CN117001646A - Cylindrical object grabbing device - Google Patents
Cylindrical object grabbing device Download PDFInfo
- Publication number
- CN117001646A CN117001646A CN202311252589.XA CN202311252589A CN117001646A CN 117001646 A CN117001646 A CN 117001646A CN 202311252589 A CN202311252589 A CN 202311252589A CN 117001646 A CN117001646 A CN 117001646A
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- cylinder
- rod
- shell
- grip
- threaded hole
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- 230000007246 mechanism Effects 0.000 claims abstract description 48
- 230000009471 action Effects 0.000 claims abstract description 11
- 230000001360 synchronised effect Effects 0.000 claims abstract description 5
- 238000003466 welding Methods 0.000 claims description 10
- 230000006835 compression Effects 0.000 claims description 8
- 238000007906 compression Methods 0.000 claims description 8
- 238000003825 pressing Methods 0.000 claims description 8
- 230000008093 supporting effect Effects 0.000 claims description 6
- 230000008602 contraction Effects 0.000 claims description 5
- 238000009434 installation Methods 0.000 claims description 4
- 238000000034 method Methods 0.000 claims description 4
- 230000009286 beneficial effect Effects 0.000 claims description 3
- 230000008569 process Effects 0.000 claims description 3
- 230000002349 favourable effect Effects 0.000 claims 1
- 238000005516 engineering process Methods 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000004891 communication Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 210000005069 ears Anatomy 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
Classifications
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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
-
- 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
- B25J15/0033—Gripping heads and other end effectors with gripping surfaces having special shapes
- B25J15/0038—Cylindrical gripping surfaces
-
- 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
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/123—Linear actuators
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to a cylindrical object grabbing device, which comprises a grabbing mechanism and a linear driving mechanism. The grabbing mechanism stretches or compresses the spring through the cylinder rod of the two-side single-rod cylinder, the spring transmits the action to the cylindrical sliding block connected with the two-side clamping jaw, the opening and clamping actions of the two-side clamping jaw are realized, the cylinder rod of the rear-side double-rod cylinder pushes and pulls the bottom plate, and the bottom plate drives the two-side clamping jaw to realize linear motion along the axial direction of the cylinder rod; the linear driving mechanism transmits the rotary motion of the motor to the ball screw through the synchronous belt, the ball screw rotates and drives the nut to perform linear motion along the axial direction of the screw, and the nut transmits the linear motion to the sliding plate connected with the grabbing mechanism, so that the linear motion of the grabbing mechanism in the vertical direction is realized; a cylindrical object grabbing device can realize the carrying work of a cylindrical object with a certain height, and a large amount of labor force is saved.
Description
Technical Field
The invention belongs to the technical field of mechanical craftsman equipment, and relates to a cylindrical object grabbing device.
Background
The handling work of small objects is an important procedure of industrial production process flow, and is more common on production lines.
The transport work on the production line of current part enterprise mainly relies on the manpower, and manpower transport inefficiency, and has certain dangerous row in the face of needing certain transport high work, along with the progress of science and technology and the continuous demand in market, various automation equipment begin to appear, has realized the manual transition of carrying to mechanical transport, and automatic transport technology's maturity has greatly reduced the labour, has reduced the cost of the enterprise employment workman.
Disclosure of Invention
Based on the development of the current carrying technology, the invention provides a cylindrical object grabbing device, wherein the opening and clamping actions of clamping jaws are controlled through cylinders on two sides, the positioning of the clamping jaws before grabbing cylindrical objects with different apertures is controlled through cylinders on the rear side, and the grabbing device is driven by a ball screw linear module to carry the cylindrical objects to a certain height.
In order to meet the technical requirements, the technical scheme of the invention is realized as follows:
a cylindrical object grabbing device comprises a grabbing mechanism and a linear driving mechanism.
The grabbing mechanism comprises a single-rod air cylinder, a double-rod air cylinder, a gripper, a pulling and pressing spring, a mounting cover, a single-rod air cylinder mounting seat, a connecting shaft, a shell, a rubber sleeve, a bottom plate and a cylindrical sliding block. The single-rod air cylinder is fixed on two sides of the shell through a single-rod air cylinder fixing seat and fixedly connected with the tension and compression spring, and the expansion and contraction amount of the tension and compression spring is directly controlled through the expansion and contraction of the air cylinder rod so as to achieve the aim of indirectly controlling the action of the clamping jaw; the double-rod air cylinder is fixed in the shell and fixedly connected with the bottom plate in the shell, and the bottom plate is directly driven to move along the axial direction of the air cylinder rod through the expansion and contraction of the air cylinder rod, so that the aim of indirectly controlling the clamping jaw to move linearly is fulfilled; the two-side grippers can realize opening and closing actions through the two-side single-rod air cylinder, realize linear reciprocating actions through the rear-side double-rod air cylinder, realize grabbing of a cylindrical object, and realize rotation of the two-side gripping jaws around the connecting shaft through the connecting shaft; the two sides of the tension and compression spring are respectively fixed with the single-rod cylinder push rod and the cylindrical sliding block, and serve as a medium for middle deformation; the mounting cover is arranged for preventing the clamping jaw sliding groove from being assembled and disjointed with the cylindrical sliding block when the clamping jaw moves forwards and backwards; the single-rod cylinder mounting seat is used for fixing the single-rod cylinder and is fixed on the outer wall of the shell; the connecting shaft is used as the rotation center of the left clamping jaw and the right clamping jaw, is fixed on the bottom plate and is an intermediary for the clamping jaws to realize forward and backward actions; the shell links the installation positions of the whole grabbing mechanism together and plays a role in supporting the whole grabbing mechanism; the rubber sleeve is designed for preventing the surface of the cylindrical object from being damaged during grabbing; the bottom plate plays a role in supporting the grippers and directly drives the grippers to realize forward and backward actions; when the gripper moves forward and backward, the sliding groove in the gripper slides along the surface of the cylindrical sliding block, and the spring connected with the cylindrical sliding block can be regarded as a static state all the time, so that the movement of the gripper in forward and backward can be prevented from bringing larger non-axial deformation to the spring.
The linear driving mechanism comprises a frame, a guide rail, a ball screw linear module, a frame guide rail fixing piece and a guide rail shell fixing piece. The frame is fixed with the ground and is used for installing and fixing the guide rail and the ball screw linear module; the guide rail is used for supporting the grabbing mechanism, so that the grabbing mechanism moves more stably in the vertical direction; the motor of the ball screw linear module transmits the rotary motion of a motor shaft to the ball screw through a synchronous belt, the ball screw rotates to drive a nut matched with the ball screw to linearly move along the direction of the screw shaft, the nut transmits the motion to a component connected with the nut, and the component drives the grabbing mechanism to move in the vertical direction; the rack guide rail fixing piece is used for fixedly connecting the rack with the guide rail; the guide rail shell fixing piece is used for fixedly connecting the guide rail and the shell.
Compared with the prior art, the invention has the following advantages:
(1) The gripper of the gripping mechanism can grip cylindrical objects with different apertures through the double-rod air cylinder, and the double-side single-rod air cylinder can control the clamping force of the clamping jaw on the cylindrical objects;
(2) The linear driving mechanism is provided with the photoelectric sensors up and down, and plays a limiting role on the linear motion of the grabbing mechanism along the lead screw guide rail;
(3) In addition, the device is simple in assembly process and convenient to disassemble and maintain.
Description of the drawings:
FIG. 1 is a general assembly view of an embodiment of a cylindrical object gripping device provided by the present invention;
fig. 2 is an assembly view of a gripping mechanism of an embodiment of a cylindrical object gripping device according to the present invention;
FIG. 3 is a detailed assembly view of a gripping mechanism of an embodiment of a cylindrical object gripping device according to the present invention;
fig. 4 is an assembly view of a linear driving mechanism of an embodiment of a cylindrical object gripping device according to the present invention.
The reference numerals of the components in the drawings illustrate:
1. grabbing mechanism: 1001. a single rod cylinder; 1002. a double-rod cylinder; 1003. a grip; 1004. pulling and pressing a spring; 1005. a mounting cover; 1006. a single-rod cylinder mounting seat; 1007. and (3) a connecting shaft: 1008. a housing 1009, a rubber sleeve; 1010. a bottom plate; 1011 cylindrical sliders; 2: a linear driving mechanism; 2001. a frame; 1002. a guide rail; 2003. a ball screw linear module; 2004. a frame rail mount; 2005. guide rail housing fixing piece.
The specific embodiment is as follows:
in the description of the present invention, it should be noted that, if terms indicating an azimuth or a positional relationship such as "left", "right", "upper", "lower", etc., are presented, they are based on the azimuth or the positional relationship shown in the drawings, only for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the apparatus or element to be referred to must have a specific azimuth, be constructed and operated in a specific azimuth, and thus should not be construed as limiting the present invention.
Furthermore, in the description of the invention, the terms "mounted," "connected," and "connected," are to be construed broadly, unless otherwise specifically defined. For example, the connection may be fixed connection or integral connection; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art in combination with specific cases.
The invention will be described in detail below with reference to the attached drawings and in connection with embodiments:
the present embodiment relates to a cylindrical object gripping device, the overall structure of which is shown in fig. 1, comprising a gripping mechanism 1 and a linear driving mechanism 2.
As shown in fig. 2 and 3, the grabbing mechanism 1 includes a single-rod cylinder 1001, a double-rod cylinder 1002, a gripper 1003, a pulling and pressing spring 1004, a mounting cover 1005, a single-rod cylinder fixing seat 1006, a connecting shaft 1007, a housing 1008, a rubber sleeve 1009, a bottom plate 1010, and a cylindrical slider 1011. The cylinder shaft of the single-rod cylinder 1001 is installed with the side wall hole of the shell 1008 in a clearance fit manner, friction between the cylinder shaft and the side wall hole of the shell 1008 is avoided when the cylinder shaft pushes and pulls the grip 1003, a threaded hole is formed in the tail end of the cylinder shaft, and the cylinder shaft is fixedly connected with a welding plate at one end of the pull-press spring 1004 through a hexagonal bolt; the lower side of the double-rod cylinder 1002 is provided with a threaded hole, the lower side of the double-rod cylinder 1002 is fixedly connected with the shell 1008 through a hexagonal bolt, the tail end of the double-rod cylinder rod is provided with a threaded hole, the double-rod cylinder rod is fixedly connected with the bottom plate 1010 through a hexagonal bolt, and the clamping and positioning of the grip 1003 on the cylindrical object can be controlled by controlling the expansion and contraction amount of the cylinder shaft; the sliding groove is formed in the side face of the grip 1003, when the sliding groove is used for carrying out forward and backward movements, the larger non-axial deformation amount is not generated by the tension and compression spring 1004 fixedly connected with the cylindrical sliding block 1011, the through hole is formed in the upper side of the grip 1003, the grips 1003 on the two sides are connected through the connecting shaft 1007, the stretching and clamping movements of the grip 1003 can be realized, the threaded hole is formed in the tail end of the grip 1003, the sliding groove is fixedly connected with the rubber sleeve 1009 through the hexagon bolt, the mounting hole is formed in the upper side of the sliding groove of the grip 1003, and the installation of the cylindrical sliding block 1011 is facilitated; welding plates are arranged on two sides of the tension and compression spring 1004, threaded holes are formed in the welding plates, and the welding plates are fixedly connected with the single-rod cylinder 1003 and the cylindrical sliding block 1011 through hexagon bolts respectively; the mounting cover 1005 is matched with the missing part on the upper side of the sliding groove of the grip 1003, so that the cylindrical sliding block 1011 is prevented from being matched and disjointed with the sliding groove of the grip 1003 when the grip 1003 moves forwards and backwards, a threaded hole is formed on the upper side of the mounting cover, and the mounting cover is fixedly connected with the grip 1003 through a hexagonal bolt; the lower side of the single-rod cylinder fixing seat 1006 is respectively provided with a threaded hole and a mounting hole, the threaded holes are used for fixedly connecting the cylinder 1001 and the single-rod cylinder fixing seat 1006 through hexagonal bolts, the mounting holes are used for connecting the single-rod cylinder 1001 with an external air circuit, and threaded holes are formed in the ears of two sides of the single-rod cylinder fixing seat 1006 and are fixedly connected with the shell 1008 through hexagonal bolts; the connecting shaft 1007 is connected with the shaft holes of the two side grippers 1003 in a clearance fit manner, so that larger friction is prevented when the two side grippers 1003 rotate, external threads with a certain length are formed on the lower side of the upper side of the connecting shaft 1007, the external threads on the upper side can be matched with nuts, axial movement is prevented when the grippers 1003 rotate, the external threads on the lower side are fixedly connected with the threaded holes of the bottom plate 1010, and the connecting shaft 1007 is an intermediary for enabling the grippers 1003 to move forwards and backwards; the rear side of the shell 1008 is provided with a threaded hole which is fixedly connected with the linear driving mechanism 2 through a hexagonal bolt, the left side and the right side of the shell 1008 are provided with a threaded hole and a through hole, the threaded hole is fixedly connected with the single-rod cylinder fixing seat 1006 through a hexagonal bolt, the through hole is used for assembling a cylinder shaft of the single-rod cylinder 1001, the lower side of the shell 1008 is respectively provided with a threaded hole and a mounting hole, the threaded hole is used for fixedly connecting the double-rod cylinder 1002 with the shell 1008, the mounting hole is used for connecting the double-rod cylinder 1002 with an external air circuit, the shell 1008 connects the mounting positions of the whole grabbing mechanism 1 together, and the whole grabbing mechanism 1 is supported; the side wall of the rubber sleeve 1009 is provided with a threaded hole, the threaded hole is fixed at the tail end of the grip 1003 through a hexagon bolt, damage to the surface of the cylindrical object when the grip 1003 grips the cylindrical object can be effectively prevented, the rubber sleeve 1009 is provided with three grip holes with cross sections smaller than that of a semicircle, and the design of the shape of the grip holes is beneficial to exerting different acting forces on the surface of the object when the grips 1003 on two sides grip the cylindrical object with different sizes; the upper side of the bottom plate 1010 is provided with a threaded hole which is fixedly connected with the connecting shaft 1007, the rear side of the bottom plate 1010 is provided with a threaded hole which is fixedly connected with the tail end of the cylinder shaft of the double-rod cylinder 1002 through a hexagonal bolt, the bottom plate is integrally connected with the double-rod cylinder 1002 to realize the forward and backward movements of the hand grip 1003, and the lower side of the upper side of the bottom plate 1010 is respectively contacted with the hand grip 1003 and the shell 1008 to play a role in supporting the hand grip 1003; the cylindrical sliding block 1011 is provided with a threaded hole and is fixedly connected with a welding plate at one side of the pulling and pressing spring 1004 through a hexagonal bolt, the cylindrical sliding block 1011 and a sliding groove of the grip 1003 are installed in a clearance fit mode, the cylindrical sliding block 1011 directly acts on the grip 1003, so that the push-pull action of the grip 1003 can be completed, the cylindrical sliding block 1011 basically keeps still when the grip 1003 moves forwards and backwards, and the larger non-axial stretching amount of the pulling and pressing spring 1004 is avoided.
The linear driving mechanism 2, as shown in fig. 3, includes a frame 2001, a rail 2002, a ball screw linear module 2003, a frame rail fixing member 2004, and a rail housing fixing member 2005. Threaded through holes are formed in two sides and the middle of the rib plate of the frame 2001, the threaded through holes on two sides are connected with a frame guide rail fixing piece 2004 through bolts and nuts and used for fixing the guide rail 2002, the middle threaded through holes are connected through bolts and nuts and used for fixedly connecting a ball screw linear module 2003, threaded holes are formed in the foot plate of the frame 2001, and the threaded holes are fixedly connected with the ground through hexagon bolts; the guide rail 2002 is respectively matched and connected with the frame guide rail fixing piece 2004 and the guide rail shell fixing piece 2005 in a clearance fit mode, the clearance fit mode is beneficial to installation and disassembly, the guide rail 2002 has a supporting function on the lifting of the grabbing mechanism 1, and the lifting process is more stable; the motor of the ball screw linear module 2003 is arranged in parallel with the ball screw, the rotary motion of the motor is transmitted to the ball screw shaft through a synchronous belt, the ball screw shaft rotates and drives a nut connected with the screw shaft to conduct linear motion along the axial direction of the ball screw, the nut transmits the linear motion to a sliding plate connected with the nut, the sliding plate is connected with the grabbing mechanism 1 and drives the grabbing mechanism 1 to conduct linear motion in the vertical direction, the ball screw linear module 2003 is provided with a photoelectric sensor up and down, the lifting of the grabbing device 1 is limited, and threaded holes are formed in the periphery of the ball screw linear module 2003 and used for fixing the module in the vertical direction; one end of the frame guide rail fixing member 2004 is provided with a threaded hole, and the other end is of a hollow quadrangular prism structure and is used for fixedly connecting the frame 2001 and the guide rail 2002; the guide rail housing fixing member 2005 has a threaded hole formed on one side and a convex groove structure on the other side, and is used for fixedly connecting the housing 1008 and the guide rail 2002.
The working principle of the invention is described below:
as shown in fig. 1, after a control system sends a carrying instruction, the cylinder rods of the single-rod cylinders on two sides extend outwards to enable the clamping jaws on two sides to be opened, after the clamping jaws on two sides extend a certain angle, the cylinder rods of the double-rod cylinders on the rear side extend outwards to push the bottom plates connected with the clamping jaws through the rotating shafts to achieve positioning before the cylindrical objects with different apertures are grabbed, then the cylinders on two sides shrink inwards to enable the clamping jaws on two sides to be closed to achieve grabbing of the cylindrical objects, after the grabbing is completed, the control system sends the instruction to a motor, the motor starts to rotate, rotary motion is transmitted to a ball screw shaft through a synchronous belt, meanwhile, a nut matched with the ball screw shaft performs linear motion along the axial direction of the ball screw shaft, the nut transmits the linear motion to a sliding plate connected with the nut, the sliding plate is connected with a grabbing mechanism to drive the grabbing mechanism to perform linear motion in the vertical direction, and carrying work of the cylindrical objects with a certain height is achieved.
The above description is only of the preferred embodiments of the present invention and is not intended to limit the invention, but any modifications, equivalent substitutions, improvements, etc. within the principles of the present invention should be included in the scope of the present invention.
Claims (3)
1. A column object grabbing device, comprising a grabbing mechanism (1): the device comprises a single-rod cylinder (1001), a double-rod cylinder (1002), a grip (1003), a tension and compression spring (1004), a mounting cover (1005), a single-rod cylinder fixing seat (1006), a connecting shaft (1007), a shell (1008), a rubber sleeve (1009), a bottom plate (1010) and a cylindrical sliding block (1011); linear drive mechanism (2): a frame (2001), a rail (2002), a ball screw linear module (2003), a frame rail fixing member (2004), a rail housing fixing member (2005).
2. The grabbing mechanism (1) according to claim 1, wherein the grabbing mechanism (1) comprises a single rod cylinder (1001), a double rod cylinder (1002), a grab (1003), a pulling and pressing spring (1004), a mounting cover (1005), a single rod cylinder fixing base (1006), a connecting shaft (1007), a shell (1008), a rubber sleeve (1009), a bottom plate (1010) and a cylindrical sliding block (1011). The cylinder shaft of the single-rod cylinder (1001) is installed with a side wall hole of the shell (1008) in a clearance fit mode, friction between the cylinder shaft and the side wall hole of the shell (1008) is avoided when the cylinder shaft pushes and pulls the grip, a threaded hole is formed in the tail end of the cylinder shaft, and the cylinder shaft is fixedly connected with a welding plate at one end of the tension and compression spring (1004) through a hexagonal bolt; the lower side of the double-rod cylinder (1002) is provided with a threaded hole, the lower side of the double-rod cylinder is fixedly connected with the shell (1008) through a hexagonal bolt, the tail end of the cylinder rod is provided with a threaded hole, the lower side of the cylinder rod is fixedly connected with the bottom plate (1010) through a hexagonal bolt, and the clamping and positioning of the gripper (1003) on the cylindrical object can be controlled by controlling the expansion and contraction amount of the cylinder shaft of the double-rod cylinder; the side of the gripper (1003) is provided with a chute, when the gripper moves forwards and backwards, a tension spring (1004) fixedly connected with the cylindrical sliding block (1011) is not influenced to generate larger non-axial deformation, the upper side of the gripper (1003) is provided with a through hole, the grippers (1003) at two sides are connected through a connecting shaft (1007), the opening and closing actions of the gripper (1003) can be realized, the tail end of the gripper (1003) is provided with a threaded hole, the tail end of the gripper is fixedly connected with a rubber sleeve (1009) through a hexagonal bolt, and the upper side of the chute of the gripper (1003) is provided with a mounting hole, so that the cylindrical sliding block (1011) can be conveniently mounted; welding plates are arranged on two sides of the tension and compression spring (1004), threaded holes are formed in the welding plates, and the welding plates are fixedly connected with the single-rod air cylinder (1003) and the cylindrical sliding block (1011) through hexagonal bolts respectively; the mounting cover (1005) is matched with the missing part on the upper side of the sliding groove of the grip (1003), so that the cylindrical sliding block (1011) is prevented from being matched with and disjointed from the sliding groove of the grip (1003) when the grip (1003) moves forwards and backwards, a threaded hole is formed in the upper side of the mounting cover, and the mounting cover is fixedly connected with the grip (1003) through a hexagonal bolt; the lower side of the single-rod air cylinder fixing seat (1006) is respectively provided with a threaded hole and a mounting hole, the threaded holes are used for fixedly connecting the air cylinder (1001) and the single-rod air cylinder fixing seat (1006) through hexagonal bolts, the mounting holes are used for connecting the single-rod air cylinder (1001) with an external air circuit, and threaded holes are formed in the lugs on two sides of the single-rod air cylinder fixing seat (1006) and are fixedly connected with the shell (1008) through the hexagonal bolts; the connecting shaft (1007) is connected with shaft holes of the two side grippers (1003) in a clearance fit mode, so that larger friction is prevented when the two side grippers (1003) rotate, external threads with a certain length are formed on the lower side of the upper side of the connecting shaft (1007), the external threads on the upper side can be matched with nuts, axial movement is prevented when the grippers (1003) rotate, the external threads on the lower side are fixedly connected with threaded holes of the bottom plate (1010), and the connecting shaft (1007) is an intermediary for enabling the grippers (1003) to move forwards and backwards; the rear side of the shell (1008) is provided with a threaded hole which is fixedly connected with the linear driving mechanism (2) through a hexagonal bolt, the left side and the right side of the shell (1008) are provided with a threaded hole and a through hole, the threaded hole is fixedly connected with a single-rod cylinder fixing seat (1006) through the hexagonal bolt, the through hole is used for assembling a cylinder shaft of the single-rod cylinder (1001), the lower side of the shell (1008) is respectively provided with a threaded hole and a mounting hole, the threaded hole is used for fixedly connecting the double-rod cylinder (1002) with the shell (1008), the mounting holes are used for connecting the double-rod cylinder (1002) with an external gas circuit, and the shell (1008) connects the mounting positions of the whole grabbing mechanism (1) together to support the whole grabbing mechanism (1); the side wall of the rubber sleeve (1009) is provided with a threaded hole, the threaded hole is fixed at the tail end of the grip (1003) through a hexagon bolt, damage to the surface of an object when the grip (1003) grips the cylindrical object can be effectively prevented, the rubber sleeve (1009) is provided with three grip holes with cross sections smaller than a semicircle, and the shape of the grip holes is favorable for exerting acting forces with different sizes on the surface of the object when the grips (1003) on two sides grip the cylindrical object with different sizes; the upper side of the bottom plate (1010) is provided with a threaded hole which is fixedly connected with the connecting shaft (1007), the rear side of the bottom plate (1010) is provided with a threaded hole which is fixedly connected with the tail end of the cylinder shaft of the double-rod cylinder (1002) through a hexagonal bolt, the bottom plate is integrally connected with the double-rod cylinder (1002) to realize the forward and backward movements of the grippers (1003), and the lower side of the upper side of the bottom plate (1010) is respectively contacted with the grippers (1003) and the shell (1008) to support the grippers (1003); the cylindrical sliding block (1011) is provided with a threaded hole and is fixedly connected with a welding plate at one side of the pulling and pressing spring (1004) through a hexagonal bolt, the cylindrical sliding block (1011) and a sliding groove of the grip (1003) are installed in a clearance fit mode, so that the push-pull action of the grip (1003) can be completed, the cylindrical sliding block (1011) basically keeps still when the grip (1003) moves forwards and backwards, and the large non-axial deformation of the pulling and pressing spring (1004) is avoided.
3. The linear drive mechanism (2) of claim 1, wherein the linear drive mechanism (2) comprises a frame (2001), a rail (2002), a ball screw linear module (2003), a frame rail mount (2004), a rail housing mount (2005). Threaded through holes are formed in two sides and the middle of a rib plate of the frame (2001), the threaded through holes on two sides are fixedly connected with a frame guide rail fixing piece (2004) in a bolt-nut connection mode and used for fixing a guide rail (2002), the middle threaded through holes are used for fixing a ball screw linear module (2003) in a bolt-nut connection mode, threaded holes are formed in a foot plate of the frame (2001), and the threaded holes are fixedly connected with the ground through hexagon bolts; the guide rail (2002) is respectively matched and connected with the frame guide rail fixing piece (2004) and the guide rail shell fixing piece (2005) in a clearance fit mode, the clearance fit mode is beneficial to installation and disassembly, the guide rail (2002) has a supporting effect on lifting of the grabbing mechanism (1), and the lifting process is more stable; the motor of the ball screw linear module (2003) is arranged in parallel with the ball screw, the rotary motion of the motor is transmitted to the ball screw shaft through a synchronous belt, the nut connected with the ball screw shaft is driven to perform linear motion along the axial direction of the ball screw while the ball screw shaft rotates, the nut transmits the linear motion to the sliding plate connected with the nut, the sliding plate is connected with the grabbing mechanism (1) to drive the grabbing mechanism (1) to perform linear motion in the vertical direction, the ball screw linear module (2003) is provided with a photoelectric sensor up and down, the lifting of the grabbing mechanism (1) is limited, and threaded holes are formed in the periphery of the ball screw linear module (2003) and used for fixing the module in the vertical direction; one end of the rack guide rail fixing piece (2004) is provided with a threaded hole, and the other end of the rack guide rail fixing piece is of a hollow quadrangular prism structure and is used for fixedly connecting the rack (2001) and the guide rail (2002); one side of the guide rail shell fixing piece (2005) is provided with a threaded hole, and the other side of the guide rail shell fixing piece is of a convex groove structure and is used for fixedly connecting the shell (1008) and the guide rail (2002).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311252589.XA CN117001646A (en) | 2023-09-26 | 2023-09-26 | Cylindrical object grabbing device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311252589.XA CN117001646A (en) | 2023-09-26 | 2023-09-26 | Cylindrical object grabbing device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117001646A true CN117001646A (en) | 2023-11-07 |
Family
ID=88567492
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311252589.XA Withdrawn CN117001646A (en) | 2023-09-26 | 2023-09-26 | Cylindrical object grabbing device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117001646A (en) |
-
2023
- 2023-09-26 CN CN202311252589.XA patent/CN117001646A/en not_active Withdrawn
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| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20231107 |