CN112171696A - Mechanical automation formula snatchs structure, manipulator and manufacture equipment - Google Patents
Mechanical automation formula snatchs structure, manipulator and manufacture equipment Download PDFInfo
- Publication number
- CN112171696A CN112171696A CN202010441440.6A CN202010441440A CN112171696A CN 112171696 A CN112171696 A CN 112171696A CN 202010441440 A CN202010441440 A CN 202010441440A CN 112171696 A CN112171696 A CN 112171696A
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- clamping jaw
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- 238000004519 manufacturing process Methods 0.000 title claims abstract description 15
- 230000005540 biological transmission Effects 0.000 claims abstract description 31
- 210000000078 claw Anatomy 0.000 claims abstract description 12
- 230000033001 locomotion Effects 0.000 claims abstract description 5
- 230000000694 effects Effects 0.000 abstract description 2
- 238000000034 method Methods 0.000 description 7
- 230000007246 mechanism Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to the technical field related to mechanical manufacturing, in particular to a mechanical automatic grabbing structure, a mechanical arm and manufacturing equipment, wherein the mechanical automatic grabbing structure comprises a bearing seat and two clamping jaws which slide on the bearing seat and are oppositely arranged, and the clamping jaws are connected with a telescopic component arranged on the bearing seat through a movable piece arranged in a movable cavity on the bearing seat; still articulated on the clamping jaw have a movable jaw, the movable jaw pass through drive assembly with the moving part is connected, works as flexible subassembly passes through moving part drive two when the clamping jaw moves in opposite directions, the movable jaw follows the clamping jaw motion just the movable jaw self takes place to rotate. The article clamping device is novel in design, the movable claw is driven to rotate through the transmission assembly while the clamping jaw is used for clamping articles, so that the articles are received, the articles can be effectively prevented from falling off, the clamping effect is good, articles of different specifications can be clamped, and the practicability is high.
Description
Technical Field
The invention relates to the technical field related to mechanical manufacturing, in particular to a mechanical automatic grabbing structure, a mechanical arm and manufacturing equipment.
Background
With the development of science and technology, mechanical automation plays an increasingly important role in many fields, for example, in many factory workshops at present, a large amount of automation equipment is used to replace manpower, so that the automation equipment is very convenient, the working efficiency is greatly improved, and the production cost is reduced to a certain extent.
The manipulator uses very generally in the mechanical automation field, and the core position of manipulator lies in snatchs the structure for snatch article, and current structure of snatching includes that the board-like snatchs the structure and the arc snatchs the structure, but the board-like structure of snatching is relatively poor when snatching article, and the arc snatchs the structure and has the restriction to article structure.
The utility model discloses a utility model patent named "a flat case packer snatchs tong structure" is disclosed in CN210284754U, and this patent has the function of snatching and accepting, and it is not enough to lie in: 1. the supporting mechanism of the utility model is positioned on the side surface of the clamping jaw, the supporting mechanism rotates 90 degrees during production to complete supporting, and the supporting mechanism is easy to interfere with other mechanisms or moving units in the rotating process, so that the practicability is poor; 2. the supporting unit of the utility model needs an independent power source, and drives the supporting mechanism to move after the grabbing is finished, so that the structure is complex and the production cost is high; 3. the utility model discloses a snatch and accept and need divide two steps to go on, two steps if the time difference appears, easily cause the failure.
Disclosure of Invention
The present invention is directed to a mechanical automated grabbing structure, a manipulator and a manufacturing apparatus, so as to solve the problems of the background art.
In order to achieve the purpose, the invention provides the following technical scheme:
a mechanical automatic grabbing structure comprises a bearing seat and two clamping jaws which slide on the bearing seat and are oppositely arranged, wherein the clamping jaws are connected with a telescopic component arranged on the bearing seat through a movable piece arranged in a movable cavity on the bearing seat;
still articulated on the clamping jaw have a movable jaw, the movable jaw pass through drive assembly with the moving part is connected, works as flexible subassembly passes through moving part drive two when the clamping jaw moves in opposite directions, the movable jaw follows the clamping jaw motion just the movable jaw self takes place to rotate.
As a further scheme of the invention: the movable piece comprises a movable block, two sides of the movable block are provided with slide blocks, one of the slide blocks is in sliding fit with a slide groove formed in the inner wall of the movable cavity, and the other slide block penetrates through a through groove formed in the bearing seat and is connected with the telescopic assembly.
As a still further scheme of the invention: the telescopic assembly comprises an electric telescopic rod, and the movable end of the electric telescopic rod is fixed with the sliding block.
As a still further scheme of the invention: the clamping jaw is provided with an embedded position for connecting the movable jaw, and when the movable jaw is parallel to the clamping jaw, the end face of the movable jaw and the end face of the clamping jaw are positioned on the same vertical plane.
As a still further scheme of the invention: the transmission assembly includes:
the first rack transmission piece is arranged in a transmission cavity arranged on the clamping jaw and is connected with the movable jaw;
the second rack transmission piece is arranged in the movable cavity and connected with the movable block;
the traction rope is connected with the first rack transmission part and the second rack transmission part.
As a still further scheme of the invention: first rack driving spare include with the fixed first gear of movable claw and slide and be in the transmission intracavity and with first gear engagement's first rack board, first rack board still through the spring with the transmission chamber is connected.
As a still further scheme of the invention: the second rack transmission part comprises a second gear rotating on the moving block and a second rack plate fixed on the inner wall of the movable cavity and meshed with the second gear, and the second gear is also fixed with a rotating shaft of a take-up roller installed on the moving block.
As a still further scheme of the invention: one end of the traction rope is fixed at one end, far away from the spring, of the first rack plate, and the other end of the traction rope bypasses a guide wheel arranged on the moving block and is fixed with the take-up roller.
A robot hand, comprising:
the mechanical automatic grabbing structure is characterized in that the mechanical automatic grabbing structure comprises a mechanical arm and a mechanical arm; and
and the mechanical swing arm is connected with the mechanical automatic grabbing structure.
A manufacturing apparatus comprising the robot described above.
Compared with the prior art, the invention has the beneficial effects that:
1. the movable claw is embedded and installed at the inner side of the clamping claw, other space is not occupied, interference with a mechanism and a moving unit is not easy to occur during automatic production, and the practicability is high;
2. the gripping and receiving device has the advantages that the gripping and receiving are the same power source, the receiving of articles is realized through the unique transmission structure when the articles are gripped, the structure is simple, the production cost is low, and the practicability is strong;
3. after the grabbing step is completed, the carrying work is automatically driven to be completed, and the two steps are high in continuity and low in error rate.
Drawings
Fig. 1 is a schematic structural diagram of a mechanical automated gripping structure.
Fig. 2 is a front view of a mechanical automated grasping configuration.
Fig. 3 is a cross-sectional view of a mechanical automated grasping configuration.
Fig. 4 is a schematic structural diagram of a moving block in a mechanical automated gripping structure.
In the figure: 1-bearing seat, 2-clamping jaw, 3-movable jaw, 4-electric telescopic rod, 5-through groove, 6-first gear, 7-first rack plate, 8-transmission cavity, 9-spring, 10-traction rope, 11-moving block, 12-second gear, 13-second rack plate, 14-movable cavity, 15-guide wheel, 16-sliding block and 17-wire-collecting roller.
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.
In addition, an element of the present invention may be said to be "fixed" or "disposed" to another element, either directly on the other element or with intervening elements present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only and do not represent the only embodiments.
Referring to fig. 1 to 4, in an embodiment of the present invention, a mechanical automated grabbing structure includes a receiving base 1 and two clamping jaws 2 sliding on the receiving base 1 and oppositely disposed, where the clamping jaws 2 are connected to a telescopic assembly mounted on the receiving base 1 through a movable member disposed in a movable cavity 14 of the receiving base 1;
still articulated on the clamping jaw 2 have movable claw 3, movable claw 3 pass through drive assembly with the moving part is connected, works as flexible subassembly passes through the moving part drive two when clamping jaw 2 moves in opposite directions, movable claw 3 follows clamping jaw 2 moves just movable claw 3 self takes place to rotate.
In the embodiment of the invention, the clamping jaw 2 is arranged to clamp the articles and the transmission assembly drives the movable jaw 3 to rotate so as to carry the articles, so that the articles can be effectively prevented from falling off, the clamping effect is good, the articles with different specifications can be clamped, and the practicability is high.
In the embodiment of the invention, the clamping jaw 2 and the movable jaw 3 are both arranged in a plate-shaped structural type, so that effective clamping of a cylindrical structure, a square structure or other structures can be realized, the defect that the clamping shape of the existing arc-shaped clamping jaw is fixed in the clamping process is eliminated, and the stability of poor clamping stability of the existing plate-shaped clamping jaw in the clamping process is eliminated by matching with the movable jaw 3.
In the embodiment of the invention, the bearing seat 1 is provided with the traction frame, and the traction frame is used for being connected with the mechanical arm, so that the multi-directional grabbing of the grabbing structure is realized through the arranged mechanical arm.
As an embodiment of the present invention, the movable member includes a movable block 11, two sides of the movable block 11 are provided with sliding blocks 16, one of the sliding blocks 16 is in sliding fit with a sliding groove arranged on an inner wall of the movable cavity 14, and the other sliding block 16 penetrates through a through groove 5 arranged on the bearing seat 1 and is connected with the telescopic component.
In the embodiment of the invention, the stability of the clamping jaw 2 in the moving process is ensured by the matching of the moving block 11 and the sliding blocks 16 and the sliding grooves, so that the clamping jaw 2 moves linearly, wherein it can be understood that one of the sliding blocks 16 penetrates through the through groove 5 and is in sliding fit with the through groove 5, and the thickness of the sliding block 16 is the same as the passing thickness of the through groove 5.
As an embodiment of the invention, the telescopic assembly comprises an electric telescopic rod 4, and the movable end of the electric telescopic rod 4 is fixed with the sliding block 16.
In the embodiment of the present invention, the telescopic assembly may also adopt a hydraulic cylinder or an air cylinder, which is not specifically limited in this application as long as the driving requirement is met.
As an embodiment of the present invention, the clamping jaw 2 is provided with an embedded position for connecting the movable jaw 3, and when the movable jaw 3 is parallel to the clamping jaw 2, an end surface of the movable jaw 3 is on the same vertical plane as an end surface of the clamping jaw 2.
In the embodiment of the invention, when the clamping jaw 2 is in the open state, the movable jaw 3 and the clamping jaw 2 are in the vertical state, so that the object can be conveniently clamped, and the movable jaw 3 can be effectively prevented from interfering with the object in the clamping process.
As an embodiment of the present invention, the transmission assembly includes:
the first rack transmission piece is arranged in a transmission cavity 8 arranged on the clamping jaw 2 and is connected with the movable jaw 3;
a second rack transmission member disposed in the movable cavity 14 and connected to the moving block 11;
a pull rope 10, the pull rope 10 connecting the first rack drive member and the second rack drive member.
In the embodiment of the invention, when the clamping jaw 2 moves, the pulling rope 10 moves by being frozen through the second rack transmission piece, and the pulling rope 10 drives the movable jaw 3 to rotate through the first rack transmission piece, so that the driving requirement is realized.
As an embodiment of the present invention, the first rack transmission member includes a first gear 6 fixed to the movable jaw 3 and a first rack plate 7 sliding in the transmission chamber 8 and engaged with the first gear 6, and the first rack plate 7 is further connected to the transmission chamber 8 by a spring 9.
In the embodiment of the present invention, it can be understood that the first rack plate 7 is driven to move when the pulling rope 10 moves, the movable jaw 3 is driven to rotate by the first gear 6 engaged with the first rack plate 7 when the first rack plate 7 moves, so as to drive the movable jaw 3, and the spring 9 is arranged to drive the first rack plate 7 to move reversely when the pulling rope 10 loses the pulling force, so as to reset the movable jaw 3.
In the embodiment of the invention, the first rack plate 7 is in sliding fit with the transmission cavity 8 through the sliding part, so that the first rack plate 7 is ensured to perform linear motion relative to the transmission cavity 8.
In the embodiment of the present invention, the spring 9 may also be replaced by a spring sheet, as long as the requirement of elasticity is met, which is not specifically limited in the present application.
As an embodiment of the present invention, the second rack transmission member includes a second gear 12 rotating on the moving block 11 and a second rack plate 13 fixed on an inner wall of the moving cavity 14 and engaged with the second gear 12, and the second gear 12 is further fixed to a rotating shaft of a take-up roller 17 mounted on the moving block 11.
In the embodiment of the invention, when the moving block 11 moves, the second gear 12 rotates under the action of the second rack plate 13, and then the take-up roller 17 is driven to rotate, so as to realize the take-up action on the traction rope 10, and thus, the first rack plate 7 is driven.
In the embodiment of the present invention, it can be understood that when the two jaws 2 move towards each other, the take-up roller 17 winds the traction rope, and when the two jaws 2 move towards each other, the take-up roller 17 performs a paying-off process on the traction rope 10, wherein the traction rope 10 is always in a tight state under the action of the spring 9.
In an embodiment of the present invention, one end of the traction rope 10 is fixed to one end of the first rack plate 7 away from the spring 9, and the other end is fixed to the take-up roller 17 by passing around a guide pulley 15 mounted on the moving block 11.
In the embodiment of the invention, the friction force generated by the traction rope 10 during the movement process can be reduced through the arranged guide wheel 15, so that the force output is reduced.
In the embodiment of the present invention, it should be noted that the clamping jaw 2 is provided with a movable cavity for passing the traction rope 10.
As an embodiment of the present invention, there is also provided a robot hand including:
the mechanical automatic grabbing structure is characterized in that the mechanical automatic grabbing structure comprises a mechanical arm and a mechanical arm; and
and the mechanical swing arm is connected with the mechanical automatic grabbing structure.
In the embodiment of the present invention, the mechanical swing arm described above can adopt a multi-axis mechanical arm to achieve a multi-directional driving requirement, and the use of the mechanical swing arm is very common, so that the detailed description of the application is omitted.
As an embodiment of the present invention, there is also provided a manufacturing apparatus including the robot described above.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.
Claims (10)
1. The mechanical automatic grabbing structure is characterized by comprising a bearing seat (1) and two clamping jaws (2) which slide on the bearing seat (1) and are oppositely arranged, wherein the clamping jaws (2) are connected with a telescopic component arranged on the bearing seat (1) through a movable piece arranged in a movable cavity (14) on the bearing seat (1);
still articulated on clamping jaw (2) have movable claw (3), movable claw (3) pass through drive assembly with the moving part is connected, works as flexible subassembly passes through the moving part drive two when clamping jaw (2) move in opposite directions, movable claw (3) are followed clamping jaw (2) motion just movable claw (3) self takes place to rotate.
2. The mechanical automatic grabbing structure of claim 1, wherein the movable member comprises a movable block (11), two sides of the movable block (11) are provided with sliding blocks (16), one of the sliding blocks (16) is in sliding fit with a sliding groove formed in the inner wall of the movable cavity (14), and the other sliding block (16) penetrates through a through groove (5) formed in the bearing seat (1) and is connected with the telescopic assembly.
3. The mechanical automated gripping structure according to claim 2, characterized in that the telescopic assembly comprises an electric telescopic rod (4), the movable end of the electric telescopic rod (4) being fixed with the slide (16).
4. The mechanical automated gripping structure according to claim 1, wherein the clamping jaw (2) is provided with an embedded position for connecting the movable jaw (3), and when the movable jaw (3) is parallel to the clamping jaw (2), the end face of the movable jaw (3) and the end face of the clamping jaw (2) are on the same vertical plane.
5. The mechanical automated grasping configuration according to claim 2, wherein the transmission assembly includes:
the first rack transmission piece is arranged in a transmission cavity (8) arranged on the clamping jaw (2) and is connected with the movable jaw (3);
a second rack transmission member arranged in the movable cavity (14) and connected with the moving block (11);
a pull rope (10), the pull rope (10) connecting the first rack drive member and the second rack drive member.
6. A mechanical automated gripping structure according to claim 5, characterized in that the first rack drive comprises a first gear wheel (6) fixed with the moveable jaw (3) and a first rack plate (7) sliding in the transmission cavity (8) and engaging with the first gear wheel (6), the first rack plate (7) further being connected with the transmission cavity (8) by a spring (9).
7. The mechanical automated grabbing structure of claim 6, wherein the second rack transmission component comprises a second gear (12) rotating on the moving block (11) and a second rack plate (13) fixed on the inner wall of the movable cavity (14) and engaged with the second gear (12), and the second gear (12) is further fixed with the rotating shaft of a take-up roller (17) installed on the moving block (11).
8. The mechanical automated gripping structure according to claim 7, wherein the pulling rope (10) is fixed at one end of the first rack plate (7) far away from the spring (9) and at the other end to the wire take-up roller (17) by passing around a guide wheel (15) mounted on the moving block (11).
9. A robot hand, characterized by comprising:
the mechanically automated grasping configuration of any one of the above claims 1 to 8; and
and the mechanical swing arm is connected with the mechanical automatic grabbing structure.
10. A manufacturing apparatus, characterized in that it comprises a robot as claimed in claim 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010441440.6A CN112171696B (en) | 2020-05-22 | 2020-05-22 | Mechanical automation formula snatchs structure, manipulator and manufacture equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010441440.6A CN112171696B (en) | 2020-05-22 | 2020-05-22 | Mechanical automation formula snatchs structure, manipulator and manufacture equipment |
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| Publication Number | Publication Date |
|---|---|
| CN112171696A true CN112171696A (en) | 2021-01-05 |
| CN112171696B CN112171696B (en) | 2021-07-23 |
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| CN202010441440.6A Active CN112171696B (en) | 2020-05-22 | 2020-05-22 | Mechanical automation formula snatchs structure, manipulator and manufacture equipment |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113478472A (en) * | 2021-07-30 | 2021-10-08 | 重庆电子工程职业学院 | Industrial mechanical arm |
| CN113580189A (en) * | 2021-09-29 | 2021-11-02 | 湖南力云智能科技有限公司 | Manipulator with pile up mechanism of taking |
| CN113601541A (en) * | 2021-08-17 | 2021-11-05 | 仪征常众汽车部件有限公司 | Grabbing device with anti-falling safety function |
| CN114029773A (en) * | 2021-11-08 | 2022-02-11 | 四川飞亚动力科技股份有限公司 | Rapid feeding device of crankshaft roller press and using method thereof |
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| CN210284754U (en) * | 2019-08-06 | 2020-04-10 | 大连大冢制药有限公司 | Grabbing clamp structure of flat box filling machine |
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| JP2016182050A (en) * | 2015-03-25 | 2016-10-20 | 国立大学法人東京農工大学 | Hand device, transport device, and animal feed makeup method |
| CN205257494U (en) * | 2015-12-03 | 2016-05-25 | 浙江巨隆化肥有限公司 | Wrapping bag pile up neatly machinery hand |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113478472A (en) * | 2021-07-30 | 2021-10-08 | 重庆电子工程职业学院 | Industrial mechanical arm |
| CN113601541A (en) * | 2021-08-17 | 2021-11-05 | 仪征常众汽车部件有限公司 | Grabbing device with anti-falling safety function |
| CN113580189A (en) * | 2021-09-29 | 2021-11-02 | 湖南力云智能科技有限公司 | Manipulator with pile up mechanism of taking |
| CN114029773A (en) * | 2021-11-08 | 2022-02-11 | 四川飞亚动力科技股份有限公司 | Rapid feeding device of crankshaft roller press and using method thereof |
| CN114029773B (en) * | 2021-11-08 | 2022-07-29 | 四川飞亚动力科技股份有限公司 | Rapid feeding device of crankshaft roller press and using method thereof |
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| Publication number | Publication date |
|---|---|
| CN112171696B (en) | 2021-07-23 |
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