CN108839059A - A kind of grabbing assembly - Google Patents
A kind of grabbing assembly Download PDFInfo
- Publication number
- CN108839059A CN108839059A CN201810927770.9A CN201810927770A CN108839059A CN 108839059 A CN108839059 A CN 108839059A CN 201810927770 A CN201810927770 A CN 201810927770A CN 108839059 A CN108839059 A CN 108839059A
- Authority
- CN
- China
- Prior art keywords
- rotation axis
- transmission mechanism
- workpiece
- connecting shaft
- grippers
- 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.)
- Granted
Links
- 230000005540 biological transmission Effects 0.000 claims abstract description 40
- 238000007789 sealing Methods 0.000 claims description 28
- 239000000428 dust Substances 0.000 claims description 9
- 230000005526 G1 to G0 transition Effects 0.000 claims 1
- 239000002002 slurry Substances 0.000 abstract description 13
- 238000002386 leaching Methods 0.000 abstract description 11
- 230000000712 assembly Effects 0.000 abstract description 3
- 238000000429 assembly Methods 0.000 abstract description 3
- 239000004576 sand Substances 0.000 description 6
- 238000010586 diagram Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 238000007598 dipping method Methods 0.000 description 2
- 230000007306 turnover Effects 0.000 description 2
- 229920000715 Mucilage Polymers 0.000 description 1
- 238000007792 addition Methods 0.000 description 1
- 239000000853 adhesive Substances 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008450 motivation Effects 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of grabbing assemblies, which is characterized in that including mechanical arm, grippers and pendant；Grippers include force piece, transmission mechanism, box body and at least one the actuation rotation axis drawn by transmission mechanism；The force piece drives the transmission mechanism, and the box body supports the force piece and transmission mechanism and is fixedly linked with the mechanical arm, and the actuation rotation axis is pierced by the box body；Pendant includes hanging plate and connecting shaft that is corresponding with the rotation number of axle is attracted and being connected with the actuation rotation axis, the connecting shaft pass through the hanging plate and be connected with workpiece.The present invention is arranged mechanical arm and drives the grippers rotation, there is force piece and transmission mechanism in grippers, being attracted rotation axis by driving drives the connecting shaft to drive workpiece rotation, so that workpiece can have enough to meet the need with grippers, can also drive rotation by connecting shaft；With this, aloow workpiece it is more uniform be stained with slurry and leaching is husky.
Description
Technical field
The present invention relates to manipulator crawl technical field more particularly to a kind of grabbing assemblies.
Background technique
Using artificial mucilage, leaching sand, the uneven unstable quality of workpiece surface amount of slurry, and since workpiece is very heavy, worker
Labor intensity is very big, very the waste working time.
Existing Chinese patent discloses a kind of automatic dipping slurry that publication No. is CN104588278A, drenches husky all-in-one machine, including
Rack, is stained with slurry bucket and station at the leaching sand machine being placed on rack side, and crossbeam, the crossbeam are equipped at the top of the rack
On mobile device is installed, mounting plate is installed in the mobile device, electric cylinder is installed on the mounting plate, it is described electronic
Pendulous device is installed on cylinder, rotating device is installed on the pendulous device, clamp device is installed on the rotating device；
The station is connected with the husky machine of leaching, mobile device, electric cylinder, pendulous device, rotating device.This automatic dipping slurry, leaching are husky
All-in-one machine needs manual feeding, and each bout can only grab a workpiece, in addition, can not often workpiece be made to drench when drenching husky
It is husky uniform.
Summary of the invention
For the above-mentioned deficiency of the prior art, technical problem to be solved by the present invention lies in propose a kind of grabbing assembly.
The technical solution used to solve the technical problems of the present invention is that a kind of grabbing assembly, which is characterized in that including：
Mechanical arm；
Grippers, including force piece, transmission mechanism, box body and at least one the actuation rotation axis drawn by transmission mechanism；
The force piece drives the transmission mechanism, and the box body supports the force piece and transmission mechanism and consolidates with the mechanical arm
Fixed to be connected, the actuation rotation axis is pierced by the box body；
Work hanger rotates the connection that the number of axle is corresponding and is connected with the actuation rotation axis including hanging plate and with being attracted
Axis, the connecting shaft pass through the hanging plate and are connected with workpiece.-
Preferably, the transmission mechanism includes multiple transmission gears, it is adjacent between transmission gear intermeshing.
Preferably, the actuation rotation axis passes through the transmission gear.
Preferably, the box body includes upper sealing plate, lower sealing plate and multiple side seal boards, the upper sealing plate, lower sealing plate and multiple
Side seal board surrounds cavity；The cavity accommodates the transmission mechanism, and the upper sealing plate supports the force piece.
Preferably, the grippers further include inner bearing formula electromagnetic clutch corresponding with the rotation number of axle is attracted, described
Inner bearing formula electromagnetic clutch includes anti-dust seat and the attached guide bracket of bearing that is built in anti-dust seat, and the actuations rotation axis is across institute
It states the attached guide bracket of bearing and is connected therewith, the anti-dust seat is fixed on lower sealing plate.
Preferably, the upper end of the connecting shaft extends radially outwardly to form disk, and the disk can be inhaled with the attached guide bracket of bearing
Conjunction is affixed.
Preferably, the lower end for being attracted rotation axis has conical head, and the disk is provided with the cone protruded into for conical head
Shape slot.
Preferably, the work hanger further includes the bearing block being fixed on hanging plate and covers in the connecting shaft and pass through
The axle sleeve of the bearing block.
It preferably, further include fixed plate, clamping cylinder and clamping plate, the fixed plate and the mechanical arm phase
Even, the upper end of clamping cylinder is connected with the upper sealing plate, the lower end of clamping cylinder run through successively the lower sealing plate, hanging plate and with folder
Tight plate is connected.
Preferably, the clamp includes holder, hinge and fixed frame, and the hinge and the holder cooperate to clamp work
Part, the fixed frame are connected with holder and movable resist the hinge.
The present invention is arranged mechanical arm and drives the grippers rotation, has force piece and transmission mechanism in grippers, leads to
It overdrives and is attracted the rotation axis drive connecting shaft and then drives workpiece rotation, so that workpiece can have enough to meet the need with grippers, it can also
Rotation is driven by connecting shaft；With this, aloow workpiece it is more uniform be stained with slurry and leaching is husky.
Detailed description of the invention
Fig. 1 is schematic perspective view of the invention；
Fig. 2 is the schematic perspective view that upper sealing plate and side seal board are rejected in Fig. 1；
Fig. 3 is the schematic perspective view of grippers；
Fig. 4 is the schematic perspective view of work hanger；
Fig. 5 is the structural schematic diagram for being attracted rotation axis；
Fig. 6 is the structural schematic diagram for being attracted rotation axis and passing through the attached guide bracket of bearing；
Fig. 7 is the structural schematic diagram of connecting shaft.
Specific embodiment
Following is a specific embodiment of the present invention in conjunction with the accompanying drawings, technical scheme of the present invention will be further described,
However, the present invention is not limited to these examples.
Fig. 1-Fig. 7 is please referred to, the invention discloses a kind of grabbing assemblies, which is characterized in that including mechanical arm 100, grab
Pickup 200 and work hanger 300, mechanical arm 100 are connected with the grippers 200, the 200 grabbing workpiece hanger of grippers
300；Grippers 200 can be driven to rotate by mechanical arm 100, grippers 200 are rotated by rotation axis of its axis, the crawl
Part 200 can grab the work hanger 300, and wherein grippers 200 are connected with multiple workpiece 400, and grippers 200 can drive multiple
Workpiece 400 rotates, and multiple workpiece 400 are rotated by rotation axis of its axis respectively.
For the mechanical arm 100 by robotically-driven, mechanical arm 100 can carry out back rotation.
Grippers 200 are drawn at least including force piece 210, transmission mechanism 220, box body 230 and by transmission mechanism 220
One actuation rotation axis 240；The force piece 210 drives the transmission mechanism 220, and the box body 230 supports the force piece
It 210 and transmission mechanism 220 and is fixedly linked with the mechanical arm 100, the actuation rotation axis 240 is pierced by the box body 230；
The grippers 200 are fixedly linked with the mechanical arm 100, and grippers 200 can carry out back rotation with mechanical arm 100, crawl
210 drive transmission device 220 of force piece in part 200, and at least one drawn from transmission mechanism 220 is driven to be attracted rotation axis
240 rotations, in this embodiment, the quantity for being attracted rotation axis 240 is three, and three actuation rotation axis 240 are by the power
Part 210 provides power, and is rotated respectively with the axis of its own, in entire grippers 200 in rotation, three actuation rotation axis
240 occur turnover (rotating by rotation axis of the axis of grippers 200) with the grippers 200, meanwhile, it is attracted rotation axis 240
It is driven by the transmission mechanism 220 and rotation occurs (axis to be attracted rotation axis 240 is rotated as rotation axis).
Work hanger 300 include hanging plate 310, clamp 340 and be attracted 240 quantity of rotation axis it is corresponding and with the actuation
The connected connecting shaft 320 of rotation axis 240, the connecting shaft 320 pass through the hanging plate 310 and are connected with workpiece 400, specifically
It says, the upper end of the connecting shaft 320 is connected with the actuation rotation axis 240, lower end and 400 phase of workpiece of the connecting shaft 320
Even, the axis of the workpiece 400 and the corresponding axis for being attracted rotation axis 240 are attracted rotation axis on same straight line
The connecting shaft 320 is driven to rotate when 240 rotation, the connecting shaft 320 drives the workpiece 400 to rotate；Mechanical arm 100 can
Grippers 200 are driven to rotate, the workpiece 400 can have enough to meet the need by rotation axis of the axis of grippers 200, meanwhile, in grippers 200
Force piece 210 can actuation rotation axis 240 in drive transmission device 220, and successively drive connecting shaft 320,400 turns of workpiece
It is dynamic, rotation axis 240, connecting shaft 320, the rotation of workpiece 400 are attracted in rotation, are rotated by rotation axis of its respective axis.
Preferably, the transmission mechanism 220 include multiple transmission gears 221, it is adjacent between transmission gear 221 mutually nibble
It closes, in this embodiment, three actuations rotation axis 240 is drawn from multiple transmission gears 221, adjacent biography
It is intermeshed between moving gear 221, so that three actuation rotation axis 240 can rotate simultaneously.
Preferably, the actuation rotation axis 240 passes through the transmission gear 221.
Preferably, the box body 230 includes upper sealing plate 231, lower sealing plate 232 and multiple side seal boards 233, the upper sealing plate
231, lower sealing plate 232 and multiple side seal boards 233 surround cavity；The cavity accommodates the transmission mechanism 220, the upper sealing plate
The 231 support force pieces 210；Specifically, the multiple transmission gear 221 is in the cavity, in mechanical arm 100
When grippers 200 being driven to rotate, the box body 230 is rotated, and force piece 210 drives transmission gear 221 to rotate, so that workpiece
400 opposite rotation occurs relative to box body 230.
Preferably, the grippers 200 further include inner bearing formula electromagnetic clutch corresponding with 240 quantity of rotation axis is attracted
250, the inner bearing formula electromagnetic clutch 250 includes anti-dust seat 251 and the attached guide bracket 252 of bearing being built in anti-dust seat 251,
The actuation rotation axis 240 passes through the attached guide bracket 252 of the bearing and is connected therewith, and the anti-dust seat 251 is fixed on lower sealing plate 232
On；The actuation rotation axis 240 is connected by the inner bearing formula electromagnetic clutch 250 with connecting shaft 320.
Preferably, the upper end of the connecting shaft 320 extends radially outwardly to form disk 321, and the disk 321 can be with bearing
The attached actuation of guide bracket 252 is affixed, so as to improve the actuation stability of connecting shaft 320 and the attached guide bracket 252 of the bearing.
Preferably, the lower end for being attracted rotation axis 240 has conical head 241, and the disk 321 is provided with for conical head
The actuation rotation axis 240 and connecting shaft can be improved with cone tank cooperation in 241 cone tanks protruded into, the conical head 241
320 actuation dynamics, and then improve the connective stability for being attracted rotation axis 240 and connecting shaft 320.
Preferably, the work hanger 300 further includes the bearing block 330 being fixed on hanging plate 310 and covers in the connection
On axis 320 and pass through the bearing block 330 axle sleeve, the axle sleeve can avoid connecting shaft 320 rotation when with the bearing block
330 interfere.
It preferably, further include the fixed plate 500 being connected with mechanical arm 100, the fixed plate 500 is on described
Sealing plate 231 and lower sealing plate 232, the fixed plate 500 are connected with the upper sealing plate 231 and lower sealing plate 232, specifically,
Mechanical arm 100 is rotating, and the fixed plate 500 can be driven to rotate, and then the box body 230 is driven to rotate.
It further include clamping cylinder 510 and clamping plate 520, the fixed plate is connected with the mechanical arm, clamping cylinder
510 upper end is connected with the upper sealing plate, and the lower end of clamping cylinder 510 is through the successively lower sealing plate, hanging plate and and clamping plate
520 are connected；Clamping cylinder 510 can drive clamping plate 520 to pass through the rectangular opening of hanging plate, then be rotated by 90 °, and then pass through clamping cylinder
510 clamp hanging plate again.
In this embodiment, multiple workpiece 400 are grabbed by robot and carry out being stained with slurry, leaching sand, to allow workpiece 400 can
It is uniformly stained with slurry and leaching is husky, not only need to have enough to meet the need workpiece 400 around the axis of grippers 200, it is also necessary to multiple workpiece 400
It can rotate around respective axis.
Specifically, robotically-driven mechanical arm 100, the mechanical arm 100 are connected with the fixed plate 500,
Mechanical arm 100 drives the fixed plate 500 to rotate, so that entire grippers 200 rotate, grippers 200 are powered so that inhaling
Closing rotation axis 240 and inner bearing formula electromagnetic clutch 250 has magnetic force, and connecting shaft 320 can be sucked, and the driving of force piece 210 passes
Motivation structure 220 may make each actuation rotation axis 240 to rotate, and the connecting shaft 320, workpiece 400 can be driven by being attracted rotation axis 240
Rotation.
The process of slurry and leaching sand is stained with using present invention control workpiece 400, robotically-driven mechanical arm 100 may make machine
The rotation of tool arm 100 is mobile, and the grippers 200 are rotated with the mechanical arm 100 or mobile, the energization of mechanical arm 100
So that being attracted rotation axis 240 and inner bearing formula electromagnetic clutch 250 has magnetic force and the connecting shaft 320, power can be sucked
Part 210, which can drive, is attracted the rotation of rotation axis 240, and drives the connecting shaft 320 to rotate, and then workpiece 400 is driven to rotate；Pass through
Robotically-driven mechanical arm 100, it is mobile that mechanical arm 100 drives grippers 200, work hanger 300, and will be fixed on workpiece
Workpiece 400 on hanger 300 immerses in slurry, enables the turnover of workpiece 400 so that workpiece 400 by rotating grippers 200
It is uniformly mixed in slurry；The actuation rotation axis 240, connecting shaft 320 and workpiece 400 is successively driven to rotate by force piece 210,
It may make the workpiece 400 can be along its respective axis rotation so that 400 rotation of workpiece；With this, the workpiece 400 can be improved and be stained with
The uniformity of slurry and leaching sand.
The clamp 340 includes holder, hinge and fixed frame, and the hinge and the holder cooperate to clamp workpiece, institute
Fixed frame is stated to be connected with holder and movable resist the hinge.
The present invention is arranged mechanical arm 100 and the grippers 200 is driven to rotate, and has 210 He of force piece in grippers 200
Transmission mechanism 220 is attracted rotation axis 240 by driving and drives the connecting shaft 320 that workpiece 400 is driven to rotate, so that work
Part 400 can have enough to meet the need with grippers 200, can also drive rotation by connecting shaft 320；With this, workpiece 400 is aloowed more
Even is stained with slurry and leaching sand.
Specific embodiment described herein is only an example for the spirit of the invention.The neck of technology belonging to the present invention
The technical staff in domain can make various modifications or additions to the described embodiments or replace by a similar method
In generation, however, it does not deviate from the spirit of the invention or beyond the scope of the appended claims.
Claims (10)
1. a kind of grabbing assembly, which is characterized in that including：
Mechanical arm；
Grippers, including force piece, transmission mechanism, box body and at least one the actuation rotation axis drawn by transmission mechanism；It is described
Force piece drives the transmission mechanism, the box body support the force piece and transmission mechanism and with the mechanical arm stationary phase
Even, the actuation rotation axis is pierced by the box body；
Work hanger, including hanging plate, workpiece loading and unloading clamp and be attracted rotation the number of axle it is corresponding and with actuations rotation
The connected connecting shaft of axis, the connecting shaft pass through the hanging plate and are connected with the workpiece.
2. a kind of grabbing assembly according to claim 1, it is characterised in that：The transmission mechanism includes multiple driving cogs
Wheel, it is adjacent between transmission gear intermeshing.
3. a kind of grabbing assembly according to claim 2, it is characterised in that：The actuation rotation axis passes through the transmission
Gear.
4. a kind of grabbing assembly according to claim 3, it is characterised in that：The box body include upper sealing plate, lower sealing plate and
Multiple side seal boards, the upper sealing plate, lower sealing plate and multiple side seal boards surround cavity；The cavity accommodates the transmission mechanism, institute
It states upper sealing plate and supports the force piece.
5. a kind of grabbing assembly according to claim 4, it is characterised in that：The grippers further include and are attracted rotation axis
The corresponding inner bearing formula electromagnetic clutch of quantity, the inner bearing formula electromagnetic clutch include anti-dust seat and are built in anti-dust seat
The attached guide bracket of bearing, the actuation rotation axis passes through and the attached guide bracket of the bearing and is connected therewith, and the anti-dust seat is fixed on lower envelope
On plate.
6. a kind of grabbing assembly according to claim 5, it is characterised in that：The upper end of the connecting shaft extends radially outwardly
Disk is formed, the disk can be affixed with the attached guide bracket actuation of bearing.
7. a kind of grabbing assembly according to claim 6, it is characterised in that：The lower end for being attracted rotation axis has taper
Head, the disk are provided with the cone tank protruded into for conical head.
8. a kind of grabbing assembly according to claim 1, it is characterised in that：The work hanger further includes being fixed on hanging plate
On bearing block and cover in the connecting shaft and pass through the axle sleeve of the bearing block.
9. a kind of grabbing assembly according to claim 4, it is characterised in that：It further include fixed plate, clamping cylinder and folder
Tight plate, the fixed plate are connected with the mechanical arm, and the upper end of clamping cylinder is connected with the upper sealing plate, clamping cylinder
Lower end is connected through the successively lower sealing plate, hanging plate and with clamping plate.
10. a kind of grabbing assembly according to claim 9, it is characterised in that：The clamp includes holder, hinge and fixation
Frame, the hinge and the holder cooperate to clamp workpiece, and the fixed frame is connected with holder and movable resists the hinge.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810927770.9A CN108839059B (en) | 2018-08-15 | 2018-08-15 | Snatch subassembly |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810927770.9A CN108839059B (en) | 2018-08-15 | 2018-08-15 | Snatch subassembly |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108839059A true CN108839059A (en) | 2018-11-20 |
| CN108839059B CN108839059B (en) | 2024-06-04 |
Family
ID=64188237
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810927770.9A Active CN108839059B (en) | 2018-08-15 | 2018-08-15 | Snatch subassembly |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108839059B (en) |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201006575Y (en) * | 2006-12-18 | 2008-01-16 | 魏乐勇 | Multifunctional bench clamp |
| CN203301298U (en) * | 2013-06-30 | 2013-11-20 | 彭寅沐 | Modular power structure |
| CN203527121U (en) * | 2013-08-16 | 2014-04-09 | 孟秋华 | Mechanical hand structure |
| CN106584494A (en) * | 2016-12-22 | 2017-04-26 | 六安力达生产力促进中心有限公司 | Self-centering grabbing mechanism for manipulator |
| CN107670556A (en) * | 2017-11-03 | 2018-02-09 | 青岛科技大学 | A kind of convertible self- poking arrangement of moment of torsion |
| CN207359099U (en) * | 2017-09-20 | 2018-05-15 | 苏州富强科技有限公司 | Multistation grasping mechanism for testing agency |
| WO2018103682A1 (en) * | 2016-12-07 | 2018-06-14 | 萨驰华辰机械(苏州)有限公司 | Device for automatically gripping steel rim and gripping method |
| CN108233614A (en) * | 2018-03-30 | 2018-06-29 | 温州市永晨机电有限公司 | A kind of electromagnetic clutch motor |
| CN207643164U (en) * | 2017-11-09 | 2018-07-24 | 西安丁子电子信息科技有限公司 | A kind of rotatable grabbing device for robot |
| CN208759611U (en) * | 2018-08-15 | 2019-04-19 | 宁波创二代机械科技有限公司 | A kind of grabbing assembly |
-
2018
- 2018-08-15 CN CN201810927770.9A patent/CN108839059B/en active Active
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201006575Y (en) * | 2006-12-18 | 2008-01-16 | 魏乐勇 | Multifunctional bench clamp |
| CN203301298U (en) * | 2013-06-30 | 2013-11-20 | 彭寅沐 | Modular power structure |
| CN203527121U (en) * | 2013-08-16 | 2014-04-09 | 孟秋华 | Mechanical hand structure |
| WO2018103682A1 (en) * | 2016-12-07 | 2018-06-14 | 萨驰华辰机械(苏州)有限公司 | Device for automatically gripping steel rim and gripping method |
| CN106584494A (en) * | 2016-12-22 | 2017-04-26 | 六安力达生产力促进中心有限公司 | Self-centering grabbing mechanism for manipulator |
| CN207359099U (en) * | 2017-09-20 | 2018-05-15 | 苏州富强科技有限公司 | Multistation grasping mechanism for testing agency |
| CN107670556A (en) * | 2017-11-03 | 2018-02-09 | 青岛科技大学 | A kind of convertible self- poking arrangement of moment of torsion |
| CN207643164U (en) * | 2017-11-09 | 2018-07-24 | 西安丁子电子信息科技有限公司 | A kind of rotatable grabbing device for robot |
| CN108233614A (en) * | 2018-03-30 | 2018-06-29 | 温州市永晨机电有限公司 | A kind of electromagnetic clutch motor |
| CN208759611U (en) * | 2018-08-15 | 2019-04-19 | 宁波创二代机械科技有限公司 | A kind of grabbing assembly |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108839059B (en) | 2024-06-04 |
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