CN112092011A - Snatch transmission structure and snatch transmission control arm thereof - Google Patents
Snatch transmission structure and snatch transmission control arm thereof Download PDFInfo
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- CN112092011A CN112092011A CN202011002346.7A CN202011002346A CN112092011A CN 112092011 A CN112092011 A CN 112092011A CN 202011002346 A CN202011002346 A CN 202011002346A CN 112092011 A CN112092011 A CN 112092011A
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- connecting rod
- eccentric
- grabbing
- transmission structure
- column
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
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Abstract
The invention discloses a grabbing transmission structure and a grabbing transmission control arm thereof, which comprise a bottom plate, a connecting rod assembly, an eccentric assembly, a first supporting column and a second supporting column, wherein the first supporting column and the second supporting column are fixedly installed on the bottom plate in a crossed mode, the top end of the first supporting column is provided with a cross column, the connecting rod assembly is hinged to the first side face of the cross column, one end of the eccentric assembly is hinged to the second side face of the cross column, the other end of the eccentric assembly is rotatably connected with the top end of the second supporting column, the middle of the connecting rod assembly is provided with a gripper, and the gripper realizes picking and placing of workpieces under the linkage driving of the connecting rod assembly and the eccentric assembly. According to the invention, the mechanical grabbing transmission mechanism is used for replacing manpower, and the picking and placing of the workpiece by the mechanical arm can be accurately realized.
Description
Technical Field
The invention relates to the technical field of mechanical fetching, in particular to a grabbing transmission structure and a grabbing transmission control arm thereof.
Background
The existing grabbing method of the material to be grabbed mainly comprises three categories of pneumatic sucking, electromagnetic sucking and mechanical grabbing, wherein a pneumatic sucking target has higher flatness requirement on the surface flatness of an object; the electromagnetic suction method has high demand on the magnetism of the object. The existing gripping device also needs to directly identify the shape of an object by a vision system, and grips the object by various gripping methods, which has higher requirements on the regularity and consistency of the shape of the object. If manual grabbing is used, the working efficiency is low and the accuracy is not high; now, the probability of industrial robots and manipulators in workshops is higher and higher, and particularly, the requirement that the grabbing and placing actions of the manipulators are matched and used on a plurality of machines is more and more urgent.
Disclosure of Invention
The invention aims to provide a grabbing transmission structure and a grabbing transmission control arm thereof, which replace manual work with a mechanical grabbing transmission mechanism and can accurately realize the picking and placing of workpieces by a manipulator so as to solve the technical problems mentioned in the background technology.
The purpose of the invention is realized by the following technical scheme:
the utility model provides a snatch transmission structure, includes bottom plate, link assembly, eccentric subassembly, first support column and second support column alternately fixed mounting be in on the bottom plate, the top of first support column is equipped with the spreader, link assembly articulates the first side of spreader, eccentric subassembly's one end articulates the second side of spreader, eccentric subassembly's the other end with the top of second support column is rotated and is connected, link assembly's middle part is equipped with the tongs, the tongs is in link assembly reaches realize picking up and placing of work piece under eccentric subassembly's the linkage drive.
The eccentric assembly rotates around the second supporting column when being driven, the movable range of the eccentric assembly is between the first supporting column and the second supporting column, the eccentric assembly can drive the connecting rod assembly to be linked when being driven, the connecting rod assembly is made to swing to be close to 180 degrees, namely, the connecting rod assembly can move from one side of the bottom plate to the other side of the bottom plate, so that the gripper arranged in the middle of the connecting rod assembly is driven to move from one side of the bottom plate to the other side of the bottom plate, and finally the picking and placing of workpieces are completed.
Further, the connecting rod assembly comprises a first connecting rod, a second connecting rod and a third connecting rod, wherein the first end of the second connecting rod is hinged with the first end of the first connecting rod, and the second end of the second connecting rod is hinged with the first end of the first side surface of the transverse column; the first end of the third connecting rod is hinged with the second end of the first connecting rod, the second end of the third connecting rod is hinged with the second end of the first side face of the transverse column, and the first connecting rod, the second connecting rod, the third connecting rod and the transverse column form a parallelogram structure.
The beneficial effects of the preferred embodiment are as follows: the first connecting rod, the second connecting rod, the third connecting rod and the transverse column form a parallelogram structure, the second connecting rod and the third connecting rod are parallel and can rotate around two ends of the first side surface of the transverse column respectively, so that the whole parallelogram structure can swing to be close to 180 degrees, and the parallelogram structure finally completes left-right reciprocating motion above the bottom plate.
Furthermore, the hand grip is fixed in the middle of the first connecting rod and comprises a gripping rod and a gripping head, one end of the gripping rod is connected to the middle of the first connecting rod, and the gripping head is fixedly installed at the other end of the gripping rod.
The beneficial effects of the preferred embodiment are as follows: the grabbing rod of the grabbing hand is fixedly arranged in the middle of the first connecting rod, the grabbing head is fixedly arranged at the tail end of the grabbing rod, and the grabbing head can complete left-right reciprocating motion above the bottom plate along with the parallelogram structure, so that the picking and placing of workpieces can be completed.
Further, eccentric subassembly includes eccentric wheel, eccentric connecting rod and dwang, the first end of eccentric connecting rod with eccentric wheel integrated into one piece, the second end of eccentric connecting rod with the one end of dwang is articulated, the other end of dwang with the second side of spreader is articulated, the length of dwang is less than the length of eccentric connecting rod.
The beneficial effects of the preferred embodiment are as follows: the rotating rod of the eccentric assembly is hinged with the first end of the second side face of the transverse column, the second end of the second connecting rod is hinged with the first end of the first side face of the transverse column, and the second end of the second connecting rod and the first end of the first side face of the transverse column are connected through the same rotating shaft, so that the synchronous driving movement is possible.
Further, be equipped with the shaft hole on the eccentric wheel, the axis of rotation is installed on the top of second support column, the one end of axis of rotation is worn to locate the second support column, the other end of axis of rotation is connected the shaft hole.
The beneficial effects of the preferred embodiment are as follows: the shaft hole of eccentric wheel with the rotation axis connection on the top of second support column, when the axis of rotation rotated, the eccentric wheel rotated the opposite side from one side around the axis of rotation, and then drove eccentric connecting rod and dwang and rotate, and the dwang rotates and drives the swing of parallelogram structure and accomplish picking up and putting of work piece.
Further, one end of the rotating shaft is connected with a rotating driving element.
The beneficial effects of the preferred embodiment are as follows: the driving element is used for driving the rotating shaft to rotate, so that the eccentric wheel is driven to rotate.
Further, the rotation driving element is a stepping motor.
The beneficial effects of the preferred embodiment are as follows: when the stepping motor is started, the eccentric wheel can be driven to rotate.
The utility model provides a snatch transmission control arm, is including snatching transmission structure, it installs to snatch transmission structure the end of control arm.
The invention has the beneficial effects that:
according to the grabbing transmission structure, the eccentric assembly rotates around the second supporting column when being driven, the movable range of the eccentric assembly is arranged between the first supporting column and the second supporting column, the connecting rod assembly can be driven to be linked when the eccentric assembly is driven, the connecting rod assembly is made to swing to be close to 180 degrees, namely the connecting rod assembly can move from one side of the bottom plate to the other side of the bottom plate, so that the hand grab arranged in the middle of the connecting rod assembly is driven to move from one side of the bottom plate to the other side of the bottom plate, and finally picking and placing of workpieces are completed. The grabbing transmission structure is applied to industrial robots and in workshops of mechanical arms, and the grabbing and placing actions of the mechanical arms are realized by matching with related machines, so that compared with the manual grabbing, the grabbing transmission structure not only avoids the phenomena of low working efficiency and low accuracy, but also enables the grabbing of workpieces to be more flexible and accurate, and greatly improves the grabbing capacity and environment self-adaptive capacity of grabbing devices for objects with complex shapes.
Drawings
FIG. 1 is a schematic view of the overall structural operating condition 1 of the grasping transmission structure of the present invention;
FIG. 2 is a schematic view of the overall structural operating state 2 of the grasping transmission structure;
FIG. 3 is a schematic view of the overall structural operating state 3 of the grasping power transmission structure;
in the figure, 1-a bottom plate, 2-a connecting rod assembly, 3-an eccentric assembly, 4-a first supporting column, 401-a cross column, 5-a second supporting column, 6-a hand grip, 601-a grabbing rod, 602-a grabbing head, 7-a first connecting rod, 8-a second connecting rod, 9-a third connecting rod, 10-an eccentric wheel, 11-an eccentric connecting rod, 12-a rotating rod and 13-a rotating shaft.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the following embodiments, and it should be understood 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 obtained by a person skilled in the art without inventive effort based on the embodiments of the present invention, are within the scope of the present invention.
Example 1
Referring to fig. 1-3, the present invention provides a technical solution:
referring to fig. 1-3, a grabbing transmission structure includes a bottom plate 1, a connecting rod assembly 2, an eccentric assembly 3, a first support column 4 and a second support column 5, wherein the first support column 4 and the second support column 5 are fixedly installed on the bottom plate 1 in a crossed manner, a cross column 401 is arranged at the top end of the first support column 4, the connecting rod assembly 2 is hinged to a first side surface of the cross column 401, one end of the eccentric assembly 3 is hinged to a second side surface of the cross column 401, the other end of the eccentric assembly 3 is rotatably connected with the top end of the second support column 5, a gripper 6 is arranged in the middle of the connecting rod assembly 2, and the gripper 6 realizes picking and placing of a workpiece under linkage driving of the connecting rod assembly 2 and the eccentric assembly 3.
According to the grabbing transmission structure, the eccentric assembly 3 rotates around the second supporting column 5 when being driven, the movable range of the eccentric assembly 3 is arranged between the first supporting column 4 and the second supporting column 5, the connecting rod assembly 2 can be driven to be linked when the eccentric assembly 3 is driven, the connecting rod assembly 2 is enabled to swing to be close to 180 degrees, namely the connecting rod assembly 2 can move from one side of the bottom plate 1 to the other side of the bottom plate 1, and therefore the hand grip 6 arranged in the middle of the connecting rod assembly 2 is driven to move from one side of the bottom plate 1 to the other side of the bottom plate 1, and finally picking and placing of workpieces are completed.
Referring to fig. 1 to 3, the connecting rod assembly 2 includes a first connecting rod 7, a second connecting rod 8 and a third connecting rod 9, wherein a first end of the second connecting rod 8 is hinged to a first end of the first connecting rod 7, and a second end of the second connecting rod 8 is hinged to a first end of a first side surface of the cross-post 401; the first end of the third connecting rod 9 is hinged to the second end of the first connecting rod 7, the second end of the third connecting rod 9 is hinged to the second end of the first side face of the transverse column 401, and the first connecting rod 7, the second connecting rod 8, the third connecting rod 9 and the transverse column 401 form a parallelogram structure.
According to the connecting rod assembly 2, the first connecting rod 7, the second connecting rod 8, the third connecting rod 9 and the transverse column 401 form a parallelogram structure, the second connecting rod 8 and the third connecting rod 9 are parallel and can rotate around two ends of the first side face of the transverse column 401 respectively, so that the whole parallelogram structure can swing to be close to 180 degrees, and the parallelogram structure finally completes left-right reciprocating motion above the base plate 1.
Referring to fig. 1 to 3, the hand grip 6 is fixed to the middle of the first link 7, the hand grip 6 includes a grip rod 601 and a grip head 602, one end of the grip rod 601 is connected to the middle of the first link 7, and the grip head 602 is fixedly mounted to the other end of the grip rod 601.
The grabbing rod 601 of the grabbing hand 6 is fixedly arranged in the middle of the first connecting rod 7, the grabbing head 602 is fixedly arranged at the tail end of the grabbing rod 601, and the grabbing head 602 completes the left-right reciprocating motion above the bottom plate 1 along with the parallelogram structure, so that the picking and placing of workpieces can be completed.
Referring to fig. 1, the eccentric assembly 3 includes an eccentric wheel 10, an eccentric connecting rod 11 and a rotating rod 12, a first end of the eccentric connecting rod 11 is integrally formed with the eccentric wheel 10, a second end of the eccentric connecting rod 11 is hinged to one end of the rotating rod 12, the other end of the rotating rod 12 is hinged to a second side surface of the cross pillar 401, and the length of the rotating rod 12 is smaller than that of the eccentric connecting rod 11.
The rotating rod 12 of the eccentric assembly 3 of the present invention is hinged with the first end of the second side of the cross-post 401, and the second end of the second connecting rod 8 is hinged with the first end of the first side of the cross-post 401, which are connected by the same rotating shaft, thereby providing a possibility for synchronous driving movement.
Referring to fig. 1, an axle hole is formed in the eccentric wheel 10, a rotating shaft 13 is installed at the top end of the second supporting column 5, one end of the rotating shaft 13 penetrates through the second supporting column 5, and the other end of the rotating shaft 13 is connected to the axle hole.
The shaft hole of the eccentric wheel 10 of the invention is connected with the rotating shaft 13 at the top end of the second supporting column 5, when the rotating shaft 13 rotates, the eccentric wheel 10 rotates from one side to the other side around the rotating shaft 13, and further drives the eccentric connecting rod 11 and the rotating rod 12 to rotate, and the rotating rod 12 rotates to drive the parallelogram structure to swing to complete the picking and placing of workpieces.
Preferably, one end of the rotation shaft 13 is connected to a rotation driving member.
The driving element of the present invention is used to drive the rotation shaft 13 to rotate, thereby driving the eccentric wheel 10 to rotate.
Preferably, the rotary drive element is a stepper motor.
The rotation driving element of the present invention may be a stepping motor, and when the stepping motor is started, the eccentric wheel 10 may be driven to rotate.
As shown in fig. 1 to 3, the working process of the grabbing transmission structure of the invention is as follows:
as shown in fig. 1, when the driving element is started to drive the eccentric wheel 10 to rotate to the rightmost end position above the base, the second connecting rod 8 which is rotatably connected with the rotating rod 12 and the third connecting rod 9 which is hinged with the second end of the first side surface of the cross column 401 are parallel to each other and rotate towards the left end above the base simultaneously, and at this time, the hand grip 6 which is arranged on the first connecting rod 7 moves to the leftmost end above the base along with the parallelogram structure, so that the picking or placing of the workpiece is completed.
As shown in fig. 2, the driving element reversely starts the eccentric wheel 10 to reversely move to the middle position above the base, at this time, the second connecting rod 8 rotatably connected with the rotating rod 12 and the third connecting rod 9 hinged with the second end of the first side surface of the cross column 401 are parallel to each other and simultaneously rotate to the left end and the right end above the base, at this time, the hand grip 6 mounted on the first connecting rod 7 moves to the middle position above the base along with the parallelogram structure, and the transfer of the workpiece is completed.
As shown in fig. 2, the driving element is further reversely actuated, the second link 8 rotatably connected to the rotating rod 12 and the third link 9 hinged to the second end of the first side of the crossbar 401 are parallel to each other and further rotate toward the right end above the base, and at this time, the hand grip 6 mounted on the first link 7 moves to the rightmost end above the base along with the parallelogram structure, thereby completing the placing or picking of the workpiece.
Example 2
The utility model provides a snatch transmission control arm, is including snatching transmission structure, it installs to snatch transmission structure the end of control arm.
The grabbing transmission control arm adopts the grabbing transmission structure and is installed at the tail end of the control arm, is applied to a robot and a manipulator in a workshop, is matched with related machinery to realize grabbing and placing actions of the manipulator, and avoids the phenomena of low working efficiency and low accuracy compared with manual grabbing.
The foregoing is illustrative of the preferred embodiments of this invention, and it is to be understood that the invention is not limited to the precise form disclosed herein and that various other combinations, modifications, and environments may be resorted to, falling within the scope of the concept as disclosed herein, either as described above or as apparent to those skilled in the relevant art. And that modifications and variations may be effected by those skilled in the art without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (8)
1. The utility model provides a snatch transmission structure which characterized in that: including bottom plate (1), link assembly (2), eccentric subassembly (3), first support column (4) and second support column (5) cross fixed mounting be in on bottom plate (1), the top of first support column (4) is equipped with spreader (401), link assembly (2) articulate the first side of spreader (401), the one end of eccentric subassembly (3) articulates the second side of spreader (401), the other end of eccentric subassembly (3) with the top of second support column (5) is rotated and is connected, the middle part of link assembly (2) is equipped with tongs (6), tongs (6) are in link assembly (2) reach realize picking up and placing of work piece under the linkage drive of eccentric subassembly (3).
2. The grasping transmission structure according to claim 1, wherein: the connecting rod assembly (2) comprises a first connecting rod (7), a second connecting rod (8) and a third connecting rod (9), wherein the first end of the second connecting rod (8) is hinged with the first end of the first connecting rod (7), and the second end of the second connecting rod (8) is hinged with the first end of the first side face of the cross column (401); the first end of the third connecting rod (9) is hinged to the second end of the first connecting rod (7), the second end of the third connecting rod (9) is hinged to the second end of the first side face of the transverse column (401), and the first connecting rod (7), the second connecting rod (8), the third connecting rod (9) and the transverse column (401) form a parallelogram structure.
3. The grasping transmission structure according to claim 2, wherein: the grabbing hand (6) is fixed in the middle of the first connecting rod (7), the grabbing hand (6) comprises a grabbing rod (601) and a grabbing head (602), one end of the grabbing rod (601) is connected to the middle of the first connecting rod (7), and the grabbing head (602) is fixedly installed at the other end of the grabbing rod (601).
4. The grasping transmission structure according to claim 1, wherein: eccentric subassembly (3) include eccentric wheel (10), eccentric connecting rod (11) and dwang (12), the first end of eccentric connecting rod (11) with eccentric wheel (10) integrated into one piece, the second end of eccentric connecting rod (11) with the one end of dwang (12) is articulated, the other end of dwang (12) with the second side of spreader (401) is articulated, the length of dwang (12) is less than the length of eccentric connecting rod (11).
5. The grasping transmission structure according to claim 4, wherein: be equipped with the shaft hole on eccentric wheel (10), axis of rotation (13) are installed on the top of second support column (5), the one end of axis of rotation (13) is worn to locate second support column (5), the other end of axis of rotation (13) is connected the shaft hole.
6. The grasping transmission structure according to claim 5, wherein: one end of the rotating shaft (13) is connected with a rotating driving element.
7. The grasping transmission structure according to claim 6, wherein: the rotation driving element is a stepping motor.
8. The utility model provides a snatch transmission control arm which characterized in that: a grasping drive structure including any one of claims 1 to 7, the grasping drive structure being mounted at a distal end of the control arm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011002346.7A CN112092011A (en) | 2020-09-22 | 2020-09-22 | Snatch transmission structure and snatch transmission control arm thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011002346.7A CN112092011A (en) | 2020-09-22 | 2020-09-22 | Snatch transmission structure and snatch transmission control arm thereof |
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| Publication Number | Publication Date |
|---|---|
| CN112092011A true CN112092011A (en) | 2020-12-18 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011002346.7A Pending CN112092011A (en) | 2020-09-22 | 2020-09-22 | Snatch transmission structure and snatch transmission control arm thereof |
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| CN (1) | CN112092011A (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB632781A (en) * | 1945-03-17 | 1949-12-05 | Robert Louis Pasquet | Photographic enlarging apparatus with automatic focusing provision |
| CN206871997U (en) * | 2017-07-11 | 2018-01-12 | 象山权友机械有限公司 | Part transloading equipment |
| WO2018121017A1 (en) * | 2016-12-30 | 2018-07-05 | 青岛海科佳电子设备制造有限公司 | Bidirectional manipulator device for material conveyance and feeding and method thereof device |
| CN208631603U (en) * | 2018-07-03 | 2019-03-22 | 福州聚众鑫电子科技有限公司 | A kind of manipulator grabbing device of double leval jib transmission |
| CN209453590U (en) * | 2018-12-05 | 2019-10-01 | 无锡进源科技开发有限公司 | A kind of inner bearing type mechanical gripper |
| CN111387537A (en) * | 2020-04-22 | 2020-07-10 | 徐州工程学院 | Continuous printing device |
-
2020
- 2020-09-22 CN CN202011002346.7A patent/CN112092011A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB632781A (en) * | 1945-03-17 | 1949-12-05 | Robert Louis Pasquet | Photographic enlarging apparatus with automatic focusing provision |
| WO2018121017A1 (en) * | 2016-12-30 | 2018-07-05 | 青岛海科佳电子设备制造有限公司 | Bidirectional manipulator device for material conveyance and feeding and method thereof device |
| CN206871997U (en) * | 2017-07-11 | 2018-01-12 | 象山权友机械有限公司 | Part transloading equipment |
| CN208631603U (en) * | 2018-07-03 | 2019-03-22 | 福州聚众鑫电子科技有限公司 | A kind of manipulator grabbing device of double leval jib transmission |
| CN209453590U (en) * | 2018-12-05 | 2019-10-01 | 无锡进源科技开发有限公司 | A kind of inner bearing type mechanical gripper |
| CN111387537A (en) * | 2020-04-22 | 2020-07-10 | 徐州工程学院 | Continuous printing device |
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