CN113211474A - Grabbing mechanism for manipulator - Google Patents
Grabbing mechanism for manipulator Download PDFInfo
- Publication number
- CN113211474A CN113211474A CN202110536175.4A CN202110536175A CN113211474A CN 113211474 A CN113211474 A CN 113211474A CN 202110536175 A CN202110536175 A CN 202110536175A CN 113211474 A CN113211474 A CN 113211474A
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- CN
- China
- Prior art keywords
- fixedly connected
- rod
- wall
- actuating lever
- electric telescopic
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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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
-
- 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
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
- B25J15/0683—Details of suction cup structure, e.g. grooves or ridges
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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 discloses a grabbing mechanism used on a manipulator, which comprises a mounting frame, wherein a supporting plate is fixedly connected to the lower surface of the mounting frame, an electric telescopic rod and a vacuum generator are respectively arranged on the upper surface of the mounting frame, the telescopic end of the electric telescopic rod penetrates through the supporting plate and is fixedly connected with an adsorption box, the surface of the adsorption box is rotatably connected with a driving rod, the end surface of the driving rod is fixedly connected with a clamping rod, the lower surface of the adsorption box is provided with a through hole, the inner wall of the through hole is fixedly connected with a vacuum chuck, the lower surface of the adsorption box is provided with a proximity switch, and the upper surface of the supporting plate is fixedly connected with an oil storage box. This a snatch mechanism for on manipulator through setting up adsorption tank, vacuum generator and sucking disc, is convenient for adsorb the object, through setting up electric telescopic handle, actuating lever, supporting rod and concave piece, is convenient for press from both sides the object tightly to it can press from both sides the object tightly on the absorbent basis of sucking disc to make this snatch mechanism, guarantees the stability when the object removes.
Description
Technical Field
The invention relates to the technical field of mechanical arms, in particular to a grabbing mechanism used on a mechanical arm.
Background
A robot is an automatic operating device that can simulate some motion functions of a human hand and an arm to hold a program for grasping, carrying an object or operating work.
The existing sucker is used for carrying objects, but the sucker sometimes has insufficient suction to cause the objects to fall off in the carrying process, so that a grabbing mechanism used on a manipulator is provided.
Disclosure of Invention
The invention aims to solve the defects in the prior art and provides a grabbing mechanism for a manipulator.
In order to achieve the purpose, the invention adopts the following technical scheme:
a grabbing mechanism used on a mechanical arm comprises a mounting frame, wherein a supporting plate is fixedly connected to the lower surface of the mounting frame, an electric telescopic rod and a vacuum generator are respectively arranged on the upper surface of the mounting frame, the telescopic end of the electric telescopic rod penetrates through the supporting plate and is fixedly connected with an adsorption tank, a driving rod is rotatably connected to the surface of the adsorption tank, a clamping rod is fixedly connected to the end surface of the driving rod, an opening is formed in the lower surface of the adsorption tank, a vacuum chuck is fixedly connected to the inner wall of the opening, a proximity switch is arranged on the lower surface of the adsorption tank, an oil storage tank is fixedly connected to the upper surface of the supporting plate, an oil filling pipe is fixedly connected to the lower surface of the oil storage tank, a rolling ball is arranged on the inner wall of the oil filling pipe, a valve is arranged on the surface of the oil filling pipe, a fixing cylinder is fixedly connected to the inner top wall of the oil storage tank, a T-shaped sliding rod is slidably connected to the inner wall of the fixing cylinder, and a magnetic block is fixedly connected to the bottom end of the T-shaped sliding rod, the inner top wall of the fixed cylinder is fixedly connected with a spring, and the surface of the telescopic shaft of the electric telescopic rod is fixedly connected with a magnetic ring.
Preferably, the lower surface of backup pad fixedly connected with concave piece, the inner wall fixedly connected with axis of rotation of concave piece, the rotation hole has been seted up on the surface of actuating lever, and the surface of axis of rotation is connected with the inner wall rotation in rotation hole.
Preferably, the shape of actuating lever is the L type, the oiling pipe is located actuating lever center department directly over, and the oiling mouth has been seted up on the surface of actuating lever, and the inside of actuating lever is provided with the oiling groove.
Preferably, the vacuum generator is communicated with the inside of the adsorption tank through a pipe.
Preferably, the bottom end of the spring is fixedly connected with the top end of the T-shaped sliding rod.
Preferably, the number of the concave blocks is four, and the four concave blocks are circumferentially arranged on the lower surface of the support plate at equal intervals.
The invention has the following beneficial effects:
1. this a snatch mechanism for on manipulator through setting up adsorption tank, vacuum generator and sucking disc, is convenient for adsorb the object, through setting up electric telescopic handle, actuating lever, supporting rod and concave piece, is convenient for press from both sides the object tightly to it can press from both sides the object tightly on the absorbent basis of sucking disc to make this snatch mechanism, guarantees the stability when the object removes.
2. This a snatch mechanism for on manipulator, through setting up batch oil tank and notes oil pipe, be convenient for to the junction oiling of actuating lever and supporting rod and adsorption tank, through setting up the spin, actuating lever and electric telescopic handle, the automatic oiling of being convenient for, through setting up the valve, the volume of being convenient for control the oiling, through setting up fixed cylinder, T shape slide bar, magnetic path, spring and magnetic ring, prevent that the lubricating oil in the batch oil tank from solidifying to make this mechanism have the automatic oiling of being convenient for, guarantee that whole mechanism gets the function of pressing from both sides smoothly.
Drawings
FIG. 1 is a schematic front sectional view of the present invention;
FIG. 2 is a schematic front sectional view of the driving rod of the present invention;
FIG. 3 is an enlarged view of the structure at A in FIG. 1;
fig. 4 is a schematic front sectional structure view of the fixing cylinder of the present invention.
In the figure: the vacuum suction device comprises a mounting frame 1, a supporting plate 2, an electric telescopic rod 3, a vacuum generator 4, an adsorption box 5, a driving rod 6, a clamping rod 7, a vacuum suction cup 8, a proximity switch 9, an oil storage box 10, an oil injection pipe 11, a rolling ball 12, a valve 13, a fixed cylinder 14, a T-shaped sliding rod 15, a magnetic block 16, a spring 17, a magnetic ring 18 and a concave block 19.
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.
In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention.
Example 1
Referring to fig. 1-3, a snatch mechanism for on manipulator, includes mounting bracket 1, and the lower fixed surface of mounting bracket 1 is connected with backup pad 2, and the upper surface of mounting bracket 1 is provided with electric telescopic handle 3 and vacuum generator 4 respectively, and the flexible end of electric telescopic handle 3 passes backup pad 2 and fixedly connected with adsorption tank 5, and vacuum generator 4 passes through the inside intercommunication of pipeline with adsorption tank 5.
The surface rotation that adsorbs case 5 is connected with actuating lever 6, and the lower surface fixedly connected with concave piece 19 of backup pad 2, the inner wall fixedly connected with axis of rotation of concave piece 19, the rotation hole has been seted up on the surface of actuating lever 6, and the surface of axis of rotation is rotated with the inner wall that rotates the hole and is connected, and the quantity of concave piece 19 is four, and four concave pieces 19 circumference equidistance set up the lower surface at backup pad 2.
Terminal surface fixedly connected with supporting rod 7 of actuating lever 6, the opening has been seted up to the lower surface of adsorption tank 5, the inner wall fixedly connected with vacuum chuck 8 of opening, the lower surface of adsorption tank 5 is provided with proximity switch 9, the last fixed surface of backup pad 2 is connected with batch oil tank 10, the lower fixed surface of batch oil tank 10 is connected with notes oil pipe 11, the shape of actuating lever 6 is the L type, notes oil pipe 11 is located actuating lever 6 center department directly over, the oiling mouth has been seted up on the surface of actuating lever 6, and the inside of actuating lever 6 is provided with the oiling groove, the inner wall of notes oil pipe 11 is provided with spin 12, the surface of notes oil pipe 11 is provided with valve 13.
In this embodiment, the telescopic shaft of the electric telescopic rod 3 moves down to drive the adsorption box 5 to move down, so that the vacuum chuck 8 contacts the surface of an object, at this time, the proximity switch 9 is connected with the power supply of the vacuum generator 4, the vacuum generator 4 pumps out the air inside the vacuum chuck 8, so that the vacuum chuck 8 adsorbs the object, at this time, the telescopic shaft of the electric telescopic rod 3 moves up, the adsorption box 5 moves up, and at the same time, one end of the driving rod 6 close to the adsorption box 5 rotates up, the surface of the driving rod 6 is in lap joint with the rolling ball 12, the rolling ball 12 moves up, the lubricating liquid in the oil storage box 10 flows out through the gap between the rolling ball 12 and the oil injection pipe 11 and flows into the oil injection groove through the oil injection port, after the driving rod 6 is not in lap joint with the rolling ball 12, the rolling ball 12 moves down under the action of gravity, at this time, the gap is sealed, the lubricating oil stops flowing out, meanwhile, the valve 13 can control the flow rate of the lubricating oil, when the oil injection is not needed, the valve 13 can be directly closed, so that the clamping mechanism can ensure that objects can stably move and has the effect of facilitating oil injection.
Example 2
Referring to fig. 1 and 4, different from embodiment 1, a fixed cylinder 14 is fixedly connected to an inner top wall of an oil storage tank 10, a T-shaped slide rod 15 is slidably connected to an inner wall of the fixed cylinder 14, a magnetic block 16 is fixedly connected to a bottom end of the T-shaped slide rod 15, a spring 17 is fixedly connected to the inner top wall of the fixed cylinder 14, a bottom end of the spring 17 is fixedly connected to a top end of the T-shaped slide rod 15, and a magnetic ring 18 is fixedly connected to a surface of an expansion shaft of an electric telescopic rod 3.
In the embodiment, in the process of moving the telescopic shaft of the electric telescopic rod 3, the magnetic ring 18 moves along with the movement, the magnetic attraction between the magnetic ring 18 and the magnetic block 16 drives the magnetic block 16 to move downwards, and when the magnetic ring 18 moves beyond the magnetic attraction range between the magnetic block 16 and the magnetic ring 18, the T-shaped sliding rod 15 drives the magnetic block 16 to move back under the pulling force of the spring 17, so that the movement of the lubricating oil in the oil storage tank 10 is driven, and the phenomenon that the lubricating oil is not injected with the lubricating oil for a long time, is solidified and is inconvenient to use is prevented.
The working principle is as follows: when the grabbing mechanism for the manipulator is used, the electric telescopic rod 3 is started, the telescopic shaft of the electric telescopic rod 3 moves downwards to drive the adsorption box 5 to move downwards, the vacuum chuck 8 is enabled to be in contact with the surface of an object, the proximity switch 9 is switched on the power supply of the vacuum generator 4 at the moment, the vacuum generator 4 pumps out air in the vacuum chuck 8, the vacuum chuck 8 enables the object to be adsorbed, the telescopic shaft of the electric telescopic rod 3 moves upwards at the moment, the adsorption box 5 moves upwards, one end of the driving rod 6 close to the adsorption box 5 rotates upwards, the surface of the driving rod 6 is in lap joint with the rolling ball 12, the rolling ball 12 moves upwards, lubricating oil in the oil storage box 10 flows out through a gap between the rolling ball 12 and the oil injection pipe 11 and flows into the oil injection groove through the oil injection port, after the rolling ball 6 is not in lap joint with the driving rod 12, the rolling ball 12 moves downwards under the action of gravity, the gap is sealed at the moment, the flow of the lubricating oil stops flowing out, and the valve 13 can control the flow of the lubricating oil at the same time, in the process of moving the telescopic shaft of the electric telescopic rod 3, the magnetic ring 18 moves along with the movement, the magnetic adsorption of the magnetic ring 18 and the magnetic block 16 drives the magnetic block 16 to move downwards, when the magnetic ring 18 moves to exceed the magnetic adsorption range between the magnetic block 16 and the magnetic ring 18, the T-shaped sliding rod 15 drives the magnetic block 16 to move back under the pulling force of the spring 17, so that the movement of lubricating oil in the oil storage tank 10 is driven, the phenomenon that the lubricating oil is not injected for a long time, the lubricating oil is solidified and is inconvenient to use is avoided, when the oil is not injected, the valve 13 can be directly closed, so that the clamping mechanism can ensure that an object can stably move, and the effect of facilitating the oil injection is achieved.
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 (6)
1. The utility model provides a snatch mechanism for on manipulator, includes mounting bracket (1), its characterized in that: the lower surface of the mounting frame (1) is fixedly connected with a supporting plate (2), the upper surface of the mounting frame (1) is respectively provided with an electric telescopic rod (3) and a vacuum generator (4), the telescopic end of the electric telescopic rod (3) penetrates through the supporting plate (2) and is fixedly connected with an adsorption tank (5), the surface of the adsorption tank (5) is rotatably connected with a driving rod (6), the end surface of the driving rod (6) is fixedly connected with a clamping rod (7), the lower surface of the adsorption tank (5) is provided with an opening, the inner wall of the opening is fixedly connected with a vacuum chuck (8), the lower surface of the adsorption tank (5) is provided with a proximity switch (9), the upper surface of the supporting plate (2) is fixedly connected with an oil storage tank (10), the lower surface of the oil storage tank (10) is fixedly connected with an oil filling pipe (11), the inner wall of the oil filling pipe (11) is provided with a rolling ball (12), and the surface of the oil filling pipe (11) is provided with a valve (13), the inner top wall of the oil storage tank (10) is fixedly connected with a fixed cylinder (14), the inner wall of the fixed cylinder (14) is connected with a T-shaped sliding rod (15) in a sliding mode, the bottom end of the T-shaped sliding rod (15) is fixedly connected with a magnetic block (16), the inner top wall of the fixed cylinder (14) is fixedly connected with a spring (17), and the surface of the telescopic shaft of the electric telescopic rod (3) is fixedly connected with a magnetic ring (18).
2. The gripping mechanism of claim 1, further comprising: the lower surface fixedly connected with concave piece (19) of backup pad (2), the inner wall fixedly connected with axis of rotation of concave piece (19), the rotation hole has been seted up on the surface of actuating lever (6), and the surface and the inner wall rotation in rotation hole of axis of rotation are connected.
3. The gripping mechanism of claim 1, further comprising: the shape of actuating lever (6) is the L type, oiling pipe (11) are located actuating lever (6) center department directly over, and the oiling mouth has been seted up on the surface of actuating lever (6), and the inside of actuating lever (6) is provided with the oiling groove.
4. The gripping mechanism of claim 1, further comprising: the vacuum generator (4) is communicated with the interior of the adsorption box (5) through a pipeline.
5. The gripping mechanism of claim 1, further comprising: the bottom end of the spring (17) is fixedly connected with the top end of the T-shaped sliding rod (15).
6. A gripping mechanism for use on a robot as claimed in claim 2, wherein: the number of the concave blocks (19) is four, and the four concave blocks (19) are circumferentially arranged on the lower surface of the support plate (2) at equal intervals.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110536175.4A CN113211474A (en) | 2021-05-17 | 2021-05-17 | Grabbing mechanism for manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110536175.4A CN113211474A (en) | 2021-05-17 | 2021-05-17 | Grabbing mechanism for manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113211474A true CN113211474A (en) | 2021-08-06 |
Family
ID=77092439
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110536175.4A Withdrawn CN113211474A (en) | 2021-05-17 | 2021-05-17 | Grabbing mechanism for manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113211474A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113843817A (en) * | 2021-10-28 | 2021-12-28 | 郑州铁路职业技术学院 | Manipulator structure convenient for grabbing and placing |
| CN113878609A (en) * | 2021-10-12 | 2022-01-04 | 北京半导体专用设备研究所（中国电子科技集团公司第四十五研究所） | Sucking disc, adsorption component and end execution device |
| CN116812551A (en) * | 2023-08-28 | 2023-09-29 | 甘肃路桥新锐交通科技有限责任公司 | Highway waveform guardrail plate sign indicating number destacking system |
| CN116884907A (en) * | 2023-08-30 | 2023-10-13 | 翼龙半导体设备(无锡)有限公司 | IC semiconductor chip packaging equipment |
-
2021
- 2021-05-17 CN CN202110536175.4A patent/CN113211474A/en not_active Withdrawn
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113878609A (en) * | 2021-10-12 | 2022-01-04 | 北京半导体专用设备研究所（中国电子科技集团公司第四十五研究所） | Sucking disc, adsorption component and end execution device |
| CN113843817A (en) * | 2021-10-28 | 2021-12-28 | 郑州铁路职业技术学院 | Manipulator structure convenient for grabbing and placing |
| CN113843817B (en) * | 2021-10-28 | 2022-11-15 | 郑州铁路职业技术学院 | Manipulator structure convenient for grabbing and placing |
| CN116812551A (en) * | 2023-08-28 | 2023-09-29 | 甘肃路桥新锐交通科技有限责任公司 | Highway waveform guardrail plate sign indicating number destacking system |
| CN116812551B (en) * | 2023-08-28 | 2023-10-31 | 甘肃路桥新锐交通科技有限责任公司 | Highway waveform guardrail plate sign indicating number destacking system |
| CN116884907A (en) * | 2023-08-30 | 2023-10-13 | 翼龙半导体设备(无锡)有限公司 | IC semiconductor chip packaging equipment |
| CN116884907B (en) * | 2023-08-30 | 2024-04-12 | 翼龙半导体设备(无锡)有限公司 | IC semiconductor chip packaging equipment |
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| PB01 | Publication | ||
| PB01 | Publication | ||
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| WW01 | Invention patent application withdrawn after publication | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20210806 |