CN106829452B - A kind of mobile grasping mechanism of two axis - Google Patents
A kind of mobile grasping mechanism of two axis Download PDFInfo
- Publication number
- CN106829452B CN106829452B CN201611190552.9A CN201611190552A CN106829452B CN 106829452 B CN106829452 B CN 106829452B CN 201611190552 A CN201611190552 A CN 201611190552A CN 106829452 B CN106829452 B CN 106829452B
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- sliding part
- fixedly connected
- axis
- pedestal
- fixed
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- 230000007246 mechanism Effects 0.000 title claims abstract description 51
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 25
- 239000000758 substrate Substances 0.000 claims description 18
- 229910000831 Steel Inorganic materials 0.000 claims description 17
- 239000010959 steel Substances 0.000 claims description 17
- 238000000465 moulding Methods 0.000 claims description 3
- 230000008450 motivation Effects 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000003139 buffering effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
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
-
- 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
- B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
-
- 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
- B65G47/907—Devices for picking-up and depositing articles or materials with at least two picking-up heads
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of mobile grasping mechanisms of two axis, including multijaw grasping mechanism, Z axis mobile mechanism and Y-axis moving mechanism, the multijaw grasping mechanism is equipped with the opposite left clamping jaw and right clamping jaw of more than two moving directions, the pedestal of multijaw grasping mechanism is fixedly connected with the lifting cylinder of Z axis mobile mechanism, and the driving gear of Z axis mobile mechanism is engaged with the rack gear of Y-axis moving mechanism.It is the configuration of the present invention is simple, small in size, and multiple products can be grabbed simultaneously and realize the carrying of product.
Description
Technical field:
The present invention relates to product conveying technology fields, and in particular to the grasping mechanism of product.
Background technique:
Production technical field, the grasping mechanism for shifting product generally use opposite a pair of of clamping jaw clamping of moving direction and produce
Product, a pair of of clamping jaw clamp a product, to grab multiple products, then multiple grasping mechanisms are needed, in this way, not only causing to produce
The increase of cost, moreover, causing production equipment structure too fat to move.
Summary of the invention:
The purpose of the present invention is overcoming the deficiencies of the prior art and provide a kind of mobile grasping mechanism of two axis, its structure is simple,
It is small in size, and multiple products can be grabbed simultaneously and realize the carrying of product
To achieve the above object, the solution to the technical problem of the present invention is as follows:
A kind of mobile grasping mechanism of two axis, including multijaw grasping mechanism, Z axis mobile mechanism and Y-axis moving mechanism are described more
Pawl grasping mechanism is equipped with the opposite left clamping jaw and right clamping jaw of more than two moving directions, and the pedestal and Z axis of multijaw grasping mechanism move
The lifting cylinder of motivation structure is fixedly connected, and the driving gear of Z axis mobile mechanism is engaged with the rack gear of Y-axis moving mechanism.
The multijaw grasping mechanism includes the first sliding part, the second sliding part and pedestal, and first sliding part is socketed in
In second sliding part, the second sliding part is flexibly connected on the base.
The lower end of first sliding part is fixedly connected with left clamping jaw by first connecting portion, and the lower end of the second sliding part is logical
It crosses second connecting portion and is fixedly connected with right clamping jaw；
First sliding part is in rectangular strip, respectively forms a steel ball retaining hole on the peripheric surface of the first sliding part,
Multiple steel balls are in a row mounted in steel ball retaining hole, and the left and right ends of the first sliding part are respectively fixedly connected with one piece of first sliding part
Cover board；
The inside of second sliding part forms rectangular strip hole, forms steel ball on the four side inner walls in rectangular strip hole
Slideway, the right end of the second sliding part are fixedly connected with the second sliding part cover board, and the upper end of the second sliding part is fixedly connected with guiding
Seat, guide holder form the guide groove of left and right directions, and the lower end of the second sliding part forms two through slots, and first connecting portion passes through
Through slot；
First sliding part is socketed in rectangular strip hole, and ball surfaces are pressed against on steel ball slideway；
The left end of the pedestal and right end have been respectively fixedly connected with the first cylinder and the second cylinder, the piston rod of the first cylinder
Head is fixed on the first sliding part cover board on the left of the first sliding part, and the piston rod head of the second cylinder is fixed on the second sliding
On part cover board, it is fixedly connected with load-bearing sliding rail in the middle part of the lower end of pedestal, guide groove is socketed on load-bearing sliding rail.
The Z axis mobile mechanism includes the substrate of fixed lifting cylinder, and the piston rod of the lower end of lifting cylinder is fixed on base
On seat, molding is there are two vertical through-hole on the substrate, and vertical through-hole is socketed with vertical pivot, and vertical pivot is fixed on the base, the base
The left and right ends of plate are respectively fixed with a buffer, and the telescopic end of buffer is fixed on the upper bottom surface of the substrate towards pedestal
It is connected with motor, the output shaft of motor is fixedly connected with driving gear, is fixedly connected with that there are two flat on the bottom surface of the substrate
The second capable guide holder, the second guide holder form the second pilot hole.
The Y-axis moving mechanism includes the rack of stationary rack, and substrate is in the inside of rack, is fixed in the rack
Two guide rods, for guide rod sleeve in the second pilot hole, guide rod is parallel with rack gear, and rack is fixed on the conveyor line.
Protrusion effect of the invention is:
Compared with prior art, its structure is simple, small in size, and can grab multiple products simultaneously and realize removing for product
Fortune.
Detailed description of the invention:
Fig. 1 is the structural diagram of the present invention；
Fig. 2 be it is of the invention it is hidden fall the second sliding part structural schematic diagram；
Fig. 3 is cross-sectional view of the invention；
Fig. 4 is the partial enlarged view of Fig. 3.
Specific embodiment:
Embodiment is shown in and shows as shown in Figure 1 to Figure 4 that a kind of mobile grasping mechanism of two axis, including multijaw grasping mechanism 1, Z axis are mobile
Mechanism 2 and Y-axis moving mechanism 3, the multijaw grasping mechanism 1 are equipped with the opposite left clamping jaw 112 and the right side of more than two moving directions
Clamping jaw 122, the pedestal 13 of multijaw grasping mechanism 1 are fixedly connected with the lifting cylinder 21 of Z axis mobile mechanism 2, Z axis mobile mechanism 2
Driving gear 26 engaged with the rack gear 31 of Y-axis moving mechanism 3.
Furthermore, the multijaw grasping mechanism 1 includes the first sliding part 11, the second sliding part 12 and pedestal 13,
First sliding part 11 is socketed in the second sliding part 12, and the second sliding part 12 is movably connected on pedestal 13.
Furthermore, the lower end of first sliding part 11 is fixedly connected with left clamping jaw by first connecting portion 111
112, the lower end of the second sliding part 12 is fixedly connected with right clamping jaw 122 by second connecting portion 121；
First sliding part 11 is in rectangular strip, and a steel ball is respectively formed on the peripheric surface of the first sliding part 11 and is kept
Hole 1101, multiple steel balls 113 are in a row mounted in steel ball retaining hole 1101, and the left and right ends of the first sliding part 11 are respectively fixedly connected
There is one piece of first sliding part cover board 114；
The inside of second sliding part 12 forms rectangular strip hole 1201, on the four side inner walls in rectangular strip hole 1201
Steel ball slideway 1202 is formed, the right end of the second sliding part 12 is fixedly connected with the second sliding part cover board 123, the second sliding part 12
Upper end be fixedly connected with guide holder 124, guide holder 124 forms the guide groove 1240 of left and right directions, the second sliding part 12
Lower end forms two through slots, and first connecting portion 111 passes through through slot；
First sliding part 11 is socketed in rectangular strip hole 1201, and 113 surface of steel ball is pressed against on steel ball slideway 1202；
The left end of the pedestal 13 and right end have been respectively fixedly connected with the first cylinder 131 and the second cylinder 132, the first cylinder
131 piston rod head is fixed on the first sliding part cover board 114 in 11 left side of the first sliding part, the piston of the second cylinder 132
Club head is fixed on the second sliding part cover board 123, is fixedly connected with load-bearing sliding rail 133, guide groove in the middle part of the lower end of pedestal 3
1240 are socketed on load-bearing sliding rail 133.
Furthermore, the Z axis mobile mechanism 2 includes the substrate 22 of fixed lifting cylinder 21, lifting cylinder 21
The piston rod of lower end is fixed on pedestal 13, and there are two vertical through-hole 2201,2201 sets of vertical through-holes for molding on the substrate 22
It is connected to vertical pivot 23, vertical pivot 23 is fixed on pedestal 13, and the left and right ends of the substrate 22 are respectively fixed with a buffer 24, buffering
The telescopic end of device 24 is fixedly connected with motor 25 towards pedestal 13 on the upper bottom surface of the substrate 22, the output shaft of motor 25 is solid
Surely it is connected with driving gear 26, is fixedly connected on the bottom surface of the substrate 22 there are two the second parallel guide holder 27, second
Guide holder 27 forms the second pilot hole.
Furthermore, the Y-axis moving mechanism 3 includes the rack 32 of stationary rack 31, and substrate 22 is in rack 32
Inside, fixed in the rack 32 there are two guide rods 33, and 33 sleeve of guide rod is in the second pilot hole, guide rod 33 and tooth
Item 31 is parallel, and rack 32 is fixed on the conveyor line.
Working principle: the first: the second sliding part 2 can be moved left and right along load-bearing sliding rail 33；Second: first movement part 1 and
Two moving members 2 opposite can be slided and not can rotate；Third: the first cylinder 31 and the stretching, extension of 32 piston rod of the second cylinder, the first sliding part 1
Multiple left clamping jaws 11 are driven to move right, the second sliding part 2 drives multiple right clamping jaws 21 to be moved to the left, to clamp product；The
Four, entire multijaw grasping mechanism 1 can be promoted or be moved down by lifting cylinder 21；5th, motor 25 rotates, and rack gear 31 is fixed, driving
Gear 26 rotates, and for substrate 22 to drive multijaw grasping mechanism 1 mobile, motor 25 can positive and negative rotation.
The above embodiments are only used to illustrate the present invention, and not limitation of the present invention, in relation to the common of technical field
Technical staff can also make a variety of changes and modification without departing from the spirit and scope of the present invention, therefore all
Equivalent technical solution also belongs to scope of the invention, and scope of patent protection of the invention should be defined by the claims.
Claims (1)
1. a kind of mobile grasping mechanism of two axis, including multijaw grasping mechanism (1), Z axis mobile mechanism (2) and Y-axis moving mechanism
(3), it is characterised in that: the multijaw grasping mechanism (1) is equipped with the opposite left clamping jaw (112) and right folder of more than two moving directions
Pawl (122), the pedestal (13) of multijaw grasping mechanism (1) are fixedly connected with the lifting cylinder (21) of Z axis mobile mechanism (2), and Z axis moves
The driving gear (26) of motivation structure (2) is engaged with the rack gear (31) of Y-axis moving mechanism (3)；The multijaw grasping mechanism (1) includes
First sliding part (11), the second sliding part (12) and pedestal (13), first sliding part (11) are socketed in the second sliding part
(12) in, the second sliding part (12) is movably connected on pedestal (13)；The lower end of first sliding part (11) connects by first
Socket part (111) is fixedly connected with left clamping jaw (112), and the lower end of the second sliding part (12) connects by the way that second connecting portion (121) are fixed
It is connected to right clamping jaw (122)；First sliding part (11) is in rectangular strip, is respectively formed on the peripheric surface of the first sliding part (11)
One steel ball retaining hole (1101), multiple steel balls (113) are in a row mounted in steel ball retaining hole (1101), the first sliding part (11)
Left and right ends be respectively fixedly connected with one piece of first sliding part cover board (114)；The inside of second sliding part (12) forms
Rectangular strip hole (1201) forms steel ball slideway (1202), the second sliding part on the four side inner walls of rectangular strip hole (1201)
(12) right end is fixedly connected with the second sliding part cover board (123), and the upper end of the second sliding part (12) is fixedly connected with guide holder
(124), guide holder (124) forms the guide groove (1240) of left and right directions, and the lower end of the second sliding part (12) forms two
Through slot, first connecting portion (111) pass through through slot；First sliding part (11) is socketed in rectangular strip hole (1201), steel ball (113)
Surface is pressed against on steel ball slideway (1202)；The left end of the pedestal (13) and right end have been respectively fixedly connected with the first cylinder
(131) and the second cylinder (132), the piston rod head of the first cylinder (131) are fixed on first on the left of the first sliding part (11)
On sliding part cover board (114), the piston rod head of the second cylinder (132) is fixed on the second sliding part cover board (123), pedestal (1
3) it is fixedly connected with load-bearing sliding rail (133) in the middle part of lower end, guide groove (1240) is socketed on load-bearing sliding rail (133)；The Z axis
Mobile mechanism (2) includes the substrate (22) of fixed lifting cylinder (21), and the piston rod of the lower end of lifting cylinder (21) is fixed on base
On seat (13), there are two vertical through-hole (2201), vertical through-hole (2201) to be socketed with vertical pivot (23) for molding on the substrate (22),
Vertical pivot (23) is fixed on pedestal (13), and the left and right ends of the substrate (22) are respectively fixed with a buffer (24), buffer
(24) telescopic end is fixedly connected with motor (25) towards pedestal (13) on the upper bottom surface of the substrate (22), motor (25)
Output shaft is fixedly connected with driving gear (26), is fixedly connected with that there are two parallel second to lead on the bottom surface of the substrate (22)
To seat (27), the second guide holder (27) forms the second pilot hole；The Y-axis moving mechanism (3) includes stationary rack (31)
Rack (32), substrate (22) are in the inside of rack (32), and there are two guide rod (33), guide rods for fixation on the rack (32)
(33) for sleeve in the second pilot hole, guide rod (33) is parallel with rack gear (31), and rack (32) is fixed on the conveyor line.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611190552.9A CN106829452B (en) | 2016-12-21 | 2016-12-21 | A kind of mobile grasping mechanism of two axis |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611190552.9A CN106829452B (en) | 2016-12-21 | 2016-12-21 | A kind of mobile grasping mechanism of two axis |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106829452A CN106829452A (en) | 2017-06-13 |
| CN106829452B true CN106829452B (en) | 2019-01-01 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611190552.9A Active CN106829452B (en) | 2016-12-21 | 2016-12-21 | A kind of mobile grasping mechanism of two axis |
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| Country | Link |
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| CN (1) | CN106829452B (en) |
Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107381027B (en) * | 2017-08-03 | 2019-07-19 | 合肥利元杰信息科技有限公司 | A kind of computer handling device |
| CN107825096B (en) * | 2017-12-01 | 2024-02-20 | 邵东智能制造技术研究院有限公司 | Lighter assembly manipulator |
| CN108748122A (en) * | 2018-06-29 | 2018-11-06 | 平湖市浩鑫塑胶有限公司 | A kind of clamp moving mechanism of plastic bottle |
| CN109383072A (en) * | 2018-12-12 | 2019-02-26 | 东莞市万速自动化设备有限公司 | The handling device of stickers lining machine |
| CN112122169B (en) * | 2020-09-21 | 2022-10-25 | 宝鸡法士特齿轮有限责任公司 | Workbench and method for detecting automobile parts |
| CN114029917A (en) * | 2021-11-08 | 2022-02-11 | 北京航空航天大学 | Two-degree-of-freedom flexible universal end effector for flat plate type parts |
| CN113977622A (en) * | 2021-11-15 | 2022-01-28 | 沈阳新松机器人自动化股份有限公司 | Robot end effector for self-adaptive linkage clamping of multiple working objects |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2493803A1 (en) * | 1980-11-10 | 1982-05-14 | Remy & Cie E P | HEAD WITH VARIABLE CONFIGURATION FOR PREHENDING AND HANDLING OBJECTS |
| JPH0958863A (en) * | 1995-08-23 | 1997-03-04 | Yokohama Rubber Co Ltd:The | Tire loading device |
| CN2721257Y (en) * | 2004-08-24 | 2005-08-31 | 上海科伟达超声波科技有限公司 | Manipulator of ultrasonic cleaner |
| CN103061958B (en) * | 2012-12-31 | 2015-11-18 | 浙江方向实业有限公司 | Horizontal wave power apparatus |
| CN203173514U (en) * | 2013-03-06 | 2013-09-04 | 国发重工机械有限公司 | Chuck of automatic setting machine |
| CN104476551A (en) * | 2014-12-12 | 2015-04-01 | 南通诺博特机器人制造有限公司 | Stacking clamp of intelligent stacking robot |
| CN204777618U (en) * | 2015-08-03 | 2015-11-18 | 昆山康斯特精密机械有限公司 | Automatic carrying device of two take place ofs bearings of hub |
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| CN106829452A (en) | 2017-06-13 |
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Effective date of registration: 20181114 Address after: 362804 132 new street, Nanpu village, Nanpu Town, Quangang District, Quanzhou, Fujian Applicant after: Quanzhou Mexico Trading Co., Ltd. Address before: 523000 room 436, Qian Qian building, 27 Guangming Road, Dongcheng District, Dongguan, Guangdong Applicant before: DONGGUAN QINZHI INDUSTRIAL DESIGN CO., LTD. |
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Effective date of registration: 20201230 Address after: Room 1404, building 4, No.5, South hope Avenue, Yancheng Economic and Technological Development Zone, Yancheng City, Jiangsu Province 224000 Patentee after: Yancheng yaen Technology Co.,Ltd. Address before: 362804 132 new street, Nanpu village, Nanpu Town, Quangang District, Quanzhou, Fujian Patentee before: QUANZHOU MOYU TRADE Co.,Ltd. |
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