided positioned at the straight line
Between rail, the handgrip passes through the strip mouthful.
Wherein in one embodiment, the driving seat includes some columns being connected with the supporting plate, is installed on institute
The fixed plate on column is stated, the fixed plate is connected and positioned at turning arm top with the drive motor.
Wherein in one embodiment, the fixed plate is provided with some excellent power glue sticks, and the excellent power glue stick is located at described
The both sides of turning arm.
Wherein in one embodiment, the bottom surface of the sliding panel is provided with two sliding shoes, and the sliding shoe is straight with described
Line slide rail coordinates slip one by one.
Brief description of the drawings
Fig. 1 is the schematic diagram of the grasping mechanism of a preferred embodiment of the present invention；
Fig. 2 is another visual angle schematic diagram of the grasping mechanism shown in Fig. 1；
Fig. 3 is the schematic diagram of support frame in the grasping mechanism shown in Fig. 1；
Fig. 4 is the schematic diagram of drive component in the grasping mechanism shown in Fig. 1；
Fig. 5 is the schematic diagram of catching robot in the grasping mechanism shown in Fig. 1；
Fig. 6 is the schematic diagram of stopping means in the grasping mechanism shown in Fig. 1；
Accompanying drawing marks explanation：
10- grasping mechanisms, 20- support frames, 21- line slide rails, 22- supporting plates, 23- support columns, 24- mounting brackets, 25- peaces
Dress handle, 26- strips mouthful, 30- drive components, 31- drives seat, 32- columns, 33- fixed plates, 34- drive motors, 35- rotations
Arm, 36- limit induction blocks, the excellent power glue sticks of 37-, 40- catching robots, 41- sliding panels, 42- swing arms, 43- handgrips, 44- holds
Connect post, 45- bearing plates, 46- sliding shoes, 50- stopping means, 51- tie rods, 52- limiters, 53- limited mouths.
Specific embodiment
For the ease of understanding the present invention, the present invention is described more fully below with reference to relevant drawings.In accompanying drawing
Give presently preferred embodiments of the present invention.But, the present invention can be realized in many different forms, however it is not limited to this paper institutes
The embodiment of description.On the contrary, the purpose for providing these embodiments is to make the understanding to the disclosure more thorough
Comprehensively.
It should be noted that when element is referred to as " being fixed on " another element, it can directly on another element
Or can also there is element placed in the middle.When an element is considered as " connection " another element, it can be directly connected to
To another element or may be simultaneously present centering elements.
Unless otherwise defined, all of technologies and scientific terms used here by the article with belong to technical field of the invention
The implication that technical staff is generally understood that is identical.The term for being used in the description of the invention herein is intended merely to description tool
The purpose of the embodiment of body, it is not intended that in the limitation present invention.
Fig. 1 to Fig. 6 is refer to, is the grasping mechanism 10 of a preferred embodiment of the present invention, be mainly installed on the machinery of machine
Carrying processing is carried out to plastic sucking disc on arm.The grasping mechanism 10 includes support frame 20, is installed on drive component on support frame 20
30 and the two ends of support frame 20 and the catching robot 40 that is connected with drive component 30 are slidedly arranged on, drive component 30 drives two
Catching robot 40 is moved simultaneously, captures plastic sucking disc, is transported under the drive of mechanical arm.
Fig. 3 is refer to, support frame 20 includes some line slide rails 21, a supporting plate 22, some support columns 23, a mounting bracket
24 and one handle 25 is installed, line slide rail 21 is connected with catching robot 40, undertaking catching robot 40, is easy to catching robot
40 along rectilinear movement.The quantity of line slide rail 21 is four, the every two one group two ends for being located at mounting bracket 24, two line slide rails
21 are parallel to each other.The quantity of support column 23 is four, and support column 23 is installed in supporting plate 22 and positioned at the periphery of drive component 30,
Install and receive refined 25 on the top surface of supporting plate 22, be connected for the mechanical arm with external machine.Mounting bracket 24 is installed on support
Away from one end of supporting plate 22, mounting bracket 24 is provided with two strips mouthful 26 to post 23, and strip mouthful 26 is located at two relative straight lines
Between slide rail 21.
Fig. 4 is refer to, drive component 30 includes the driving seat 31 being installed on support frame 20, is installed on driving seat 31
Drive motor 34, the turning arm 35 being installed in drive motor 34, when drive motor 34 drives, can drive 35 turns of turning arm
It is dynamic.Specifically, driving seat 31 includes some columns 32 being connected with supporting plate 22, the fixed plate 33 being installed on column 32, Gu
Fixed board 33 is connected and positioned at the top of turning arm 35 with drive motor 34.One end of turning arm 35 is provided with a limit induction block 36,
Fixed plate 33 is provided with some excellent power glue sticks 37, and the quantity of excellent power glue stick 37 is three, positioned at the both sides of turning arm 35, excellent power glue
Rod 37 can play position limitation protection effect to turning arm 35.Because turning arm 35 is Z-shaped, it is rotated with reference to excellent power glue stick 37
Spacing, the rotating distance of the turning arm 35 can be increased under limited space.
Fig. 5 is refer to, catching robot 40 includes the sliding panel 41 being slidedly arranged on line slide rail 21, is installed on sliding panel 41
On swing arm 42 and handgrip 43, swing arm 42 is connected with turning arm 35, specifically, two swing arms 42 respectively with turning arm 35
Two ends be hinged, handgrip 43 is protruded out downwards through strip mouthfuls 26 from sliding panel 41.Drive motor 34 is rotated arm 35 when driving
Rotate, so as to drive catching robot 40 inwardly or outwardly to slide.Specifically, the bottom surface of sliding panel 41 is provided with two sliding shoes
46, sliding shoe 46 coordinates slip one by one with line slide rail 21.Handgrip 43 includes two undertaking posts 44 being connected with sliding panel 41, installs
In the bearing plate 45 for accepting the bottom of post 44, accept post 44 and play undertaking squeezing action when catching robot 40 captures plastic sucking disc,
Bearing plate 45 plays a part of to support plastic sucking disc.
In another embodiment, the grasping mechanism 10 also includes two stopping means 50, and stopping means 50 is installed on support frame
In 20 supporting plate 22, and positioned at the outside of drive motor 34.Stopping means 50 connects including one end with the supporting plate 22 of support frame 20
The tie rod 51 for connecing, the limiter 52 for being installed on the other end of tie rod 51, limiter 52 are adapted to limit induction block 36.On limiter 52
A limited mouth 53 is provided with, when limit induction block 36 is turned in limited mouth 53 with turning arm 35, limiter 52 receives limit
Position signal, controls drive motor 34 to stop operating afterwards, and so as to play position-limiting action, turning arm 35 is just in two stopping means 50
Between rotate.
Above-mentioned grasping mechanism 10, it is main to include support frame 20, the drive component 30 being installed on support frame 20, be slidedly arranged on branch
The two ends of support 20 and the catching robot 40 being connected with drive component 30.When using, the grasping mechanism 40 is in mechanical arm
It is moved at work station under drive, drive motor 34 drives catching robot 40 to be flexed outward along line slide rail 21 until inhaling
Modeling disk can be placed on two catching robots 40, and drive motor drives the handgrip 43 of catching robot 40 in simultaneously afterwards
Between mobile firmly grasp plastic sucking disc.Due to catching robot 40 can according to the size conversion of plastic sucking disc stretch size degree, afterwards
Plastic sucking disc is firmly grasped to centre is mobile, versatility is good；One drive motor 34 can simultaneously drive the catching robot 40 at two ends same
Step motion, grasping movement is convenient and swift, and two ends uniform force, crawl effect is good.
Each technical characteristic of embodiment described above can be combined arbitrarily, to make description succinct, not to above-mentioned reality
Apply all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, the scope of this specification record is all considered to be.
Embodiment described above only expresses several embodiments of the invention, and its description is more specific and detailed, but simultaneously
Can not therefore be construed as limiting the scope of the patent.It should be pointed out that coming for one of ordinary skill in the art
Say, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to protection of the invention
Scope.Therefore, the protection domain of patent of the present invention should be determined by the appended claims.
Claims (10)
1. a kind of grasping mechanism, it is characterised in that including：Support frame, the drive component being installed on support frame as described above and cunning set
In the two ends of support frame as described above and the catching robot that is connected with the drive component；Support frame as described above is slided including some straight lines
Rail, the line slide rail is connected with the catching robot；The drive component includes the driving being installed on support frame as described above
Seat, the drive motor being installed on the driving seat, the turning arm being installed in the drive motor；The catching robot bag
Include the sliding panel being slidedly arranged on the line slide rail, the swing arm and handgrip that are installed on the sliding panel, the swing arm with
The turning arm connection, the handgrip is protruded out downwards from the sliding panel；The turning arm is driven during the drive motor
Rotate, so as to drive the catching robot inwardly or outwardly to slide.
2. grasping mechanism according to claim 1, it is characterised in that also including two stopping means, the stopping means peace
Loaded on support frame as described above and positioned at drive motor outside.
3. grasping mechanism according to claim 2, it is characterised in that the stopping means includes one end and support frame as described above
The tie rod of connection, the limiter for being installed on the tie rod other end.
4. grasping mechanism according to claim 3, it is characterised in that one end of the turning arm is provided with a limit induction
Block, the limit induction block is adapted to the limiter.
5. grasping mechanism according to claim 1, it is characterised in that support frame as described above also includes supporting plate, is installed on institute
The some support columns in supporting plate, the mounting bracket being installed on the support column are stated, the line slide rail is located at the mounting bracket
Two ends.
6. grasping mechanism according to claim 5, it is characterised in that the supporting plate is provided with installation handle, the peace
Dress handle is located in the support plate top surface.
7. grasping mechanism according to claim 5, it is characterised in that the mounting bracket is provided with two strips mouthful, the length
Bar mouthful is located between the line slide rail, and the handgrip passes through the strip mouthful.
8. grasping mechanism according to claim 5, it is characterised in that the driving seat includes what is be connected with the supporting plate
Some columns, the fixed plate being installed on the column, the fixed plate are connected and positioned at the rotation with the drive motor
Arm top.
9. grasping mechanism according to claim 8, it is characterised in that the fixed plate is provided with some excellent power glue sticks, institute
Excellent power glue stick is stated positioned at the both sides of the turning arm.
10. grasping mechanism according to claim 1, it is characterised in that the bottom surface of the sliding panel is provided with two sliding shoes,
The sliding shoe coordinates slip one by one with the line slide rail.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611117150.6A CN106743548A (en) | 2016-12-07 | 2016-12-07 | Grasping mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611117150.6A CN106743548A (en) | 2016-12-07 | 2016-12-07 | Grasping mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106743548A true CN106743548A (en) | 2017-05-31 |
Family
ID=58881271
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611117150.6A Pending CN106743548A (en) | 2016-12-07 | 2016-12-07 | Grasping mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106743548A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107618871A (en) * | 2017-10-24 | 2018-01-23 | 苏州华智诚精工科技有限公司 | A kind of jig rotation switching positioning handling device |
| CN109760079A (en) * | 2018-12-25 | 2019-05-17 | 武汉理工大学 | A kind of restructural clamper of robot end of Metal Sheets for Body-manufacturing assembly |
-
2016
- 2016-12-07 CN CN201611117150.6A patent/CN106743548A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107618871A (en) * | 2017-10-24 | 2018-01-23 | 苏州华智诚精工科技有限公司 | A kind of jig rotation switching positioning handling device |
| CN109760079A (en) * | 2018-12-25 | 2019-05-17 | 武汉理工大学 | A kind of restructural clamper of robot end of Metal Sheets for Body-manufacturing assembly |
| CN109760079B (en) * | 2018-12-25 | 2022-03-01 | 武汉理工大学 | Robot tail end reconfigurable clamp for assembling sheet metal parts of vehicle body |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170531 |
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| RJ01 | Rejection of invention patent application after publication |