CN113084860A - Material grabbing device and robot - Google Patents
Material grabbing device and robot Download PDFInfo
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- CN113084860A CN113084860A CN202110432490.2A CN202110432490A CN113084860A CN 113084860 A CN113084860 A CN 113084860A CN 202110432490 A CN202110432490 A CN 202110432490A CN 113084860 A CN113084860 A CN 113084860A
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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
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/06—Control stands, e.g. consoles, switchboards
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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
- B25J15/0004—Gripping heads and other end effectors with provision for adjusting the gripped object in the hand
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
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- Mechanical Engineering (AREA)
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Abstract
The invention discloses a material grabbing device and a robot, and relates to the technical field of grabbing robots; the problem that the existing robot is easy to slip is solved; the device specifically comprises a furling mechanism, wherein the furling mechanism comprises a beam frame assembly and four overturning assemblies, each overturning assembly comprises two wheel frame bodies and a mandrel, and the outer wall of the mandrel penetrates through the central inner wall of each wheel frame body; the robot comprises a robot body, wherein a base plate is fixedly connected to the outer wall of the top of the robot body, and a stand is fixedly connected to the outer wall of the top of the base plate. According to the invention, the furling mechanism is arranged, wherein the furling mechanism is close to the material to be grabbed, the push-pull cylinder is started to drive the moving plate to move as one side of the wheel frame is in a vertical state, so that the wheel frame is gradually furled to preliminarily clamp the material, and meanwhile, the four groups of turning assemblies and the beam frame assembly are combined to clamp the material from the periphery, so that the material is prevented from slipping from the periphery, and the frame is provided with the friction plate in sliding connection with the outer wall, so that the material is prevented from vertically falling off.
Description
Technical Field
The invention relates to the technical field of grabbing robots, in particular to a material grabbing device and a robot.
Background
In the application fields of bag type packing material grabbing, stacking, loading and the like, for example, objects such as cement, chemical fertilizer, grain and the like, due to high labor intensity and much dust, in recent years, a robot replaces manual work to complete operations such as stacking, loading and the like, a grabbing device arranged on the robot is produced at the same time, and various grabbing devices appear in the market at present.
Through the retrieval, chinese patent application number is 201811652863.1's patent, discloses a robot and material grabbing device thereof, and material grabbing device is used for snatching bagged object, which comprises a frame, be equipped with relative first tongs and the second tongs that sets up in the frame, first tongs includes that first link span and detachably set up the first tooth of grabbing of a plurality of on first link span, the second tongs includes that second link span and detachably set up a plurality of second grabbing tooth on the second link span, first grabbing tooth can for first link span rotates, the second grabbing tooth can for second link span rotates. The above patents suffer from the following disadvantages: above-mentioned device presss from both sides tightly article from top and bottom, but leads to the material to follow back both ends slippage easily, can't carry out effective transportation after snatching the completion.
Disclosure of Invention
The invention aims to solve the defects in the prior art and provides a material grabbing device and a robot.
In order to achieve the purpose, the invention adopts the following technical scheme:
a material grabbing device comprises a drawing mechanism, wherein the drawing mechanism comprises a beam frame assembly and four overturning assemblies, each overturning assembly comprises two wheel frame bodies and a mandrel, the outer wall of each mandrel penetrates through the central inner wall of each wheel frame body, each wheel frame body is of a triangular structure, the triangular inner wall of each wheel frame body is rotatably connected with an inner shaft, the outer wall of each inner shaft is rotatably connected with a roller, the middle outer wall of one roller is provided with a clamping groove, a corner gear is clamped on the inner wall of the clamping groove, the inner wall of the bottom of each wheel frame body is fixedly connected with a belt hanging motor, the outer wall of an output shaft of the belt hanging motor is fixedly connected with an inner gear, the inner gear is meshed with the corner gear, the triangular inner wall of each wheel frame body is provided with a through groove, the diameter of the inner wall of the through groove is five quarters of the diameter of the roller, the, the frame takes the outer wall to be provided with the arrangement groove that the interval equals, two flexible posts of arrangement inslot wall fixedly connected with, flexible capital end outer wall fixedly connected with friction plate, friction plate outer wall sliding connection in arrangement inslot wall, outer wall fixedly connected with band pulley in the middle of the dabber, the quantity of band pulley is more than four, the trilateral outer wall fixedly connected with layer board of wheel frame body, layer board both sides outer wall is provided with the fillet, layer board one side outer wall sliding connection in frame takes one side outer wall.
Preferably: the beam frame assembly comprises a cross plate and four pairs of first sliding rails, the outer walls of the tops of the first sliding rails are connected to the outer wall of the bottom of the cross plate through bolts, the first sliding blocks are matched with the outer wall of the first sliding rails, and the outer wall of the bottom of each sliding block is fixedly connected with a movable plate.
Further: the outer wall of the bottom of the cross plate is fixedly connected with a vertical frame, the outer walls of two ends of the mandrel are rotatably connected to the inner walls of two sides of the vertical frame, the outer walls of two sides of the top of the movable plate are welded with baffles, the outer wall of the bottom of the cross plate is fixedly connected with a push-pull cylinder, and the outer wall of a piston rod of the push-pull cylinder is connected to the.
Further preferred is: the outer wall of the top of the moving plate is fixedly connected with a square frame, the middle inner walls of the square frame and the moving plate are provided with grooves, the inner wall of one side of the cross plate is provided with a moving groove, the middle inner wall of the square frame is rotatably connected with a trunnion, and the middle inner wall of the belt wheel is fixedly connected with the middle outer wall of the trunnion.
As a preferable aspect of the present invention: the outer wall of one side of the square frame is fixedly connected with a turnover motor, an output shaft of the turnover motor is connected to the outer wall of one end of the trunnion through a coupler, the outer wall of the square frame is connected to the inner wall of the moving groove of the cross plate in a sliding mode, and two belt wheels located on the same side of the cross plate are rotatably connected with a belt.
The utility model provides a robot is equipped with a material grabbing device, which comprises a bod, organism top outer wall fixedly connected with base plate, base plate top outer wall fixedly connected with grudging post, grudging post one side outer wall fixedly connected with flitch, flitch one side outer wall has a slide rail two through bolted connection, and two cooperation uses of slide rail have a slider two, and two one side outer wall fixedly connected with lifter plates of slider
Further preferred as the invention: the adjustable-pitch mechanism is characterized in that the outer wall of one side of the lifting plate is fixedly connected with an adjustable-pitch frame, the inner wall of one side of the adjustable-pitch frame is fixedly connected with a telescopic cylinder, the outer wall of a piston rod of the telescopic cylinder is connected with a connector through threads, one side of the outer wall is fixedly connected with a push-pull plate, one side of the push-pull plate is fixedly connected with an adjusting assembly, and the adjusting assembly comprises a truss.
As a still further scheme of the invention: the outer wall of one side of the truss is fixedly connected to the outer wall of one side of the push-pull plate, the inner wall of one side of the truss is fixedly connected with a circumferential motor, the outer wall of an output shaft of the circumferential motor is fixedly connected with a connecting shaft, the outer wall of the other side of the vertical arm is fixedly connected to the outer wall of one side of the connecting shaft, and the outer wall of the other side of the vertical arm is fixedly.
On the basis of the scheme: the inner wall of one side of the connecting frame is fixedly connected with a vertical surface motor, the outer wall of an output shaft of the vertical surface motor is fixedly connected with an outer frame, the outer wall of one side of the outer frame is fixedly connected with a plane motor, the outer wall of the output shaft of the plane motor is fixedly connected with a vertical wheel, and the outer wall of the top of the cross plate is fixedly connected with the outer wall of the bottom of the vertical wheel.
On the basis of the foregoing scheme, it is preferable that: the outer wall of the bottom of the machine body is provided with a steering wheel and a vehicle beam, the outer walls of the two sides of the steering wheel and the vehicle beam are rotatably connected with wheels through shafts, the outer wall of the top of the base plate is fixedly connected with an electric control table, a central processing module and a driving control module are arranged inside the electric control table, and the outer wall of the top of the electric control table is provided with an operation panel.
The invention has the beneficial effects that:
1. the utility model provides a material grabbing device, through setting up the mechanism that draws in, wherein draw in the mechanism and be close to the material of waiting to snatch, because wheel frame body is in vertical state on one side, the push-and-pull jar starts, drives the movable plate and removes for the wheel frame body draws in gradually, tentatively presss from both sides the clamp to the material, and four group's upset subassemblies and roof beam structure subassembly combinations simultaneously can press from both sides tightly all around from the material, thereby avoid the material from the slippage all around, and the frame takes outer wall sliding connection's friction plate, can prevent that the material from droing.
2. The utility model provides a material grabbing device, through setting up band pulley and wheel framework, wherein when needing to press from both sides tight effect regulation to the material of different specifications, the upset motor starts, it rotates to drive the band pulley through the belt, drive the wheel framework and rotate after that, utilize the triangle-shaped structure to tighten up the material, simultaneously with the material lifting and tighten up, the wheel framework is fixed on the movable plate, the push-and-pull jar can adjust the interval of the same ascending upset subassembly of axis direction of cross, can snatch anomalous material, simultaneously in addition both sides can carry out the secondary effect, avoid empting.
3. The utility model provides a material grabbing device, through setting up the frame area, interior axle, the cylinder, the internal gear, hang and take motor and horn gear, wherein hang and take the motor to start, drive the internal gear and rotate, through internal gear and horn gear meshing, drive horn gear and rotate, drive the cylinder and rotate after that, thereby it rotates to drive the frame area, when snatching the material, need lift the material in advance off ground, can follow vertical direction lifting material through frame area and friction plate, thereby avoid the frame area directly to contact with ground, cause wearing and tearing.
4. The utility model provides a material grabbing device, through setting up flexible post and layer board, wherein layer board one side outer wall sliding connection is in frame area one side inner wall, and the frame area outer wall is provided with the resettlement groove that the interval equals, two flexible posts of resettlement inslot wall fixedly connected with, flexible capital end outer wall fixedly connected with friction plate, friction plate outer wall sliding connection in resettlement inslot wall, when the friction plate hugs closely in the material surface, the layer board can avoid the frame area crooked to guarantee to press from both sides tight effect.
5. The utility model provides a distance that robot, through setting up the adjusting part, wherein circumference motor, facade motor and plane motor's setting, the direction of truss can be adjusted to the circumference motor, and the facade motor can adjust draws in the mechanism position in, and plane motor can adjust the turning to of drawing in the mechanism self, and the telescopic cylinder of the inside adjustable distance frame can adjust the mechanism that draws in simultaneously, can optimize material handling process setting.
Drawings
Fig. 1 is a schematic view of an overall structure of a robot according to the present invention;
fig. 2 is a schematic overall structure diagram of a material gripping device according to the present invention;
FIG. 3 is a schematic structural view of a beam frame assembly of the material gripping device according to the present invention;
fig. 4 is a schematic structural view of a turning assembly of the material grabbing device according to the present invention;
fig. 5 is a schematic structural view of a wheel frame of the material gripping device according to the present invention;
fig. 6 is a schematic diagram of a frame belt structure of a material gripping device according to the present invention;
fig. 7 is a schematic partial structure diagram of a robot according to the present invention;
fig. 8 is a schematic structural diagram of an adjusting assembly of a robot according to the present invention.
In the figure: the device comprises a folding mechanism 1, an adjusting assembly 2, a distance adjusting frame 3, a vertical frame 4, an electric control table 5, a machine body 6, a beam frame assembly 7, an overturning assembly 8, a cross plate 9, a sliding rail I10, a sliding block I11, a push-pull cylinder 12, a vertical frame 13, a baffle plate 14, a frame belt 15, a mandrel 16, a cover plate 17, a wheel frame 18, a belt wheel 19, an inner shaft 20, a roller 21, an inner gear 22, a belt hanging motor 23, a supporting plate 24, a gear 25, a telescopic column 26, a friction plate 27, a base plate 28, a pasting plate 29, a truss 30, a vertical arm 31, a connecting frame 32, an outer frame 33, a vertical wheel 34, a plane motor 35, a vertical motor 36 and a square frame 37.
Detailed Description
The technical solution of the present patent will be described in further detail with reference to the following embodiments.
Reference will now be made in detail to embodiments of the present patent, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary only for the purpose of explaining the present patent and are not to be construed as limiting the present patent.
In the description of this patent, it is to be understood that the terms "center," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in the orientations and positional relationships indicated in the drawings for the convenience of describing the patent and for the simplicity of description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are not to be considered limiting of the patent.
In the description of this patent, it is noted that unless otherwise specifically stated or limited, the terms "mounted," "connected," and "disposed" are to be construed broadly and can include, for example, fixedly connected, disposed, detachably connected, disposed, or integrally connected and disposed. The specific meaning of the above terms in this patent may be understood by those of ordinary skill in the art as appropriate.
Example 1:
a material grabbing device is shown in figures 1-6 and comprises a furling mechanism 1, wherein the furling mechanism 1 comprises a beam frame assembly 7 and four overturning assemblies 8, each overturning assembly 8 comprises two wheel frame bodies 18 and a mandrel 16, the outer wall of the mandrel 16 penetrates through the central inner wall of each wheel frame body 18, each wheel frame body 18 is of a triangular structure, the triangular inner wall of each wheel frame body 18 is rotatably connected with an inner shaft 20, the outer wall of each inner shaft 20 is rotatably connected with a roller 21, the middle outer wall of one roller 21 is provided with a clamping groove, the inner wall of the clamping groove is clamped with a corner gear 25, the inner wall of the bottom of each wheel frame body 18 is fixedly connected with a belt hanging motor 23, the outer wall of an output shaft of each belt hanging motor 23 is fixedly connected with an inner gear 22, the inner gear 22 is meshed with the corner gear 25, the triangular inner wall of each wheel frame body 18 is provided with, the middle outer wall of the mandrel 16 penetrates through the central inner wall of the cover plate 17, the outer wall of the roller 21 is connected with a frame belt 15 in a rolling mode, the width of the frame belt 15 is consistent with the length of the roller 21, the outer wall of the frame belt 15 is provided with arrangement grooves with equal intervals, the inner wall of the arrangement grooves is fixedly connected with two telescopic columns 26, the outer wall of the top ends of the telescopic columns 26 is fixedly connected with a friction plate 27, the outer wall of the friction plate 27 is connected with the inner wall of the arrangement grooves in a sliding mode, the middle outer wall of the mandrel 16 is fixedly connected with belt wheels 19, the number of the belt wheels 19 is more than four, the outer walls of three sides of the wheel frame 18 are fixedly connected; the beam frame assembly 7 comprises a cross plate 9 and four pairs of first sliding rails 10, the outer wall of the top of each first sliding rail 10 is connected to the outer wall of the bottom of the cross plate 9 through bolts, a first sliding block 11 is used on the outer wall of each first sliding rail 10 in a matched mode, and a moving plate is fixedly connected to the outer wall of the bottom of each first sliding block 11; the outer wall of the bottom of the movable plate is fixedly connected with a vertical frame 13, the outer walls of two ends of a mandrel 16 are rotatably connected with the inner walls of two sides of the vertical frame 13, the outer walls of two sides of the top of the movable plate are welded with baffles 14, the outer wall of the bottom of the cross plate 9 is fixedly connected with a push-pull cylinder 12, and the outer wall of a piston rod of the push-pull cylinder 12 is connected with the inner; the outer wall of the top of the moving plate is fixedly connected with a square frame 37, the square frame 37 and the inner wall of the middle of the moving plate are provided with slots, the inner wall of one side of the cross plate 9 is provided with a moving slot, the inner wall of the middle of the square frame 37 is rotatably connected with a trunnion, and the inner wall of the middle of the other belt wheel 19 is fixedly connected with the outer wall of the middle of the trunnion; the outer wall of one side of the square frame 37 is fixedly connected with a turnover motor, the output shaft of the turnover motor is connected to the outer wall of one end of the trunnion through a coupler, the outer wall of the square frame 37 is connected to the inner wall of the moving groove of the cross plate 9 in a sliding manner, and a belt is rotatably connected between the two belt wheels 19 positioned on the same side of the cross plate 9; when the gripping device is used, the gathering mechanism 1 is close to a material to be gripped, one side of the wheel frame body 18 is in a vertical state, the push-pull cylinder 12 is started to drive the movable plate to move, so that the wheel frame body 18 is gradually gathered to preliminarily clamp the material, and meanwhile, the four groups of turning assemblies 8 and the beam frame assembly 7 are combined to clamp the material from the periphery, so that the material is prevented from slipping from the periphery, and the friction plate 27 in sliding connection with the outer wall of the frame belt 15 can prevent the material from vertically falling off; when the clamping effect of materials of different specifications needs to be adjusted, the overturning motor is started, the belt wheel 19 is driven to rotate through the belt, the wheel frame body 18 is driven to rotate, the materials are tightened through the triangular structure, and are lifted and tightened at the same time, the wheel frame body 18 is fixed on the movable plate, the push-pull cylinder 12 can adjust the distance between the overturning assemblies 8 on the cross plate 9 in the same axial direction, irregular materials can be grabbed, and meanwhile, the other two sides can have auxiliary effects to avoid toppling; by arranging the furling mechanism 1, wherein the furling mechanism 1 is close to a material to be grabbed, because one side of the wheel frame body 18 is in a vertical state, the push-pull cylinder 12 is started to drive the moving plate to move, so that the wheel frame body 18 is gradually furled to preliminarily clamp the material, and meanwhile, the four groups of turning assemblies 8 and the beam frame assembly 7 are combined to clamp the material from the periphery, so that the material is prevented from slipping from the periphery, and the friction plate 27 in sliding connection with the outer wall of the frame belt 15 can prevent the material from vertically falling off; by arranging the belt wheel 19 and the wheel frame 18, when the clamping effect of materials with different specifications needs to be adjusted, the overturning motor is started, the belt wheel 19 is driven to rotate through a belt, then the wheel frame 18 is driven to rotate, the materials are tightened up by utilizing a triangular structure, and simultaneously the materials are lifted and tightened up, the wheel frame 18 is fixed on the movable plate, the push-pull cylinder 12 can adjust the distance between the overturning assemblies 8 on the cross plate 9 in the same axial direction, irregular materials can be grabbed, and meanwhile, the other two sides can have auxiliary effects to avoid toppling; by arranging the frame belt 15, the inner shaft 20, the roller 21, the inner gear 22, the belt hanging motor 23 and the angle gear 25, wherein the belt hanging motor 23 is started to drive the inner gear 22 to rotate, the angle gear 25 is driven to rotate by meshing the inner gear 22 with the angle gear 25, and then the roller 21 is driven to rotate, so that the frame belt 15 is driven to rotate, when a material is grabbed, the material needs to be lifted off the ground in advance, and the material can be lifted from the vertical direction through the frame belt 15 and the friction plate 27, so that the frame belt 15 is prevented from directly contacting with the ground to cause abrasion; through setting up flexible post 26 and layer board 24, wherein layer board 24 one side outer wall sliding connection is in frame belt 15 one side inner wall, frame belt 15 outer wall is provided with the resettlement groove that the interval equals, two flexible posts 26 of resettlement inslot wall fixedly connected with, flexible post 26 top outer wall fixedly connected with friction plate 27, friction plate 27 outer wall sliding connection is in resettlement inslot wall, when friction plate 27 hugs closely in the material surface, layer board 24 can avoid frame belt 15 crooked to guarantee to press from both sides tight effect.
When the device is used, the furling mechanism 1 is close to a material to be grabbed, and because one side of the wheel frame body 18 is in a vertical state, the push-pull cylinder 12 is started to drive the moving plate to move, so that the wheel frame body 18 is gradually furled to preliminarily clamp the material, and meanwhile, the four groups of turning assemblies 8 and the beam frame assembly 7 are combined to clamp the material from the periphery, so that the material is prevented from slipping from the periphery, and the friction plate 27 connected with the outer wall of the frame belt 15 in a sliding manner can prevent the material from vertically falling off; when the clamping effect of materials of different specifications needs to be adjusted, the overturning motor is started, the belt wheel 19 is driven to rotate through the belt, the wheel frame body 18 is driven to rotate, the materials are tightened through the triangular structure, and are lifted and tightened at the same time, the wheel frame body 18 is fixed on the movable plate, the push-pull cylinder 12 can adjust the distance between the overturning assemblies 8 on the cross plate 9 in the same axis direction, irregular materials can be grabbed, and meanwhile, the other two sides can achieve the auxiliary effect, and the overturning is avoided.
Example 2:
a robot is assembled with the material grabbing device in embodiment 1, and comprises a machine body 6, wherein the outer wall of the top of the machine body 6 is fixedly connected with a base plate 28, the outer wall of the top of the base plate 28 is fixedly connected with a vertical frame 4, the outer wall of one side of the vertical frame 4 is fixedly connected with a pasting plate 29, the outer wall of one side of the pasting plate 29 is connected with a second sliding rail through a bolt, the second sliding rail is matched with a second sliding block, and the outer wall of one side of the second sliding block is fixedly connected with a; the outer wall of one side of the lifting plate is fixedly connected with a distance adjusting frame 3, the inner wall of one side of the distance adjusting frame 3 is fixedly connected with a telescopic cylinder, the outer wall of a piston rod of the telescopic cylinder is connected with a connector through threads, the outer wall of one side of the telescopic cylinder is fixedly connected with a push-pull plate, the outer wall of one side of the push-pull plate is fixedly connected with an adjusting assembly 2, and the adjusting assembly 2 comprises a truss 30 and a vertical arm; the outer wall of one side of the truss 30 is fixedly connected with the outer wall of one side of the push-pull plate, the inner wall of one side of the truss 30 is fixedly connected with a circumferential motor, the outer wall of an output shaft of the circumferential motor is fixedly connected with a connecting shaft, the outer wall of the other side of the vertical arm 31 is fixedly connected with the outer wall of one side of the connecting shaft, and the outer wall of the other side of the vertical arm 31 is fixedly connected; the inner wall of one side of the connecting frame 32 is fixedly connected with a vertical surface motor 36, the outer wall of an output shaft of the vertical surface motor 36 is fixedly connected with an outer frame 33, the outer wall of one side of the outer frame 33 is fixedly connected with a plane motor 35, the outer wall of the output shaft of the plane motor 35 is fixedly connected with a vertical wheel 34, and the outer wall of the top of the cross plate 9 is fixedly connected with the outer wall of the bottom of the vertical wheel 34; the outer wall of the bottom of the machine body 6 is provided with a steering wheel and a vehicle beam, the outer walls of the two sides of the steering wheel and the vehicle beam are rotatably connected with wheels through shafts, the outer wall of the top of the base plate 28 is fixedly connected with an electric control table 5, a central processing module and a driving control module are arranged in the electric control table 5, and the outer wall of the top of the electric control table 5 is provided with an operation panel; when the robot is used, the robot can be controlled to move through the operation panel on the outer wall of the top of the electric control platform 5, the adjusting assembly 2 can adjust the position of the furling mechanism 1, and meanwhile, the telescopic cylinder in the distance adjusting frame 3 can adjust the distance of the furling mechanism 1, so that the material handling process is optimized; through setting up adjusting part 2, wherein circumference motor, facade motor 36 and plane motor 35's setting, the direction of truss 30 can be adjusted to the circumference motor, and facade motor 36 can adjust drawing mechanism 1 position, and plane motor 35 can adjust the turning to of drawing mechanism 1 self, and the distance of drawing mechanism 1 can be adjusted to the telescopic cylinder of the inside adjustable distance frame 3 simultaneously, can optimize the material handling process.
This embodiment is when using, through the operating panel of 5 top outer walls of automatically controlled platform, can control this robot and remove, and adjusting part 2 can adjust the position of drawing in mechanism 1 in, and the telescopic cylinder of 3 inside of roll adjustment frames can adjust the distance of drawing in mechanism 1 in simultaneously, optimizes the material handling process.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.
Claims (10)
1. A material grabbing device comprises a drawing mechanism (1) and is characterized in that the drawing mechanism (1) comprises a beam frame assembly (7) and four turning assemblies (8), each turning assembly (8) comprises two wheel frame bodies (18) and a mandrel (16), the outer wall of each mandrel (16) penetrates through the central inner wall of each wheel frame body (18), each wheel frame body (18) is of a triangular structure, the triangular inner wall of each wheel frame body (18) is rotatably connected with an inner shaft (20), the outer wall of each inner shaft (20) is rotatably connected with a roller (21), the middle outer wall of one roller (21) is provided with a clamping groove, the inner wall of each clamping groove is clamped with a corner gear (25), the inner wall of the bottom of each wheel frame body (18) is fixedly connected with a belt hanging motor (23), the outer wall of an output shaft of each belt hanging motor (23) is fixedly connected with an inner gear (22), the inner gear (22) is meshed with, lead to groove inner wall diameter and be five fourths of cylinder (21) diameter, wheel framework (18) one side outer wall fixedly connected with apron (17), outer wall runs through in apron (17) central inner wall in the middle of dabber (16), cylinder (21) outer wall roll connection has sash (15), the width of sash (15) is unanimous with the length of cylinder (21), sash (15) outer wall is provided with the arrangement groove that the interval equals, two telescopic column (26) of arrangement inslot wall fixedly connected with, telescopic column (26) top outer wall fixedly connected with friction plate (27), friction plate (27) outer wall sliding connection is in arrangement inslot wall, outer wall fixedly connected with band pulley (19) in the middle of dabber (16), the quantity of band pulley (19) is more than four, wheel framework (18) trilateral outer wall fixedly connected with layer board (24), layer board (24) both sides outer wall is provided with the fillet, layer board (24) one side outer wall sliding connection is in frame belt (15).
2. The material grabbing device according to claim 1, wherein the beam frame assembly (7) comprises a cross plate (9) and four pairs of first sliding rails (10), the outer wall of the top of each first sliding rail (10) is connected to the outer wall of the bottom of the cross plate (9) through bolts, a first sliding block (11) is matched with the outer wall of each first sliding rail (10), and a moving plate is fixedly connected to the outer wall of the bottom of each first sliding block (11).
3. The material grabbing device according to claim 2, wherein the outer wall of the bottom of the moving plate is fixedly connected with a vertical frame (13), the outer walls of two ends of the mandrel (16) are rotatably connected with the inner walls of two sides of the vertical frame (13), the outer walls of two sides of the top of the moving plate are welded with baffles (14), the outer wall of the bottom of the cross plate (9) is fixedly connected with a push-pull cylinder (12), and the outer wall of a piston rod of the push-pull cylinder (12) is connected with the inner wall of the baffle (14) through threads.
4. The material grabbing device according to claim 2, wherein a square frame (37) is fixedly connected to the outer wall of the top of the moving plate, grooves are formed in the square frame (37) and the middle inner wall of the moving plate, a moving groove is formed in the inner wall of one side of the cross plate (9), a trunnion is rotatably connected to the middle inner wall of the square frame (37), and the middle inner wall of the other belt wheel (19) is fixedly connected to the middle outer wall of the trunnion.
5. The material grabbing device according to claim 4, characterized in that an outer wall of one side of the square frame (37) is fixedly connected with a turnover motor, an output shaft of the turnover motor is connected to an outer wall of one end of the trunnion through a coupling, an outer wall of the square frame (37) is slidably connected to an inner wall of a moving groove of the cross plate (9), and a belt is rotatably connected between the two belt pulleys (19) on the same side of the cross plate (9).
6. A robot is provided with the material grabbing device according to any one of claims 1 to 5, and comprises a machine body (6), and is characterized in that a base plate (28) is fixedly connected to the outer wall of the top of the machine body (6), a vertical frame (4) is fixedly connected to the outer wall of the top of the base plate (28), a pasting plate (29) is fixedly connected to the outer wall of one side of the vertical frame (4), a sliding rail II is connected to the outer wall of one side of the pasting plate (29) through a bolt, a sliding block II is matched with the sliding rail II in use, and a lifting plate is fixedly connected to the outer wall.
7. The robot according to claim 6, characterized in that the outer wall of one side of the lifting plate is fixedly connected with a distance adjusting frame (3), the inner wall of one side of the distance adjusting frame (3) is fixedly connected with a telescopic cylinder, the outer wall of a piston rod of the telescopic cylinder is connected with a connector through a thread, the outer wall of one side of the distance adjusting frame is fixedly connected with a push-pull plate, the outer wall of one side of the push-pull plate is fixedly connected with an adjusting component (2), and the adjusting component (2) comprises a truss (30) and a vertical arm (31).
8. A robot according to claim 7, characterized in that the outer wall of one side of the truss (30) is fixedly connected with the outer wall of one side of the push-pull plate, the inner wall of one side of the truss (30) is fixedly connected with a circumference motor, the outer wall of the output shaft of the circumference motor is fixedly connected with a connecting shaft, the outer wall of the other side of the vertical arm (31) is fixedly connected with the outer wall of one side of the connecting shaft, and the outer wall of the other side of the vertical arm (31) is fixedly connected with a connecting frame (32.
9. The robot according to claim 8, wherein a vertical motor (36) is fixedly connected to an inner wall of one side of the connecting frame (32), an outer frame (33) is fixedly connected to an outer wall of an output shaft of the vertical motor (36), a planar motor (35) is fixedly connected to an outer wall of one side of the outer frame (33), a vertical wheel (34) is fixedly connected to an outer wall of an output shaft of the planar motor (35), and an outer wall of the top of the cross plate (9) is fixedly connected to an outer wall of the bottom of the vertical wheel (34).
10. The robot as claimed in claim 6, wherein the outer wall of the bottom of the machine body (6) is provided with a steering wheel and a vehicle beam, the outer walls of the two sides of the steering wheel and the vehicle beam are rotatably connected with wheels through shafts, the outer wall of the top of the base plate (28) is fixedly connected with an electric control console (5), a central processing module and a driving control module are arranged inside the electric control console (5), and the outer wall of the top of the electric control console (5) is provided with an operating panel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110432490.2A CN113084860A (en) | 2021-04-21 | 2021-04-21 | Material grabbing device and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110432490.2A CN113084860A (en) | 2021-04-21 | 2021-04-21 | Material grabbing device and robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113084860A true CN113084860A (en) | 2021-07-09 |
Family
ID=76679418
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110432490.2A Withdrawn CN113084860A (en) | 2021-04-21 | 2021-04-21 | Material grabbing device and robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113084860A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114084663A (en) * | 2021-11-12 | 2022-02-25 | 洛阳万基金属钠有限公司 | Metal sodium rod grabbing mechanism |
| CN114476658A (en) * | 2022-03-02 | 2022-05-13 | 何斌 | A transport manipulator for intelligent manufacturing line |
| CN115870955A (en) * | 2023-02-01 | 2023-03-31 | 苏州菱麦自动化设备科技有限公司 | Manipulator for automatically carrying materials |
-
2021
- 2021-04-21 CN CN202110432490.2A patent/CN113084860A/en not_active Withdrawn
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114084663A (en) * | 2021-11-12 | 2022-02-25 | 洛阳万基金属钠有限公司 | Metal sodium rod grabbing mechanism |
| CN114084663B (en) * | 2021-11-12 | 2024-04-02 | 洛阳万基金属钠有限公司 | Metal sodium rod grabbing mechanism |
| CN114476658A (en) * | 2022-03-02 | 2022-05-13 | 何斌 | A transport manipulator for intelligent manufacturing line |
| CN114476658B (en) * | 2022-03-02 | 2024-04-05 | 周世月 | Carrying manipulator for intelligent manufacturing production line |
| CN115870955A (en) * | 2023-02-01 | 2023-03-31 | 苏州菱麦自动化设备科技有限公司 | Manipulator for automatically carrying materials |
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Application publication date: 20210709 |
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