CN113211475A

CN113211475A - Gripping device

Info

Publication number: CN113211475A
Application number: CN202110606408.3A
Authority: CN
Inventors: 任工昌; 刘书磊; 桓源; 王乐
Original assignee: Shaanxi University of Science and Technology
Current assignee: Shaanxi University of Science and Technology
Priority date: 2021-05-28
Filing date: 2021-05-28
Publication date: 2021-08-06

Abstract

The invention discloses a grabbing device which comprises a rack, wherein a motor is arranged at the lower end of the rack, a driving bevel gear is arranged at the driving end of the motor, a support is arranged outside the lower end of the rack, a driven bevel gear and a first belt pulley are rotatably arranged in the support, the driven bevel gear is meshed with the driving bevel gear, and the first belt pulley is connected with the driven bevel gear; the lateral part of support is provided with T shape frame, the horizontal portion and the vertical portion of T shape frame are provided with second band pulley and third band pulley respectively rotationally, the winding has the track between first band pulley, second band pulley and the third band pulley. This grabbing device has solved the manual work and has stretched out the leather, has the problem of extravagant a large amount of manpowers.

Description

Gripping device

Technical Field

The invention belongs to the technical field of manipulators, and particularly relates to a grabbing device.

Background

With the rapid development of science and technology, more and more work is replaced by machines instead of workers, but as is well known, the work of replacing workers by machines is mostly low-level repetitive work, and the work is relatively less popular when the work is complex.

For example, in leather processing, it is difficult to mechanically stretch the leather due to the uncertainty of the shape of the leather and its soft nature. At present, most of stretching treatment of leather is manually finished, the process of the stretching treatment usually needs four to six persons to grab the leather so as to stretch and stretch the leather, and a large amount of manpower is wasted by the operation mode.

Disclosure of Invention

The invention aims to provide a gripping device, which solves the problem that a large amount of manpower is wasted when leather is stretched manually.

In order to achieve the purpose, the invention adopts the technical scheme that: a grabbing device comprises a rack, wherein a motor is arranged at the lower end of the rack, a driving bevel gear is arranged at the driving end of the motor, a support is arranged outside the lower end of the rack, a driven bevel gear and a first belt wheel are rotatably arranged in the support, the driven bevel gear is meshed with the driving bevel gear, and the first belt wheel is connected with the driven bevel gear; the lateral part of support is provided with T shape frame, the horizontal portion and the vertical portion of T shape frame are provided with second band pulley and third band pulley respectively rotationally, the winding has the track between first band pulley, second band pulley and the third band pulley.

As a preferable technical scheme of the present invention, a transverse sliding groove is formed in a transverse portion of the T-shaped frame, a screw is rotatably disposed inside the T-shaped frame, a slider is threadedly assembled on the screw, the slider is located in the transverse sliding groove, a vertical sliding groove is formed in a vertical portion of the T-shaped frame, a wheel axle of the third pulley extends into the vertical sliding groove, and a connecting rod is hinged between the wheel axle of the third pulley and the slider.

In a preferred embodiment of the present invention, the screw is rotatably provided inside the T-shaped frame by a pair of bearing blocks.

As a preferable technical scheme of the invention, one end of the screw rod is provided with an adjusting wheel, and the adjusting wheel extends out of the side part of the T-shaped frame.

As a preferred technical solution of the present invention, the motor is a stepping motor.

The invention has the beneficial effects that: (1) the gripping device is arranged on the manipulator when in use, and a plurality of gripping devices can be used together to effectively stretch leather, so that the manual stretching and straightening operation mode is replaced, and the production efficiency is greatly improved; (2) according to the gripping device, the contact area of the caterpillar band and the leather can be adjusted, so that control selection of different actions can be realized; (3) the gripping device is simple in overall structure, easy to manufacture, stable in structure and good in market popularization and use prospect.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention and not to limit the invention. In the drawings:

FIG. 1 is a schematic view of a grasping apparatus according to the present invention;

fig. 2 is a rear view of fig. 1.

In the figure: 1. the automatic transmission comprises a bracket, 2 parts of a rack, 3 parts of a motor, 4 parts of a driving bevel gear, 5 parts of a first belt wheel, 6 parts of an adjusting wheel, 7 parts of a sliding block, 8 parts of a crawler belt, 9 parts of a second belt wheel, 10 parts of a connecting rod, 11 parts of a screw rod, 12 parts of a T-shaped rack, 13 parts of a third belt wheel, 14 parts of a bearing seat and 15 parts of a driven bevel gear.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, 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 accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.

In the description of the present invention, if there are first and second described only for the purpose of distinguishing technical features, it is not understood that relative importance is indicated or implied or that the number of indicated technical features or the precedence of the indicated technical features is implicitly indicated or implied.

In the description of the present invention, unless otherwise explicitly limited, terms such as arrangement, installation, connection and the like should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above terms in the present invention in combination with the specific contents of the technical solutions.

As shown in fig. 1, the gripping device of the present invention comprises a frame 2, wherein a motor 3 is arranged at the lower end of the frame 2, a driving bevel gear 4 is arranged at the driving end of the motor 3, a support 1 is arranged outside the lower end of the frame 2, a driven bevel gear 15 and a first belt pulley 5 are rotatably arranged in the support 1, the driven bevel gear 15 is engaged with the driving bevel gear 4, and the first belt pulley 5 is connected with the driven bevel gear 15; a T-shaped frame 12 is arranged on the side portion of the support 1, a second belt wheel 9 and a third belt wheel 13 are rotatably arranged on the transverse portion and the vertical portion of the T-shaped frame 12 respectively, and a crawler belt 8 is wound among the first belt wheel 5, the second belt wheel 9 and the third belt wheel 13.

The frame 2 is connected with the driving end of the manipulator, the motor 3 is started to drive the driving bevel gear 4 to rotate, and the driving bevel gear 4 drives the first belt wheel 5 of the driven bevel gear 15 to rotate together. When the underside of the caterpillar 8 is in contact with the leather, as shown in figure 1, the robot arm causes the frame 2 to expand outwardly, whereby the belt is stretched by friction between the caterpillar 8 and the leather. After the belt is stretched, the motor 3 drives the first belt wheel 5 to rotate again, and at the moment, the front end of the crawler 8 is in contact with the leather, so that fastening can be completed.

As shown in fig. 1, in a gripping device of the present invention, a transverse sliding slot is provided at a transverse portion of a T-shaped frame 12, a screw 11 is rotatably provided at an inner side of the T-shaped frame 12, a slider 7 is threadedly assembled on the screw 11, the slider 7 is located in the transverse sliding slot, a vertical sliding slot is provided at a vertical portion of the T-shaped frame 12, an axle of a third pulley 13 extends into the vertical sliding slot, and a connecting rod 10 is hinged between the axle of the third pulley 13 and the slider 7.

The worker can adjust the position of the sliding block 7 on the screw 11 to adjust the position of the third belt pulley 13 in the vertical sliding chute, so as to realize specific adjustment between the third belt pulley 13 and the first belt pulley 5 and the second belt pulley 9, and further control the tensioning degree of the crawler 8.

In a grasping apparatus of the present invention, as shown in fig. 1, a screw 11 is rotatably provided inside the T-shaped frame 12 through a pair of bearing blocks 14.

The screw 11 is rotatably disposed inside the T-shaped frame 12 through a pair of bearing seats 14, so that the screw 11 is ensured not to jump when rotating.

In the gripping device of the present invention, as shown in fig. 1, an adjusting wheel 6 is provided at one end of a screw 11, and the adjusting wheel 6 extends out of the side of a T-shaped frame 12.

Based on the principle of screw transmission, the slider can make reciprocating linear motion on the screw rod 11 by rotating the adjusting wheel 6.

In a grasping device of the present invention, as shown in fig. 1, the motor 3 is preferably a stepping motor.

In conclusion, the gripping device is arranged on the manipulator when in use, and a plurality of gripping devices can be used together to effectively stretch the leather, so that the manual stretching and straightening operation mode is replaced, and the production efficiency is greatly improved; according to the gripping device, the contact area of the caterpillar band and the leather can be adjusted, so that control selection of different actions can be realized; the gripping device is simple in overall structure, easy to manufacture, stable in structure and good in market popularization and use prospect.

While the foregoing description shows and describes several preferred embodiments of the invention, it is to be understood, as noted above, that the invention is not limited to the forms disclosed herein, but is not to be construed as excluding other embodiments and is capable of use in various other combinations, modifications, and environments and is capable of changes within the scope of the inventive concept as expressed herein, commensurate with the above teachings, or the skill or knowledge of the relevant art. And that modifications and variations may be effected by those skilled in the art without departing from the spirit and scope of the invention as defined by the appended claims.

Claims

1. The grabbing device is characterized by comprising a rack (2), wherein a motor (3) is arranged at the lower end of the rack (2), a driving bevel gear (4) is arranged at the driving end of the motor (3), a support (1) is arranged outside the lower end of the rack (2), a driven bevel gear (15) and a first belt wheel (5) are rotatably arranged in the support (1), the driven bevel gear (15) is meshed with the driving bevel gear (4), and the first belt wheel (5) is connected with the driven bevel gear (15); the lateral part of support (1) is provided with T shape frame (12), the horizontal portion and the vertical portion of T shape frame (12) are rotationally provided with second band pulley (9) and third band pulley (13) respectively, it has track (8) to twine between first band pulley (5), second band pulley (9) and third band pulley (13).

2. Gripping device according to claim 1, characterized in that the transverse part of the T-shaped frame (12) is provided with a transverse sliding slot, the inside of the T-shaped frame (12) is rotatably provided with a screw (11), the screw (11) is threaded with a slider (7), the slider (7) is located in the transverse sliding slot, the vertical part of the T-shaped frame (12) is provided with a vertical sliding slot, the axle of the third pulley (13) extends into the vertical sliding slot, and a connecting rod (10) is hinged between the axle of the third pulley (13) and the slider (7).

3. Gripping device according to claim 2, characterized in that the threaded rod (11) is rotatably arranged inside the T-shaped frame (12) by means of a pair of bearing blocks (14).

4. Gripping device according to claim 3, characterized in that the screw (11) is provided with an adjustment wheel (6) at one end, which adjustment wheel (6) protrudes out of the side of the T-shaped frame (12).

5. Gripping device according to claim 4, characterized in that the motor (3) is a stepper motor.