CN111331623B

CN111331623B - Adjustable electric control gripping device

Info

Publication number: CN111331623B
Application number: CN202010266749.6A
Authority: CN
Inventors: 张芳
Original assignee: Zibo Vocational Institute
Current assignee: Zibo Vocational Institute
Priority date: 2020-04-07
Filing date: 2020-04-07
Publication date: 2021-06-15
Anticipated expiration: 2040-04-07
Also published as: CN111331623A

Abstract

The invention discloses an adjustable electric control grabbing device which comprises a straight frame and a cross beam, wherein the bottom of the straight frame is provided with a slideway, the cross beam is positioned inside the slideway, the left side wall and the right side wall of the cross beam are fixedly connected and assembled with inserting cylinders, one end of an inserting rod is inserted into the inserting cylinders, the other end of the inserting rod is fixedly connected and assembled with one side wall of a vertical block, the outer walls of the inserting cylinders and the inserting rod are sleeved with compression springs, the other side wall of the vertical block is fixedly assembled with a rotating shaft, and the outer wall of the rotating shaft is sleeved with a roller. The adjustable electric control grabbing device needs to be powered on by turning the rotating machines at two ends, the rotating machines drive the first screw cylinders to rotate, the first screw cylinders cannot move, so that the first screw rods are driven to do threaded motion inside, the first screw rods drive the rotary grooves to move through the rotary balls, the rotary grooves drive the first straight rods to rotate by taking the second connecting shafts as rotating points, and the second rotating shafts slide inside the first sliding grooves, so that the effect of adjusting the span of the grabbing device is achieved.

Description

Adjustable electric control gripping device

Technical Field

The invention relates to the technical field of grabbing machinery, in particular to an adjustable electric control grabbing device.

Background

The stacking technology is a new technology in the technical field of logistics automation, has a very important position in the transportation industry field in recent years, and along with the development of national economy, the expansion of production scale and the improvement of mechanical automation level, the stacking technology, in particular to the robot stacking technology, has wider and wider application due to the advantages of the stacking technology in the aspects of mechanical structure, application range, equipment occupied space, flexibility, cost, maintenance and the like, the robot palletizer is widely applied to the fields of medicine, petrifaction, food, household appliances, agriculture and the like at present, and as one of important components of the robot palletizer, parameters such as working performance, reliability, structure, quality, overall dimension and the like of a grabbing manipulator have very important significance on the overall working performance of the robot palletizer, but the existing grabbing device cannot be adjusted according to the situation.

Disclosure of Invention

The invention aims to provide an adjustable electric control grabbing device to solve the problems in the background technology.

In order to achieve the purpose, the invention provides the following technical scheme: an adjustable electric control grabbing device comprises a straight frame and a cross beam, wherein the bottom of the straight frame is provided with a slide way, the cross beam is positioned inside the slide way, the left side wall and the right side wall of the cross beam are fixedly connected with inserting cylinders, one ends of inserting rods are inserted into the inserting cylinders, the other ends of the inserting rods are fixedly connected with one side wall of a vertical block, the outer walls of the inserting cylinders and the inserting rods are sleeved with compression springs, the other side wall of the vertical block is fixedly connected with a rotating shaft, the outer wall of the rotating shaft is sleeved with a roller, the roller is contacted with the straight frame, the front surface of the vertical block is fixedly connected with a pull rod, the lower surface of the cross beam is fixedly connected with one end of a vertical rod, the other end of the vertical rod is fixedly connected with one end of a second screw rod, the outer wall of the top end of the vertical rod is sleeved with a rotating drum, the left side wall, the inner thread of the first screw cylinder is connected with one end of a first screw rod, the other end of the first screw rod is fixedly connected with a rotating ball, the outer wall of the rotating ball is sleeved with a rotating groove, the bottom of the rotating groove is fixedly connected with one end of a straight rod, the other end of the straight rod is fixedly connected with one end of a straight block, the upper part and the lower part of the straight block are respectively provided with a first sliding groove and a second sliding groove, the outer side wall of the straight block is fixedly connected with one end of a first supporting rod, the other end of the first supporting rod is fixedly connected with a sleeve, an electric telescopic rod is arranged in the sleeve, the output end of the electric telescopic rod is fixedly connected with one end of a cross rod, the other end of the cross rod is fixedly connected with a first clamping block, the center of the cross rod is fixedly connected with a sliding block, the sliding block is slidably clamped with the second sliding groove, the other end of the straight, the left and right parts of the second screw cylinder are fixedly connected with one end of a connecting plate respectively, the other end of the connecting plate is movably provided with one end of a connecting rod through a first connecting shaft, the other end of the connecting rod is fixedly connected with a second connecting shaft, the second connecting shaft is located inside a first sliding groove, the second connecting shaft is connected with the sliding clamping of the first sliding groove, and the other end of a second screw rod is fixedly connected with a stop block.

Preferably, one side of the second clamping block close to the straight block is fixedly connected with one end provided with a second straight rod, one side wall of the straight block close to the straight cylinder is fixedly connected with a straight cylinder, the second straight rod is inserted into the straight cylinder, a trigger is arranged above the straight cylinder, one end of the trigger is movably connected with the straight block through a pin shaft, the other end of the trigger is fixedly connected with one end provided with an insert block, one end of a second supporting rod is arranged below the straight cylinder, the other end of the second supporting rod is fixedly connected with a vertical cylinder, and the other end of the insert block is connected with the vertical cylinder in an inserting mode.

Preferably, the lower surface of the first clamping block is fixedly provided with a plastic pad.

Preferably, the outer wall of the pull rod is sleeved with a sponge sleeve.

Preferably, the front surface of the trigger is fixedly connected with a silica gel pad.

Compared with the prior art, the invention has the beneficial effects that: an adjustable electric control grabbing device needs to be characterized in that a power supply of a rotary machine at two ends is switched on, the rotary machine drives a first screw barrel to rotate, the first screw barrel cannot move, so that a first screw rod is driven to do threaded motion in the first screw rod, the first screw rod drives a rotary groove to move through a rotary ball, the rotary groove drives a first straight rod to rotate by taking a second connecting shaft as a rotating point, a second rotating shaft slides in the first sliding groove, the second connecting shaft pulls a connecting rod to rotate by taking the first connecting shaft as the rotating point, a straight block extends to drive a first clamping block and a second clamping block to diffuse outwards, when grabbing is needed, the power supply of an electric telescopic rod is switched on, an output end of the electric telescopic rod drives a cross rod to move downwards, the cross rod drives a sliding block to slide in the second sliding groove, objects are grabbed through butt joint with the second clamping block, when up and down adjustment is needed, the second screw barrel is rotated to move on the outer wall of the second screw rod, and the rotary barrel is, the overall position of the grabbing device is adjusted, and the effect of adjusting the span of the grabbing device is achieved.

Drawings

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a schematic view of the enlarged structure at B of FIG. 1;

FIG. 3 is an enlarged view of FIG. 1 at A;

fig. 4 is an enlarged view of the structure of fig. 1 at C.

In the figure: 1-straight frame, 2-slideway, 3-crossbeam, 4-vertical rod, 5-revolving drum, 6-revolving machine, 7-inserting drum, 8-roller, 9-revolving shaft, 10-first screw drum, 11-first screw rod, 12-revolving ball, 13-revolving groove, 14-first straight rod, 15-straight block, 16-first sliding groove, 17-connecting rod, 18-cross rod, 19-second sliding groove, 20-first clamping block, 21-plastic pad, 22-first connecting shaft, 23-connecting plate, 24-baffle, 25-second screw rod, 26-second screw drum, 27-second straight rod, 28-second clamping block, 29-sleeve, 30-first supporting rod, 31-sliding block, 32-second connecting shaft, 33-electric telescopic rod, 34-a spanner rod, 35-a sponge sleeve, 36-an inserted rod, 37-a compression spring, 38-a vertical block, 39-an inserted block, 40-a silica gel pad, 41-a spanner handle, 42-a pin shaft, 43-a straight cylinder, 44-a second supporting rod and 45-a vertical cylinder.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1-4, the present invention provides a technical solution: an adjustable electric control gripping device comprises a straight frame 1 and a cross beam 3, wherein the straight frame 1 enables the gripping device to slide in the straight frame 1 for displacement, the bottom of the straight frame 1 is provided with a slide way 2, the slide way 2 contains other structures such as the cross beam 3, the cross beam 3 is positioned in the slide way 2, the left side wall and the right side wall of the cross beam 3 are fixedly connected with and assembled with an insertion cylinder 7, the insertion cylinder 7 enables an insertion rod 36 to stretch in the insertion cylinder 7, the insertion rod 36 carries a vertical block 38, the vertical block 38 carries a rotating shaft 9, a roller 8 rotates on the outer wall of the rotating shaft 9 and rolls in the slide way 2, the vertical block 38 is pushed by the elasticity of a compression spring 37 to move, the roller 8 is attached to the straight frame 1, when disassembly is needed, a pull rod 34 is pulled to resist the elasticity of the compression spring 37, the insertion rod 36 stretches into the insertion cylinder 7 to drive the roller to separate from the straight frame 1, the cross beam 3 can be taken out through the slide, the other end of the inserted bar 36 is fixedly connected with one side wall provided with a vertical block 38, the outer walls of the inserted cylinder 7 and the inserted bar 36 are sleeved with a compression spring 37, the other side wall of the vertical block 38 is fixedly connected with a rotating shaft 9, the outer wall of the rotating shaft 9 is sleeved with a roller 8, the roller 8 is contacted with the straight frame 1, the front surface of the vertical block 38 is fixedly connected with a pull rod 34, the lower surface of the cross beam 3 is fixedly connected with one end provided with a vertical bar 4, the other end of the vertical bar 4 is fixedly connected with one end provided with a second screw 25, the outer wall at the top end of the vertical bar 4 is sleeved with a rotating cylinder 5, the rotating cylinder 5 moves along with the second screw cylinder 26, when the grabbing span needs to be adjusted, the power supply of the rotating machine 6 at two ends is switched on, the rotating machine 6 drives the first screw cylinder 10 to rotate, the first screw cylinder 10 cannot move, so as to drive the first screw rod 11 to do, the output end of the rotating machine 6 is fixedly connected with a first screw cylinder 10, the inner thread of the first screw cylinder 10 is connected with one end of a first screw rod 11, the other end of the first screw rod 11 is fixedly connected with a rotating ball 12, the outer wall of the rotating ball 12 is sleeved with a rotating groove 13, the bottom of the rotating groove 13 is fixedly connected with one end of a first straight rod 14, the rotating groove 13 drives the first straight rod 14 to rotate by taking a second connecting shaft 32 as a rotating point, a second rotating shaft 32 slides in a first sliding groove 16, the second connecting shaft 32 pulls a connecting rod 17 to rotate by taking a first connecting shaft 22 as a rotating point, a straight block 15 extends to drive a first clamping block 20 and a second clamping block 28 to diffuse outwards, when the object needs to be grabbed, the power supply of an electric telescopic rod 33 is switched on, the output end of the electric telescopic rod 33 drives a cross rod 18 to move downwards, the cross rod 18 drives a sliding block 31 to slide in a second sliding groove 19, and the object is grabbed by, when up and down adjustment is required, the second screw cylinder 26 is rotated to move on the outer wall of the second screw rod 25, and the rotary drum 5 is driven to move on the outer wall of the second screw rod 25, so as to adjust the position of the whole grabbing device, the other end of the first straight rod 14 is fixedly connected with one end of the straight block 15, the upper part and the lower part of the straight block 15 are respectively provided with a first sliding chute 16 and a second sliding chute 19, the outer side wall of the straight block 15 is fixedly connected with one end provided with a first supporting rod 30, the other end of the first supporting rod 30 is fixedly connected with a sleeve 29, an electric telescopic rod 33 is arranged inside the sleeve 29, the output end of the electric telescopic rod 33 is fixedly connected with one end provided with a cross rod 18, the other end of the cross rod 18 is fixedly connected with a first clamping block 20, the center of the cross rod 18 is fixedly connected with a sliding block 31, the sliding block 31 is slidably clamped with the second sliding chute 19, so that the second clamping block 28 is stable, the left and right parts of the second screw cylinder 26 are fixedly connected with one end of a connecting plate 23 respectively, the other end of the connecting plate 23 is movably provided with one end of a connecting rod 17 through a first connecting shaft 22, the other end of the connecting rod 17 is fixedly connected with a second connecting shaft 32, the second connecting shaft 32 is positioned inside the first sliding chute 16, the second connecting shaft 32 is in sliding clamping connection with the first sliding chute 16, the other end of the second screw rod 25 is fixedly connected with a stop block 24, and the stop block 24 prevents the second screw cylinder 26 from falling off.

Specifically, one side of the second clamping block 28 close to the straight block 15 is fixedly connected with one end provided with a second straight rod 27, the second clamping block 28 drives the second straight rod 27 to be inserted into the straight cylinder 43, one side wall of the straight block 15 close to the second clamping block 28 is fixedly connected with the straight cylinder 43, the second straight rod 27 is inserted into the straight cylinder 43, a trigger 41 is arranged above the straight cylinder 43, the trigger 41 drives the insertion block 39 to be inserted into the vertical cylinder 45, the second clamping block 28 is installed, one end of the trigger 41 is movably connected with the straight block 15 through a pin shaft 42, the other end of the trigger 41 is fixedly connected with one end provided with the insertion block 39, one end of the second supporting rod 44 is arranged below the straight cylinder 43, the other end of the second supporting rod 44 is fixedly connected with the vertical cylinder 45, and the other end of the insertion block 39 is connected with the vertical cylinder 45 in an inserting manner.

Specifically, the lower surface of the first clamping block 20 is fixedly assembled with a plastic pad 21, and the plastic pad 21 reduces the abrasion of the first clamping block 20.

Specifically, the outer wall of the lever 34 is sleeved with a sponge sleeve 35, and the sponge sleeve 35 protects hands of a person.

Specifically, the front surface of the trigger 41 is fixedly mounted with a silicone pad 40.

The working principle is as follows: in the invention, the insertion cylinder 7 can make the insertion rod 36 extend and contract in the inner part, the insertion rod 36 carries the vertical block 38, the vertical block 38 carries the rotating shaft 9, the roller 8 rotates on the outer wall of the rotating shaft 9 and rolls in the slide way 2, the elasticity of the compression spring 37 pushes the vertical block 38 to move, so that the roller 8 is attached to the straight frame 1, when disassembly is needed, the pull rod 34 is pulled to resist the elasticity of the compression spring 37, so that the insertion rod 36 extends into the inner part of the insertion cylinder 7 to drive the roller to be separated from the straight frame 1, the cross beam 3 can be taken out through the slide way 1, when the grabbing span needs to be adjusted, the power supply of the two-end rotating machine 6 is switched on, the rotating machine 6 drives the first screw cylinder 10 to rotate, the first screw cylinder 10 cannot be displaced, so as to drive the first screw rod 11 to do thread motion in the inner part, the first screw rod 11 drives the rotating groove 13 to move through the rotating ball 12, the rotating groove 13 drives the first straight rod 14 to rotate by taking the second connecting shaft 32 as a rotating, the second connecting shaft 32 pulls the connecting rod 17 to rotate by taking the first connecting shaft 22 as a rotating point, the straight block 15 extends to drive the first clamping block 20 and the second clamping block 28 to diffuse outwards, when the object needs to be grabbed, the power supply of the electric telescopic rod 33 is switched on, the output end of the electric telescopic rod 33 drives the cross rod 18 to move downwards, the cross rod 18 drives the sliding block 31 to slide in the second sliding groove 19, the object is grabbed by butting with the second clamping block 28, when the object needs to be grabbed up and down, the second screw cylinder 26 is rotated to move on the outer wall of the second screw rod 25, and the rotary cylinder 5 is driven to move on the outer wall of the second screw rod 25, so that the position of the whole grabbing device is adjusted.

In the description of the present invention, it is to be understood that the terms "coaxial", "bottom", "one end", "top", "middle", "other end", "upper", "one side", "top", "inner", "front", "center", "both ends", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention.

In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "disposed," "connected," "secured," "screwed" and the like are to be construed broadly, e.g., as meaning fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; the terms may be directly connected or indirectly connected through an intermediate, and may be communication between two elements or interaction relationship between two elements, unless otherwise specifically limited, and the specific meaning of the terms in the present invention will be understood by those skilled in the art according to specific situations.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. The utility model provides an automatically controlled grabbing device with adjustable, includes straight frame (1) and crossbeam (3), its characterized in that: the bottom of straight frame (1) is opened there is slide (2), crossbeam (3) are located the inside of slide (2), the equal rigid coupling of the left and right sides wall of crossbeam (3) is equipped with inserts a section of thick bamboo (7), the inside of inserting a section of thick bamboo (7) is pegged graft and is had the one end of inserted bar (36), the other end rigid coupling of inserted bar (36) is equipped with a lateral wall of vertical block (38), the outer wall of inserting a section of thick bamboo (7) and inserted bar (36) has cup jointed compression spring (37), another lateral wall rigid coupling of vertical block (38) is equipped with pivot (9), gyro wheel (8) have been cup jointed to the outer wall of pivot (9), gyro wheel (8) contact with straight frame (1), the positive surface rigid coupling of vertical block (38) is equipped with pull rod (34), the lower surface rigid coupling of crossbeam (3) is equipped with the one end of montant (4), the other end rigid coupling of montant (4) is equipped with the one end of second, the top outer wall of montant (4) has cup jointed rotary drum (5), the equal rigid coupling of the left and right sides wall of rotary drum (5) is equipped with commentaries on classics motor (6), the output rigid coupling of commentaries on classics motor (6) is equipped with first barrel (10), the inside threaded connection of first barrel (10) has the one end of first screw rod (11), the other end rigid coupling of first screw rod (11) is equipped with commentaries on classics ball (12), the outer wall of commentaries on classics ball (12) has cup jointed turn groove (13), the bottom rigid coupling of commentaries on classics groove (13) is equipped with the one end of first straight-bar (14), the other end rigid coupling of first straight-bar (14) is equipped with the one end of straight piece (15), the upper and lower two parts of straight piece (15) do not have opened first spout (16) and second spout (19), the lateral wall rigid coupling of straight piece (15) is equipped with the one end of first branch (30), the other end of first branch (30) is, the inside of sleeve (29) is equipped with electric telescopic handle (33), the output rigid coupling of electric telescopic handle (33) is equipped with the one end of horizontal pole (18), the other end rigid coupling of horizontal pole (18) is equipped with first clamp splice (20), the center department rigid coupling of horizontal pole (18) is equipped with slider (31), slider (31) and second spout (19) slip joint, the other end of straight piece (15) is equipped with second clamp splice (28), the outer wall threaded connection of second screw rod (25) has second barrel (26), the different rigid couplings of two parts about second barrel (26) are equipped with the one end of even board (23), two the other end of even board (23) has the one end of connecting rod (17) through first even axle (22) movable mounting, the other end rigid coupling of connecting rod (17) is equipped with second even axle (32), second even axle (32) are located the inside of first spout (16), the second connecting shaft (32) is in sliding clamping connection with the first sliding groove (16), and the other end of the second screw rod (25) is fixedly assembled with a stop block (24).

2. The adjustable electrically controlled gripping device according to claim 1, wherein: one side rigid coupling that second clamp splice (28) is close to straight piece (15) is equipped with the one end of second straight-bar (27), a lateral wall rigid coupling that straight piece (15) is close to second clamp splice (28) is equipped with straight section of thick bamboo (43), second straight-bar (27) injects the inside of straight section of thick bamboo (43), the top of straight section of thick bamboo (43) is equipped with trigger (41), the one end of trigger (41) is passed through round pin axle (42) and is linked to each other with straight piece (15) activity, the other end rigid coupling of trigger (41) is equipped with the one end of inserted block (39), the below of straight section of thick bamboo (43) is equipped with the one end of second branch (44), the other end rigid coupling of second branch (44) is equipped with vertical section of thick bamboo (45), the other end and vertical section of thick bamboo (45) grafting of inserted block (39) are continuous.

3. The adjustable electrically controlled gripping device according to claim 1, wherein: the lower surface of the first clamping block (20) is fixedly provided with a plastic pad (21).

4. The adjustable electrically controlled gripping device according to claim 1, wherein: the outer wall of the trigger lever (34) is sleeved with a sponge sleeve (35).

5. The adjustable electrically controlled gripping device according to claim 2, wherein: the front surface of the trigger (41) is fixedly assembled with a silica gel pad (40).