CN110712991A - Variable-position grabbing robot and variable-position grabbing method - Google Patents
Variable-position grabbing robot and variable-position grabbing method Download PDFInfo
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- CN110712991A CN110712991A CN201910958313.0A CN201910958313A CN110712991A CN 110712991 A CN110712991 A CN 110712991A CN 201910958313 A CN201910958313 A CN 201910958313A CN 110712991 A CN110712991 A CN 110712991A
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- positioning
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- displacement
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- 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
Abstract
The invention discloses a variable-position grabbing robot which comprises a triangular base plate, positioning clamping jaws, two displacement clamping jaws, a top plate, a plane expansion threaded disc, a rotary driving mechanism, a displacement driving mechanism, a threaded disc lifting mechanism and a protective cover, wherein the positioning clamping jaws extend upwards to form positioning expansion columns; the invention can be suitable for various workpieces without changing the clamping jaw midway, greatly improves the work efficiency of grabbing the workpieces, expands the application range of the grabbing device and saves the production cost.
Description
Technical Field
The invention relates to the field of industrial production, in particular to a variable-position grabbing robot.
Background
At present, the clamping jaw position of the clamping device is mostly fixed and cannot swing, when a workpiece of a revolving body type and a long-strip-shaped workpiece are required to be clamped, the purpose of clamping is often achieved by using clamping devices of different types, the mode not only increases the production cost, but also has low efficiency and poor applicability.
Disclosure of Invention
The invention aims to overcome the defects and provide a variable-position grabbing robot.
In order to achieve the purpose, the invention adopts the following specific scheme:
a variable-position grabbing robot comprises a triangular base plate, a positioning clamping jaw, two displacement clamping jaws, a top plate, a plane expansion threaded disc, a rotary driving mechanism, a displacement driving mechanism, a threaded disc lifting mechanism and a protective cover, wherein the positioning clamping jaw is fixed at one angular position on one side of the triangular base plate, the two displacement clamping jaws are respectively and rotatably connected to the other two angular positions on one side of the triangular base plate, four supporting columns are connected between the top plate and the triangular base plate, the plane expansion threaded disc is supported on the other side of the triangular base plate, a positioning expansion column extends upwards from the positioning clamping jaw, displacement expansion columns respectively extend upwards from the two displacement clamping jaws, the positioning expansion columns and the displacement expansion columns are respectively embedded into threaded grooves of the plane expansion threaded disc, the triangular base plate is provided with a notch for providing space for the movement of the positioning expansion columns, and the rotary driving mechanism is fixed on the top plate, the rotary driving mechanism is used for driving the plane expansion threaded disc to rotate, enabling the positioning clamping jaws and the two displacement clamping jaws to reciprocate relative to the triangular base plate, the displacement driving mechanism is fixed on the triangular base plate and used for driving the two displacement clamping jaws to swing, the threaded disc lifting mechanism is used for driving the plane expansion threaded disc to move up and down, enabling the positioning expansion columns and the displacement expansion columns to be separated from threaded grooves of the plane expansion threaded disc, and the shield cover is closed on the plane expansion threaded disc and matched with the triangular base plate, the positioning clamping jaws and the two displacement clamping jaws respectively.
Wherein, the actuating mechanism that shifts is including the driving motor that shifts, screw rod, drive rack and two sector gear, the driving motor that shifts is fixed on the triangle base plate opposite side, drive rack sliding connection is on triangle base plate opposite side, the one end of screw rod is connected with the output of the driving motor that shifts, the other end and the drive rack threaded connection of screw rod, two sector gear respectively with two clamping jaw fixed connection that shift, two sector gear still respectively with drive rack toothing.
The clamping jaw shifts comprises a shifting claw seat, a shifting sliding block and a shifting claw body, one end of the shifting claw seat is rotatably connected onto a triangular base plate, the shifting sliding block is slidably connected into the shifting claw seat, the shifting claw body is fixed onto the shifting sliding block, one end of the shifting claw seat is fixedly connected with a sector gear after penetrating through the triangular base plate, the shifting sliding block upwards extends to form a shifting expansion column, the shifting claw seat is provided with a avoiding hole used for providing a moving space for the shifting expansion column, the other end of the shifting expansion column is fixed with an angular contact bearing, and the angular contact bearing can be embedded into a thread groove of a plane expansion thread disc.
The rotary driving mechanism comprises a rotary driving motor, a driving gear and a gear ring, the rotary driving motor is fixed on the top plate, the driving gear is fixedly connected with the output end of the rotary driving motor, the gear ring is fixed on the inner wall of the plane expansion threaded disc, and the driving gear is meshed with the gear ring.
The thread disc lifting mechanism comprises an electromagnet ring and three elastic rolling assemblies distributed at intervals, the electromagnet ring is fixed on the top plate, one end of each elastic rolling assembly can sequentially and movably penetrate through the electromagnet ring and the top plate, and the other end of each elastic rolling assembly is abutted to the gear ring.
The elastic rolling assembly comprises a pinch roller support, a roller and a reset spring, the roller is connected to one end of the pinch roller support in a shaft mode, the reset spring is sleeved on the pinch roller support, the other end of the pinch roller support penetrates through an electromagnet ring and a top plate in a movable mode, and the circumferential wall of the roller is abutted to the gear ring.
The positioning clamping jaw comprises a positioning jaw seat, a positioning sliding block and a positioning jaw body, the positioning jaw seat is fixed on the triangular base plate, the positioning sliding block is connected to the positioning jaw seat in a sliding mode, the positioning jaw body is fixed to the positioning sliding block, the positioning sliding block extends upwards to form a positioning expansion column, the other end of the positioning expansion column is fixed to a corner contact bearing, and the corner contact bearing can be embedded into a thread groove of the plane expansion thread disc.
The invention has the beneficial effects that: compared with the prior art, the invention has the advantages that the two deflection clamping jaws are arranged, and the position of the two deflection clamping jaws relative to the positioning clamping jaw is adjusted through the deflection driving mechanism, so that the invention can adapt to various types of workpieces, the clamping jaws do not need to be replaced midway, the work efficiency of workpiece grabbing is greatly improved, the application range of the grabbing device is expanded, and the production cost is saved.
Drawings
FIG. 1 is a schematic diagram of the present invention;
FIG. 2 is a perspective view of a grasping device according to an embodiment of the present invention;
FIG. 3 is a bottom view of a grasping device according to an embodiment of the present invention;
FIG. 4 is a schematic structural view of a hidden shield of the grasping apparatus according to the embodiment of the present invention;
FIG. 5 is a cross-sectional view taken along A-A of FIG. 3;
FIG. 6 is a cross-sectional view taken along line B-B of FIG. 3;
fig. 7 is a state diagram of the gripping device according to the embodiment of the present invention gripping an elongated workpiece;
FIG. 8 is a schematic view of a portion of a grasping apparatus according to an embodiment of the present invention;
FIG. 9 is a schematic view of a portion of the gripping apparatus from another perspective according to an embodiment of the present invention;
FIG. 10 is a schematic structural diagram of a positioning clamping jaw, an indexing clamping jaw and an indexing driving mechanism which are arranged on a triangular base plate according to an embodiment of the invention;
FIG. 11 is a diagram of a resilient rolling assembly according to an embodiment of the present invention
FIG. 12 is a planar expanding threaded disk provided by an embodiment of the present invention
Description of reference numerals: 1-a triangular substrate; 2-positioning the clamping jaw; 21-positioning the expansion column; 22-positioning jaw seats; 23-positioning the slide block; 24-positioning claw body; 3-a deflection clamping jaw; 31-a modified expansion column; 32-displacement claw seat; 33-a deflection slide block; 34-a deflection claw body; 4-a top plate; 5-plane expansion threaded disc; 61-a rotary drive motor; 62-a drive gear; 63-a gear ring; 71-a deflection drive motor; 72-screw; 73-a drive rack; 74-sector gear; 81-electromagnet ring; 82-a resilient rolling assembly; 821-pinch roller support; 822-a roller; 823-return spring; 9-shield.
Detailed Description
The invention will be described in further detail with reference to the following figures and specific examples, without limiting the scope of the invention.
As shown in fig. 1 to 11, the variable position grabbing robot in this embodiment includes a triangular base plate 1, a positioning jaw 2, two displacement jaws 3, a top plate 4, a planar expanding threaded disc 5, a rotary driving mechanism, a displacement driving mechanism, a threaded disc lifting mechanism and a protective cover 9, wherein the positioning jaw 2 is fixed at one angular position on one side of the triangular base plate 1, the two displacement jaws 3 are respectively and rotatably connected to the other two angular positions on one side of the triangular base plate 1, four support columns are connected between the top plate 4 and the triangular base plate 1, the planar expanding threaded disc 5 is supported on the other side of the triangular base plate 1, the positioning jaw 2 extends upward to form a positioning expanding column 21, the two displacement jaws 3 extend upward to form a displacement expanding column 31, the positioning expanding column 21 and the displacement expanding column 31 are respectively embedded in a threaded groove of the planar expanding threaded disc 5, triangle base plate 1 is equipped with the breach that is used for providing the space for the removal of location expansion post 21, rotary driving mechanism fixes on roof 4, rotary driving mechanism is used for driving plane expansion thread dish 5 and rotates, makes location clamping jaw 2 and two relative triangle base plate 1 reciprocating motion of clamping jaw 3 that shift, the actuating mechanism that shifts fixes on triangle base plate 1, the actuating mechanism that shifts is used for driving two clamping jaws 3 swings that shift, thread dish hoist mechanism is used for driving 5 up-and-down motions of plane expansion thread dish, makes location expansion post 21 and the expansion post 31 that shifts break away from the thread groove of plane expansion thread dish 5, guard shield 9 lid closes on plane expansion thread dish 5 to cooperate with triangle base plate 1, location clamping jaw 2, two clamping jaws 3 that shift respectively.
The working mode of the embodiment is as follows: when a workpiece of a revolving body is required to be grabbed, the deflection driving mechanism is in an inoperative state, the positioning clamping jaw 2 and the two deflection clamping jaws 3 are both in a radial direction at the moment, then the rotation driving mechanism drives the plane expansion threaded disc 5 to rotate, so that the positioning expansion column 21 and the deflection expansion column 31 gradually move towards the center along a threaded groove of the plane expansion threaded disc 5, the positioning clamping jaw 2 and the two deflection clamping jaws 3 are closed towards the center, the workpiece is clamped, the workpiece is grabbed, and when the workpiece is required to be loosened, the plane expansion threaded disc 5 is driven to rotate reversely only by the rotation driving mechanism, so that the positioning clamping jaw 2 and the two deflection clamping jaws 3 move radially and outwards, and the workpiece can be loosened; when a long-strip-shaped workpiece needs to be grabbed, firstly, the threaded disc lifting mechanism drives the plane expansion threaded disc 5 to move upwards, so that the positioning expansion column 21 and the two displacement expansion columns 31 are separated from the thread groove of the plane expansion threaded disc 5, then the position-changing driving mechanism drives the two position-changing clamping jaws 3 to swing simultaneously, so that the two position-changing clamping jaws 3 are opposite to the positioning clamping jaws 2, as shown in fig. 6, after the orientation adjustment of the two deflection clamping jaws 3 is completed, the threaded plate lifting mechanism resets the plane expansion threaded plate 5, and the positioning expansion column 21 and the two deflection expansion columns 31 are embedded into the thread grooves of the plane expansion threaded plate 5 again, then the rotary driving mechanism drives the plane expansion threaded disc 5 to rotate, the two deflection clamping jaws 3 and the positioning clamping jaw 2 move oppositely, therefore, a long-strip-shaped workpiece can be clamped, and similarly, when the workpiece needs to be loosened, the driving mechanism is rotated to reversely drive the plane expansion threaded disc 5 to rotate.
Of course, this embodiment can also be according to the shape of actual work piece, through the position of the relative location clamping jaw 2 of the actuating mechanism adjustment two clamping jaws 3 that shift, make two clamping jaws 3 that shift can be fixed at any angle of the within range that shifts to can adapt to the appearance of work piece better, the structure is more nimble, and the suitability is stronger.
This embodiment is through setting up two clamping jaws 3 that shift to through the position of the clamping jaw 2 of the relative location of the clamping jaw 3 that shifts of actuating mechanism adjustment, thereby can adapt to multiple type work piece, need not to change the clamping jaw midway, improve the work efficiency who snatchs the work piece greatly, expanded grabbing device's application scope, save manufacturing cost.
Based on the above embodiment, further, as shown in fig. 8 to 10, the displacement driving mechanism includes a displacement driving motor 71, a screw 72, a driving rack 73 and two sector gears 74, the displacement driving motor 71 is fixed on the other side of the triangular substrate 1, the driving rack 73 is slidably connected on the other side of the triangular substrate 1, one end of the screw 72 is connected with an output end of the displacement driving motor 71, the other end of the screw 72 is connected with the driving rack 73 in a threaded manner, the two sector gears 74 are respectively fixedly connected with the two displacement jaws 3, and the two sector gears 74 are also respectively engaged with the driving rack 73; specifically, after the two shifting clamping jaws 3 are rotatably connected to one side of the triangular base plate 1, the two sector gears 74 are respectively and correspondingly fixedly connected with the two shifting clamping jaws 3, namely, the two sector gears 74 are positioned at the other side of the triangular base plate 1, when in use, the deflection driving motor 71 drives the screw rod 72 to rotate, the screw rod 72 drives the driving rack 73 to slide relative to the triangular base plate 1 after rotating, the driving rack 73 drives the two sector gears 74 to swing after sliding, thereby driving the two deflection clamping jaws 3 to swing, realizing the adjustment of the positions of the two deflection clamping jaws 3 relative to the positioning clamping jaw 2, so as to adapt to the shapes of different workpieces, solve the technical problem that different workpieces need to be replaced by the gripping device, greatly reduce the production cost, meanwhile, the screw 72 is adopted to drive the driving rack 73 to slide, the self-locking torque is large, self-locking of the deflection clamping jaw 3 in a relative radian range is guaranteed, and the rigidity is increased.
Based on the above embodiment, as shown in fig. 2 to 9, the shifting claw 3 includes a shifting claw seat 32, a shifting slider 33, and a shifting claw body 34, one end of the shifting claw seat 32 is rotatably connected to the triangular substrate 1, the shifting slider 33 is slidably connected to the shifting claw seat 32, the shifting claw body 34 is fixed to the shifting slider 33, one end of the shifting claw seat 32 passes through the triangular substrate 1 and is fixedly connected to the sector gear 74, the shifting slider 33 extends upward to form a shifting expansion column 31, the shifting claw seat 32 is provided with an avoidance hole for providing a moving space for the shifting expansion column 31, and the other end of the shifting expansion column 31 is fixed with an angular contact bearing which can be inserted into a thread groove of the plane expansion thread disc 5; so set up, can make the claw body 34 that shifts swing relative triangle base plate 1 to the appearance of adaptation work piece, can make the claw body 34 that shifts the claw seat 32 relative slip again, realize snatching the work piece, in addition, adopt angular contact bearing, in order to increase transmission precision and life.
Based on the above embodiment, as shown in fig. 5, 7 and 8, the rotation driving mechanism includes a rotation driving motor 61, a driving gear 62 and a ring gear 63, the rotation driving motor 61 is fixed on the top plate 4, the driving gear 62 is fixedly connected with the output end of the rotation driving motor 61, the ring gear 63 is fixed on the inner wall of the planar expansion threaded disc 5, and the driving gear 62 is engaged with the ring gear 63; specifically, the rotary driving motor 61 drives the driving gear 62 to rotate, and the driving gear 62 drives the gear ring 63 to rotate, so that the gear ring 63 drives the plane expansion threaded disc 5 to rotate, and the workpiece is grabbed and loosened.
Based on the above embodiment, as shown in fig. 4, 5 and 10, the screw disc lifting mechanism includes an electromagnet ring 81 and three elastic rolling assemblies 82 distributed at intervals, the electromagnet ring 81 is fixed on the top plate 4, one ends of the three elastic rolling assemblies 82 can sequentially pass through the electromagnet ring 81 and the top plate 4, and the other ends of the elastic rolling assemblies 82 are abutted to the gear ring 63; when the positions of the two displacement clamping jaws 3 are not required to be adjusted, the three elastic rolling assemblies 82 abut against the main gear ring 63, when the positions of the two displacement clamping jaws 3 are required to be adjusted, the electromagnet ring 81 is electrified, the electromagnet ring 81 generates magnetism, and magnetic adsorption force is generated on the plane expansion threaded disc 5, because the electromagnet ring 81 is in end surface adsorption, the magnetic fields near the two magnetic poles are strongest, and the adsorption force is maximum, so that the plane expansion threaded disc 5 moves upwards, the positions of the positioning clamping jaws 2 and the two displacement clamping jaws 3 are fixed, and further the positioning expansion columns 21 and the two displacement expansion columns 31 are separated from the thread grooves of the plane expansion threaded disc 5, so that the displacement driving mechanism drives the two displacement clamping jaws 3 to swing.
Based on the above embodiment, as shown in fig. 10, the elastic rolling assembly 82 includes a pressure roller support 821, a roller 822, and a return spring 823, the roller 822 is coupled to one end of the pressure roller support 821, the return spring 823 is sleeved on the pressure roller support 821, the other end of the pressure roller support 821 movably passes through the electromagnet ring 81 and the top plate 4, and a circumferential wall of the roller 822 abuts against the gear ring 63; so set up, after the adjustment of two clamping jaw 3 that shift is accomplished, reset spring 823 is in compression state, pinch roller support 821's the other end passes roof 4 and stretches out, then electromagnetism circle 81 outage, electromagnetism circle 81 no longer produces the adsorption affinity to plane expansion thread disc 5 promptly, reset spring 823 resumes deformation this moment, drives pinch roller support 821 and gyro wheel 822 and pushes down, makes plane expansion thread disc 5 reset, location expansion post 21 and two expansion posts 31 that shift imbed the thread groove of plane expansion thread disc 5 again promptly.
Based on the above embodiment, as shown in fig. 2 to 9, the positioning clamping jaw 2 further includes a positioning jaw seat 22, a positioning slider 23, and a positioning jaw body 24, the positioning jaw seat 22 is fixed on the triangular base plate 1, the positioning slider 23 is slidably connected to the positioning jaw seat 22, the positioning jaw body 24 is fixed on the positioning slider 23, the positioning slider 23 extends upward to form a positioning expansion column 21, the other end of the positioning expansion column 21 is fixed with an angular contact bearing, and the angular contact bearing can be embedded into a thread groove of the plane expansion threaded disc 5; by the arrangement, the relative position of the positioning claw body 24 can be kept unchanged, the positioning claw body 24 can reciprocate relative to the triangular base plate 1 along the radial direction, a reference is provided for swinging of the two displacement clamping jaws 3, and the transmission precision and the service life can be increased by adopting the angular contact bearing.
The above description is only a preferred embodiment of the present invention, and all equivalent changes or modifications of the structure, characteristics and principles described in the present patent application are included in the protection scope of the present patent application.
Claims (9)
1. A variable-position grabbing robot is characterized by comprising a base, wherein a rotating disk (a) is arranged on the base, rotating arms (b) are arranged on two sides of the rotating disk, and mechanical claws are arranged at free ends of the rotating arms (b); the mechanical claw comprises a triangular base plate (1), a positioning clamping jaw (2), two deflection clamping jaws (3), a top plate (4), a plane expansion threaded disc (5), a rotary driving mechanism, a deflection driving mechanism, a threaded disc lifting mechanism and a protective cover (9).
2. The variable-position grabbing robot as claimed in claim 1, wherein said positioning clamping jaw (2) is fixed at one angular position on one side of the triangular base plate (1), two displacement clamping jaws (3) are respectively and rotatably connected at the other two angular positions on one side of the triangular base plate (1), four supporting columns are connected between the top plate (4) and the triangular base plate (1), said planar expansion screw disk (5) is supported on the other side of the triangular base plate (1), said positioning clamping jaw (2) extends upwards to form a positioning expansion column (21), two displacement clamping jaws (3) extend upwards to form a displacement expansion column (31), said positioning expansion column (21) and displacement expansion column (31) are respectively embedded in the screw groove of the planar expansion screw disk (5), said triangular base plate (1) is provided with a notch for providing a space for the movement of the positioning expansion column (21), the utility model discloses a three-dimensional displacement type thread plate, including roof (4), rotary driving mechanism, drive actuating mechanism, screw thread plate hoist mechanism, guard shield (9) lid closes on plane expansion screw thread plate (5) to cooperate with triangle base plate (1), location clamping jaw (2) and two clamping jaw (3) relative triangle base plate (1) reciprocating motion that shift are fixed on roof (4), rotary driving mechanism is used for driving the plane and expands screw thread plate (5) and rotate, make location clamping jaw (2) and two clamping jaw (3) reciprocating motion that shift, the actuating mechanism that shifts is fixed on triangle base plate (1), the actuating mechanism that shifts is used for driving two clamping jaw (3) swings that shift, screw thread plate hoist mechanism is used for driving plane expansion screw thread plate (5) up-and-down motion, makes location expansion post (21) and shift expansion post (31) break away.
3. The variable-position grabbing robot according to claim 1, wherein the displacement driving mechanism comprises a displacement driving motor (71), a screw rod (72), a driving rack (73) and two sector gears (74), the displacement driving motor (71) is fixed on the other side of the triangular base plate (1), the driving rack (73) is slidably connected on the other side of the triangular base plate (1), one end of the screw rod (72) is connected with an output end of the displacement driving motor (71), the other end of the screw rod (72) is in threaded connection with the driving rack (73), the two sector gears (74) are respectively and fixedly connected with the two displacement clamping jaws (3), and the two sector gears (74) are also respectively meshed with the driving rack (73).
4. The variable-position grabbing robot according to claim 2, wherein the position-changing clamping jaw (3) comprises a position-changing jaw seat (32), a position-changing sliding block (33) and a position-changing jaw body (34), one end of the displacement claw seat (32) is rotationally connected to the triangular base plate (1), the displacement sliding block (33) is connected in the displacement claw seat (32) in a sliding way, the displacement claw body (34) is fixed on the displacement slide block (33), one end of the displacement claw seat (32) passes through the triangular base plate (1) and then is fixedly connected with the sector gear (74), the displacement sliding block (33) extends upwards to form a displacement expansion column (31), the displacement claw seat (32) is provided with a avoiding hole for providing a moving space for the displacement expansion column (31), and an angular contact bearing is fixed at the other end of the deflection expansion column (31), and can be embedded into a thread groove of the plane expansion thread disc (5).
5. The variable-position grabbing robot according to claim 1, characterized in that said rotary driving mechanism comprises a rotary driving motor (61), a driving gear (62) and a gear ring (63), said rotary driving motor (61) is fixed on the top plate (4), said driving gear (62) is fixedly connected with the output end of the rotary driving motor (61), said gear ring (63) is fixed on the inner wall of the planar expanding threaded disc (5), and said driving gear (62) is meshed with the gear ring (63).
6. The variable-position grabbing robot according to claim 4, wherein the threaded disc lifting mechanism comprises an electromagnet ring (81) and three elastic rolling assemblies (82) which are distributed at intervals, the electromagnet ring (81) is fixed on the top plate (4), one ends of the three elastic rolling assemblies (82) can sequentially move through the electromagnet ring (81) and the top plate (4), and the other ends of the elastic rolling assemblies (82) abut against the gear ring (63).
7. The variable-position grabbing robot according to claim 5, wherein the elastic rolling assembly (82) comprises a pinch roller support (821), a roller (822) and a return spring (823), the roller (822) is coupled to one end of the pinch roller support (821) in a shaft mode, the return spring (823) is sleeved on the pinch roller support (821), the other end of the pinch roller support (821) movably penetrates through the electromagnet ring (81) and the top plate (4), and a circumferential wall of the roller (822) abuts against the gear ring (63).
8. The variable-position grabbing robot according to claim 1, wherein the positioning clamping jaw (2) comprises a positioning jaw seat (22), a positioning sliding block (23) and a positioning jaw body (24), the positioning jaw seat (22) is fixed on the triangular base plate (1), the positioning sliding block (23) is slidably connected to the positioning jaw seat (22), the positioning jaw body (24) is fixed on the positioning sliding block (23), the positioning sliding block (23) extends upwards to form a positioning expansion column (21), and the other end of the positioning expansion column (21) is fixed with an angular contact bearing which can be embedded into a thread groove of the plane expansion thread disc (5).
9. A dislocation grabbing method is characterized by comprising the following steps: when a workpiece of a revolving body is required to be grabbed, the deflection driving mechanism is in an inoperative state, the positioning clamping jaw 2 and the two deflection clamping jaws 3 are both in a radial direction at the moment, then the rotation driving mechanism drives the plane expansion threaded disc 5 to rotate, so that the positioning expansion column 21 and the deflection expansion column 31 gradually move towards the center along a threaded groove of the plane expansion threaded disc 5, the positioning clamping jaw 2 and the two deflection clamping jaws 3 are closed towards the center, the workpiece is clamped, the workpiece is grabbed, and when the workpiece is required to be loosened, the plane expansion threaded disc 5 is driven to rotate reversely only by the rotation driving mechanism, so that the positioning clamping jaw 2 and the two deflection clamping jaws 3 move radially and outwards, and the workpiece can be loosened; when a long-strip-shaped workpiece needs to be grabbed, firstly, the threaded disc lifting mechanism drives the plane expansion threaded disc 5 to move upwards, so that the positioning expansion column 21 and the two displacement expansion columns 31 are separated from the thread groove of the plane expansion threaded disc 5, then the position-changing driving mechanism drives the two position-changing clamping jaws 3 to swing simultaneously, so that the two position-changing clamping jaws 3 are opposite to the positioning clamping jaws 2, as shown in fig. 6, after the orientation adjustment of the two deflection clamping jaws 3 is completed, the threaded plate lifting mechanism resets the plane expansion threaded plate 5, and the positioning expansion column 21 and the two deflection expansion columns 31 are embedded into the thread grooves of the plane expansion threaded plate 5 again, then the rotary driving mechanism drives the plane expansion threaded disc 5 to rotate, the two deflection clamping jaws 3 and the positioning clamping jaw 2 move oppositely, therefore, a long-strip-shaped workpiece can be clamped, and similarly, when the workpiece needs to be loosened, the driving mechanism is rotated to reversely drive the plane expansion threaded disc 5 to rotate.
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|---|---|---|---|
| CN201910958313.0A CN110712991B (en) | 2019-10-10 | 2019-10-10 | Variable grabbing robot |
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| CN201910958313.0A CN110712991B (en) | 2019-10-10 | 2019-10-10 | Variable grabbing robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112792526A (en) * | 2021-01-04 | 2021-05-14 | 李庆堂 | Automatic change shell fragment automatic positioning separator of assembly |
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| CN105499621A (en) * | 2016-01-11 | 2016-04-20 | 贵阳志源机械产品开发有限公司 | Centrifugal automatic chuck |
| CN206083892U (en) * | 2016-09-23 | 2017-04-12 | 重庆市汇畅钢管制造有限公司 | A two triangle claw dishes for fixing inside and outside wall of pipeline |
| CN106914631A (en) * | 2017-04-12 | 2017-07-04 | 黄河科技学院 | A kind of mechanical grip for machine-building |
| CN207361306U (en) * | 2018-03-03 | 2018-05-15 | 田博学 | A kind of new conveying robot |
| CN209396546U (en) * | 2018-12-18 | 2019-09-17 | 重庆畅耘农业发展有限公司 | A kind of feeding structure of agricultural product roughing Omnidirectional rotation |
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| CN112792526A (en) * | 2021-01-04 | 2021-05-14 | 李庆堂 | Automatic change shell fragment automatic positioning separator of assembly |
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