CN113400331A - Automatic snatch mechanism - Google Patents

Automatic snatch mechanism Download PDF

Info

Publication number
CN113400331A
CN113400331A CN202110532175.7A CN202110532175A CN113400331A CN 113400331 A CN113400331 A CN 113400331A CN 202110532175 A CN202110532175 A CN 202110532175A CN 113400331 A CN113400331 A CN 113400331A
Authority
CN
China
Prior art keywords
telescopic
elastic body
automatic
movable
fixedly connected
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.)
Pending
Application number
CN202110532175.7A
Other languages
Chinese (zh)
Inventor
商希亮
赵修林
窦一翔
闫吉祥
孙红金
孙峰
闫冰
郭伟
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shandong Weihaosi Intelligent Storage Equipment Co ltd
Original Assignee
Shandong Weihaosi Intelligent Storage Equipment Co ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Shandong Weihaosi Intelligent Storage Equipment Co ltd filed Critical Shandong Weihaosi Intelligent Storage Equipment Co ltd
Priority to CN202110532175.7A priority Critical patent/CN113400331A/en
Publication of CN113400331A publication Critical patent/CN113400331A/en
Pending legal-status Critical Current

Links

Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00Gripping heads and other end effectors
    • B25J15/0052Gripping heads and other end effectors multiple gripper units or multiple end effectors
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00Gripping heads and other end effectors
    • B25J15/02Gripping heads and other end effectors servo-actuated
    • B25J15/0206Gripping heads and other end effectors servo-actuated comprising articulated grippers
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00Gripping heads and other end effectors
    • B25J15/06Gripping heads and other end effectors with vacuum or magnetic holding means
    • B25J15/0608Gripping heads and other end effectors with vacuum or magnetic holding means with magnetic holding means
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00Gripping heads and other end effectors
    • B25J15/08Gripping heads and other end effectors having finger members

Abstract

The invention is suitable for the technical field of grabbing, and provides an automatic grabbing mechanism, which comprises: the telescopic piece is provided with a fixed end and a movable end; the fixed plate is fixedly connected with the fixed end and is annularly provided with a plurality of clamping rods; the movable plate is connected with the movable end in a sliding mode, and the movable plate is annularly provided with a supporting rod corresponding to the clamping rod; the elastic body is fixedly connected with the fixed plate and the movable plate; the picking unit is fixedly connected with the movable end; the clamping rod is hinged with the supporting rod, and the telescopic distance of the telescopic piece is larger than the normal length of the elastic body. Therefore, the flexible material grabbing device can grab and clamp flexible materials conveniently, and is simple in structure and reliable in use.

Description

Automatic snatch mechanism
Technical Field
The invention relates to the technical field of grabbing, in particular to an automatic grabbing mechanism.
Background
The mechanical claw is a mechanical device simulating human fingers to grab an object, and for different kinds of objects, a specific mechanical claw needs to be used, particularly for cloth-type flexible objects, and when the flexible objects are laid on a plane, the grabbing of the existing mechanical claw is difficult to complete.
In view of the above, the prior art is obviously inconvenient and disadvantageous in practical use, and needs to be improved.
Disclosure of Invention
Aiming at the defects, the invention aims to provide an automatic grabbing mechanism which is simple in structure and can grab flexible materials conveniently.
In order to achieve the above object, the present invention provides an automatic grasping mechanism including:
the telescopic piece is provided with a fixed end and a movable end;
the fixed plate is fixedly connected with the fixed end and is annularly provided with a plurality of clamping rods;
the movable plate is connected with the movable end in a sliding mode, and the movable plate is annularly provided with a supporting rod corresponding to the clamping rod;
the elastic body is fixedly connected with the fixed plate and the movable plate;
the picking unit is fixedly connected with the movable end;
the clamping rod is hinged with the supporting rod, and the telescopic distance of the telescopic piece is larger than the normal length of the elastic body.
According to the automatic grabbing mechanism, the telescopic piece is provided with the multi-stage telescopic cylinders, and the telescopic cylinders are connected through the guide sleeve.
According to the automatic grabbing mechanism, the telescopic cylinder adopts the air cylinder.
According to the automatic grabbing mechanism, the tail end of the clamping rod is provided with the anti-skidding structure.
According to the automatic grabbing mechanism disclosed by the invention, the anti-skidding structure is a tooth-shaped structure.
According to the automatic grabbing mechanism of the invention, the elastic body is an elastic body.
According to the automatic grabbing mechanism, the picking unit is an electromagnet.
According to the automatic grabbing mechanism, the picking unit is a vacuum chuck.
The automatic material picking and clamping device simulates manual operation, firstly lifts one corner of a material, then clamps the material, and realizes the purpose of picking and then clamping the material through one air cylinder, and has the advantages of automatic operation, simple structure, convenient maintenance and good grabbing effect.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic view of the closed configuration of the present invention;
FIG. 3 is a schematic illustration of the pickup material of the present invention;
FIG. 4 is a schematic structural diagram of another embodiment of the present invention;
in the figure, 1-telescopic part, 11-first cylinder, 12-guide sleeve, 121-guide structure, 13-second cylinder, 2-fixed plate, 21-clamping rod, 211-tooth structure, 3-movable plate, 31-support rod, 4-elastomer, 5-pickup unit, 6-flexible material.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Referring to fig. 1, the present invention provides an automatic gripping mechanism. This automatic mechanism of snatching includes: the telescopic part comprises a telescopic part 1, a fixed plate 2, a movable plate 3, clamping rods 21, supporting rods 31, an elastic body 4 and a pickup unit 5, wherein the fixed plate 2 is fixed at the fixed end of the telescopic part 1, the movable plate 3 is in sliding connection with the movable end of the telescopic part 1, the fixed plate 2 is annularly provided with the clamping rods 21, the movable plate 3 is correspondingly annularly provided with the supporting rods 31, the supporting rods 31 are hinged with the clamping rods 21, and the elastic body 4 is fixedly connected with the fixed plate 2 and the movable plate 3. The pick-up unit 5 is fixedly connected with the movable end of the telescopic piece 1, and the telescopic distance of the telescopic piece 1 is larger than the normal length of the elastic body 4.
When the extensible member 1 contracts, the movable end of the extensible member 1 drives the movable plate 3 to compress the elastic body 4, the clamping rod 21 is driven by the support rod 31 to contract and clamp, when the extensible member 1 extends outwards, the movable plate 3 moves along with the extensible member 1 under the pushing of the elastic body 4, when the extending distance of the extensible member 1 is greater than the normal length of the elastic body 4, the elastic body 4 is changed from a compression state to a normal state, the movable plate 3 keeps static under the pulling force of the elastic body 4, the clamping rod 21 is driven by the support rod 31 to expand outwards, and when the extensible member 1 extends outwards continuously, the pickup unit 5 continues to descend. With reference to fig. 3, when the extensible member 1 extends outward to a specific position, the pickup unit 5 picks up a material to be clamped, and then the extensible member 1 contracts, and the pickup unit 5 drives the picked material to ascend, and with reference to fig. 2, when the extensible member 1 contacts the movable plate 3, the movable plate 3 is driven by the extensible member 1 to compress the elastic body 4, the support rod 31 moves upward and rotates, and the clamping rods 21 are driven to move oppositely, so as to clamp the material picked by the pickup unit 5, and clamp the flexible material 6. When the material needs to be released, the pickup unit 5 releases the material, and the telescopic member 1 extends outwards, so that the movable plate 3 moves a certain distance under the action of the elastic body 4, and the clamping rod 21 is expanded outwards, thereby releasing the material.
Referring to fig. 4, further, the telescopic member 1 is provided with a multi-stage telescopic cylinder, and includes a first cylinder 11 and a second cylinder 13, the first cylinder 11 is fixedly connected to the guide sleeve 12, the guide sleeve 12 is provided with a guide structure 121, and the second cylinder 13 is slidably connected to the guide sleeve 12 and moves along the guide structure 121. The automatic grabbing mechanism is stable, rotation is avoided, the lifting distance of the telescopic piece 1 is increased, and materials can be picked up conveniently. The telescopic cylinder is preferably an air cylinder, so that the cost is low, the maintenance is convenient, and the speed is adjustable.
Furthermore, the elastic body 4 is a spring, so that the price is low, the cost is low, and the service life is long. The tail end of the clamping rod 21 is provided with an anti-skidding structure, preferably a tooth-shaped structure 211, so that the contact surface is large, the clamping force is large, and the grabbing is more reliable.
Referring to fig. 3, as a preferred embodiment of the present invention, the picking unit 5 employs an electromagnet, and a magnetic substance is fixed at a corresponding position of the flexible material 6, and the flexible material 6 can be rapidly sucked by using the electromagnet.
As another preferred implementation of the present invention, the picking unit 5 employs a vacuum chuck, and the flexible material 6 is directly sucked onto the vacuum chuck, so that the picking is convenient and reliable.
In conclusion, the automatic material picking and clamping device simulates manual operation, firstly lifts one corner of a material, then clamps the material, and realizes the purpose that the material is picked and then clamped through one air cylinder, and the automatic material picking and clamping device is automatic in operation, simple in structure, convenient to maintain and good in grabbing effect.
In the description of the present invention, it is to be understood that the terms "upper", "lower", and the like, indicate orientations or positional relationships based on those 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 referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.
The present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof, and it should be understood that various changes and modifications can be effected therein by one skilled in the art without departing from the spirit and scope of the invention as defined in the appended claims.

Claims (8)

1. An automatic grabbing mechanism, comprising:
the telescopic piece is provided with a fixed end and a movable end;
the fixed plate is fixedly connected with the fixed end and is annularly provided with a plurality of clamping rods;
the movable plate is connected with the movable end in a sliding mode, and the movable plate is annularly provided with a supporting rod corresponding to the clamping rod;
the elastic body is fixedly connected with the fixed plate and the movable plate;
the picking unit is fixedly connected with the movable end;
the clamping rod is hinged with the supporting rod, and the telescopic distance of the telescopic piece is larger than the normal length of the elastic body.
2. The automatic grabbing mechanism of claim 1, wherein the telescopic part is provided with multiple telescopic cylinders, and the telescopic cylinders are connected through a guide sleeve.
3. The automatic grabbing mechanism of claim 1, wherein the telescopic cylinder is a pneumatic cylinder.
4. The automatic gripping mechanism of claim 1, wherein the clamping bar is provided with a non-slip feature at its distal end.
5. The automatic gripping mechanism of claim 1, wherein the non-slip feature is a toothed feature.
6. The automated grasping mechanism according to claim 1, wherein the elastic body is an elastic body.
7. The automatic gripping mechanism according to any one of claims 1 to 6, wherein the pick-up unit is an electromagnet.
8. The automated gripping mechanism of any one of claims 1-6, wherein the pick-up unit is a vacuum chuck.
CN202110532175.7A 2021-05-17 2021-05-17 Automatic snatch mechanism Pending CN113400331A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202110532175.7A CN113400331A (en) 2021-05-17 2021-05-17 Automatic snatch mechanism

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202110532175.7A CN113400331A (en) 2021-05-17 2021-05-17 Automatic snatch mechanism

Publications (1)

Publication Number Publication Date
CN113400331A true CN113400331A (en) 2021-09-17

Family

ID=77678699

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202110532175.7A Pending CN113400331A (en) 2021-05-17 2021-05-17 Automatic snatch mechanism

Country Status (1)

Country Link
CN (1) CN113400331A (en)

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CN206967512U (en) * 2017-06-22 2018-02-06 成都众智优学教育咨询有限公司 The end-effector of industrial robot
CN207172105U (en) * 2017-09-30 2018-04-03 武汉库柏特科技有限公司 A kind of pneumatic more finger tip Acetabula devices
CN108179688A (en) * 2018-03-15 2018-06-19 王攀 A kind of town road Intelligent auxiliary equipment
CN108456769A (en) * 2018-03-02 2018-08-28 江苏保捷精锻有限公司 A kind of automatic sampling machinery hand and sampling method for bearing race part
CN108656147A (en) * 2018-07-24 2018-10-16 佛山科学技术学院 A kind of adaptive mechanical paw
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CN209207554U (en) * 2018-11-29 2019-08-06 昆山高联机器人有限公司 It is lightly loaded Elastic manipulator
CN209806478U (en) * 2019-03-01 2019-12-20 西北农林科技大学 Grabbing mechanism
CN209939876U (en) * 2019-05-20 2020-01-14 安徽省三环康乐包装材料有限公司 Aseptic carton snatchs mechanism
US20200078939A1 (en) * 2018-09-10 2020-03-12 Kindred Systems Inc. System and method for robotic gripping utilizing dynamic collision modeling for vacuum suction and finger control
CN111230913A (en) * 2020-03-23 2020-06-05 广东技术师范大学 High-efficient transport manipulator of plain noodles panel is grabbed
CN211030055U (en) * 2019-11-18 2020-07-17 武汉腾远机械设备有限公司 Multifunctional flexible clamping mechanism
CN212150721U (en) * 2020-03-23 2020-12-15 闫雨霏 A snatch equipment for auto parts production line
CN212372205U (en) * 2020-05-08 2021-01-19 无锡市鑫启机械科技有限公司 Transmission device for manipulator
CN212497811U (en) * 2020-06-04 2021-02-09 无锡市鑫启机械科技有限公司 Pneumatic clamping jaw
CN112758681A (en) * 2020-12-28 2021-05-07 郑明薇 Logistics robot capable of grabbing articles

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE1881984U (en) * 1961-08-31 1963-10-31 Ornanaise De Const Mecaniques DEVICE FOR DISPENSING WORK PIECES.
JPH0724770A (en) * 1993-07-13 1995-01-27 Shinano Electron:Kk Suction sandwiching mechanism and temperature test device using it
JP2003048183A (en) * 2001-08-03 2003-02-18 Mitsubishi Heavy Ind Ltd Working device system, and excavation method
JP2003175485A (en) * 2001-09-17 2003-06-24 Sig Pack Syst Ag Device for transmitting torque
CN1883888A (en) * 2006-06-30 2006-12-27 中国科学院光电技术研究所 Grasp and suction dual-functional underwater electric manipulator
KR100921119B1 (en) * 2008-07-18 2009-10-12 현대자동차주식회사 Common use robot gripper for side assembly of all type of vehicles
CN202912626U (en) * 2012-11-15 2013-05-01 湖南明鼎科技有限公司 Lifting mechanism with single-action multistage cylinder
CN105798941A (en) * 2016-05-27 2016-07-27 华中农业大学 Manipulator suitable for bird egg grabbing
CN206335591U (en) * 2016-12-29 2017-07-18 北方工业大学 Special-shaped structure piece gripper equipment
CN206967512U (en) * 2017-06-22 2018-02-06 成都众智优学教育咨询有限公司 The end-effector of industrial robot
CN107322624A (en) * 2017-08-24 2017-11-07 佛山伊贝尔科技有限公司 A kind of sucking disc type mechanical hand
CN107457320A (en) * 2017-09-21 2017-12-12 江苏安全技术职业学院 A kind of diel adjustable mechanical hand
CN207172105U (en) * 2017-09-30 2018-04-03 武汉库柏特科技有限公司 A kind of pneumatic more finger tip Acetabula devices
CN108456769A (en) * 2018-03-02 2018-08-28 江苏保捷精锻有限公司 A kind of automatic sampling machinery hand and sampling method for bearing race part
CN108179688A (en) * 2018-03-15 2018-06-19 王攀 A kind of town road Intelligent auxiliary equipment
CN208305062U (en) * 2018-06-08 2019-01-01 浙江树人学院 A kind of Pneumatic flexible rotor gripper structure
CN108656147A (en) * 2018-07-24 2018-10-16 佛山科学技术学院 A kind of adaptive mechanical paw
US20200078939A1 (en) * 2018-09-10 2020-03-12 Kindred Systems Inc. System and method for robotic gripping utilizing dynamic collision modeling for vacuum suction and finger control
CN208882942U (en) * 2018-09-25 2019-05-21 苏州柔触机器人科技有限公司 A kind of flexible grabbing device with sucker
CN109129531A (en) * 2018-10-10 2019-01-04 杜鑫 A kind of efficient conveying robot of smooth surface plate is grabbed
CN109465840A (en) * 2018-11-26 2019-03-15 清华大学 A kind of compound grabbing device of sucker-gripper
CN209207554U (en) * 2018-11-29 2019-08-06 昆山高联机器人有限公司 It is lightly loaded Elastic manipulator
CN209806478U (en) * 2019-03-01 2019-12-20 西北农林科技大学 Grabbing mechanism
CN209939876U (en) * 2019-05-20 2020-01-14 安徽省三环康乐包装材料有限公司 Aseptic carton snatchs mechanism
CN211030055U (en) * 2019-11-18 2020-07-17 武汉腾远机械设备有限公司 Multifunctional flexible clamping mechanism
CN111230913A (en) * 2020-03-23 2020-06-05 广东技术师范大学 High-efficient transport manipulator of plain noodles panel is grabbed
CN212150721U (en) * 2020-03-23 2020-12-15 闫雨霏 A snatch equipment for auto parts production line
CN212372205U (en) * 2020-05-08 2021-01-19 无锡市鑫启机械科技有限公司 Transmission device for manipulator
CN212497811U (en) * 2020-06-04 2021-02-09 无锡市鑫启机械科技有限公司 Pneumatic clamping jaw
CN112758681A (en) * 2020-12-28 2021-05-07 郑明薇 Logistics robot capable of grabbing articles

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