CN117340918A - Industrial automatic control grabbing device and grabbing method - Google Patents
Industrial automatic control grabbing device and grabbing method Download PDFInfo
- Publication number
- CN117340918A CN117340918A CN202311604785.9A CN202311604785A CN117340918A CN 117340918 A CN117340918 A CN 117340918A CN 202311604785 A CN202311604785 A CN 202311604785A CN 117340918 A CN117340918 A CN 117340918A
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- 238000000034 method Methods 0.000 title claims description 9
- 230000007246 mechanism Effects 0.000 claims abstract description 68
- 230000005484 gravity Effects 0.000 claims abstract description 10
- 230000002457 bidirectional effect Effects 0.000 claims description 2
- 230000006872 improvement Effects 0.000 description 9
- 238000010586 diagram Methods 0.000 description 7
- 238000009434 installation Methods 0.000 description 7
- 230000008569 process Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000007547 defect Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 230000002035 prolonged effect 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
- B25J15/00—Gripping heads and other end effectors
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to the technical field of industrial automatic grabbing and discloses an industrial automatic control grabbing device which comprises a base, a first support plate, a first motor, a first screw rod, a first guide rod, a support frame, a mounting mechanism and a clamping mechanism, wherein the first support plate is fixedly arranged on the base, a plurality of first support plates are arranged, one end of the first screw rod is fixedly connected with the output shaft end of the first motor, the other end of the first support plate is rotatably connected with the plate surface of the first support plate, the first guide rod is arranged on one side of the first screw rod in parallel, the bottom of the support frame is sleeved on the first screw rod and the first guide rod, when a bar is clamped, if the bar is clamped and deviates from the center of gravity, a clamping shell is caused to deflect clockwise, so that a connecting shaft and a gear are driven to rotate clockwise, the top of the first push rod is abutted against the bottom of the first guide plate, so that a lantern ring is driven to rotate anticlockwise, then an adjusting mechanism on a bearing plate is transferred to the lower end of the bar, and then the adjusting mechanism attracts and pulls the lower end of the bar so that the bar is kept horizontal.
Description
Technical Field
The invention relates to the technical field of industrial automatic grabbing, in particular to an industrial automatic control grabbing device and an industrial automatic control grabbing method.
Background
In the field of automation, an industrial robot is used for assembling, transporting, and other operations. In certain handling or assembly processes, the robot needs to accurately grasp articles, but the existing mechanical arm of the industrial robot can only grasp articles, if the articles are in other shapes, the articles are difficult to grasp, so that the adaptability of the industrial robot can be affected, when the bar and the rod-shaped workpieces are grasped, the bar and the rod-shaped workpieces can be clamped on the clamp, but when the clamp is not clamped at the barycenter of the bar, the bar is easy to incline, so that the torque of the clamp is increased, the deformation of the clamp is easy to cause, the service life of the clamp is influenced, and therefore, the industrial automatic control grasping device is needed.
Disclosure of Invention
In order to solve the defects in the prior art, the invention aims to provide an industrial automatic control grabbing device and an industrial automatic control grabbing method.
In order to achieve the technical purpose, the technical scheme adopted by the invention is as follows.
An industrial automation control gripping device, comprising:
the device comprises a base, a first support plate, a first motor, a first screw rod, a first guide rod, a support frame, a first installation mechanism and a clamping mechanism, wherein the first support plate is fixedly arranged on the base, the first support plate is provided with a plurality of motors, the first motor is installed on the first support plate, an output shaft of the first motor is horizontally arranged, one end of the first screw rod is fixedly connected with an output shaft end of the first motor coaxially, the other end of the first motor is rotatably connected with a plate surface of the first support plate, the first guide rod is arranged on one side of the first screw rod in a parallel manner, the bottom of the support frame is sleeved on the first screw rod and the first guide rod, the mounting mechanism is arranged at the top of the support frame, and the clamping mechanism is arranged on the installation mechanism and below the installation mechanism.
As a further improvement of the technical scheme, the mounting mechanism comprises a motor II, a screw rod II, a guide rod II, a connecting sleeve I, a connecting sleeve II, a mounting plate and a mounting plate I, wherein the motor II is mounted at the top of the supporting frame, an output shaft of the motor II is vertically downward, the mounting plate is positioned below the motor II, the mounting plate is horizontally arranged, the connecting sleeve I and the connecting sleeve II are vertically and fixedly arranged at the top of the mounting plate, one end of the screw rod II is coaxially and fixedly connected with the output shaft end of the motor II, the other end of the screw rod II is sleeved in the connecting sleeve I, the guide rod II is parallelly arranged on one side of the screw rod II, the bottom of the guide rod II is sleeved in the connecting sleeve II, the mounting plate I is vertically fixed at the bottom of the mounting plate, the mounting plate I is provided with two clamping mechanisms which are arranged in parallel, and the clamping mechanism is mounted at the bottom of the mounting plate through a connecting assembly.
As a further improvement of the technical scheme, the clamping mechanism comprises a mounting plate II, a clamping shell, a motor III, a screw rod III, a guide rod III, a clamping block I, a clamping block II and an electromagnet, wherein the mounting plate II is vertically and fixedly arranged at the top of the clamping shell, the clamping shell is connected with the mounting plate I through a connecting component, the motor III is arranged on the wall part of the clamping shell, an output shaft of the motor III is horizontally arranged, one end of the screw rod III is fixedly connected with the output shaft end of the motor III coaxially, the other end of the screw rod III is rotatably connected with the wall part of the clamping shell, the guide rod III is arranged on one side of the screw rod III in parallel, the clamping block I and the clamping block II are sleeved on the screw rod III and the guide rod III, the screw rod III is a bidirectional screw rod, the clamping block I and the clamping block II are identical in structure, and the clamping groove is formed in the opposite faces of the clamping block I and the clamping block II.
As a further improvement of the technical scheme, the connecting assembly comprises a connecting shaft, a gear, a first support plate, a second support plate, a guide pillar and a rack, wherein the second mounting plate is arranged between the first mounting plates, the connecting shaft is horizontally rotatably mounted on the first mounting plates, the second mounting plates are fixedly sleeved on the connecting shaft, the first support plate and the second support plate are fixedly arranged on the surface of the second mounting plates, the guide pillar is horizontally connected between the first support plate and the second support plate, the two guide pillars are arranged and are arranged in parallel, the rack is sleeved on the guide pillar through a sliding sleeve, the gear is coaxially and fixedly sleeved on the end part of the connecting shaft, the gear is meshed with the rack, a first spring and a second spring are sleeved on the guide pillar, one end of the first spring is in contact with the first support plate, the other end of the first spring is in contact with the sliding sleeve, one end of the second spring is in contact with the second support plate, and the clamping shell is in a horizontal state in the initial state.
As a further improvement of the technical scheme, the mounting plate is disc-shaped, the collar is nested in the mounting plate in a rotating mode, the bearing plate is horizontally and fixedly arranged on the circumference of the collar, the adjusting mechanism is arranged on the bearing plate, and the triggering mechanism is arranged on one side of the first mounting plate.
As a further improvement of the technical scheme, the triggering mechanism comprises a fixed plate, a first ejector rod, a second ejector rod, a triggering block I and a triggering block II, wherein the fixed plate is horizontally and vertically fixed on the plate surface of the first mounting plate, the first ejector rod and the second ejector rod are vertically arranged on the fixed plate, the top of the first ejector rod and the top of the second ejector rod penetrate through the plate surface of the fixed plate, an external step is arranged at the top of the first ejector rod, an external step is arranged at the top of the second ejector rod, a first limiting ring is fixedly sleeved on the circumference of the first ejector rod, a second limiting ring is fixedly sleeved on the circumference of the second ejector rod, a third spring is sleeved on the first ejector rod, one end of the third spring is in contact with the first limiting ring, the other end of the third spring is in contact with the bottom of the fixed plate, a fourth spring is sleeved on the second ejector rod, one end of the fourth spring is in contact with the bottom of the fixed plate, the first triggering block and the second triggering block are fixedly arranged at the bottom of the first ejector rod and the second ejector rod respectively, and the second triggering block are close to each other.
As the further improvement of this technical scheme, trigger piece one, trigger two both ends that are close to each other of piece and all be the slope and arrange, from bottom to top, trigger piece one, trigger the distance between the two ends that are close to each other of piece and gradually reduce, the wall vertical fixation of rack is provided with the push rod, push rod horizontal extension and the tip of push rod are in trigger piece one, trigger between the piece two, fixedly on the bottom circumference of lantern ring be provided with guide board one, guide board two, guide board one, guide board two are symmetrical arrangement, guide board one, guide board two are the arc, the bottom of ejector pin one is close to the bottom of guide board one, the bottom of ejector pin two is close to the bottom of guide board two.
As a further improvement of the technical scheme, the adjusting mechanism comprises a motor IV, a screw rod IV, a guide rod IV, a connecting sleeve III, a connecting sleeve IV and an electromagnet II, wherein the motor IV is arranged at the bottom of the bearing plate, an output shaft of the motor IV is vertically downward, the electromagnet II is positioned below the bearing plate, the connecting sleeve III and the connecting sleeve IV are vertically and fixedly arranged at the top of the electromagnet II, one end of the screw rod IV is coaxially and fixedly connected with an output shaft end of the motor IV, the other end of the screw rod IV is sleeved in the connecting sleeve III, the guide rod IV is arranged on one side of the screw rod IV in parallel, and the guide rod IV is sleeved in the connecting sleeve IV.
As a further improvement of the technical scheme, an electromagnet I is arranged at the bottoms of the clamping blocks I and II.
As a further improvement of the technical proposal, the end part of the bearing plate is connected with the wall part of the supporting frame through an elastic rope.
Compared with the prior art, the invention has the advantages that in the use process, the bar and rod-shaped workpieces can be clamped and grabbed, and the block and plate can be grabbed, so that the adaptability is high; when the bar is clamped, if the bar is clamped to deviate from the gravity center, the lower end of the bar can be attracted and pulled, so that the bar is kept horizontal, the deformation of the clamp is avoided, and the service life of the clamp is prolonged.
Drawings
In order to more clearly illustrate the technical solution of the embodiments of the present invention, the drawings that are required to be used in the embodiments of the present invention will be briefly described below. It is evident that the drawings described below are only some embodiments of the present invention and that other drawings may be obtained from these drawings without inventive effort for a person of ordinary skill in the art.
Fig. 1 is a schematic diagram of the overall structure of the present invention.
Fig. 2 is a schematic diagram of the installation of the clamping mechanism and the adjusting mechanism of the invention.
FIG. 3 is a schematic view of the mounting mechanism of the present invention.
Fig. 4 is a schematic diagram of the cooperation of the first clamping block and the second clamping block according to the present invention.
Fig. 5 is a schematic view of the installation of the clamping housing of the present invention.
Fig. 6 is a schematic diagram of the cooperation of the connection assembly and the triggering mechanism according to the present invention.
Fig. 7 is a schematic view of an adjustment mechanism installation of the present invention.
Fig. 8 is a schematic view of a connection assembly according to the present invention.
Fig. 9 is a schematic diagram of the cooperation of the push rod and the first trigger block and the second trigger block according to the present invention.
Fig. 10 is a schematic diagram of installation of a first trigger block and a second trigger block according to the present invention.
Fig. 11 is a schematic diagram showing the cooperation of the first ejector rod and the second ejector rod with the first guide plate and the second guide plate.
The drawing is marked as:
10. a base; 110. a first support plate; 111. a first motor; 112. a first screw rod; 113. a first guide rod; 114. a support frame;
20. a mounting mechanism; 210. a second motor; 220. a second screw rod; 230. a second guide rod; 240. the first connecting sleeve is connected; 250. a second connecting sleeve; 260. a mounting plate; 270. a first mounting plate; 280. a connection assembly; 281. a connecting shaft; 282. a gear; 283. a first support plate; 284. a second support plate; 285. a guide post; 286. a rack; 287. a push rod;
30. a clamping mechanism; 310. a second mounting plate; 320. a clamping housing; 330. a third motor; 340. a screw rod III; 350. a guide rod III; 360. a clamping block I; 370. a clamping block II; 380. an electromagnet;
40. a trigger mechanism; 410. a fixing plate; 420. a first ejector rod; 430. a second ejector rod; 440. triggering a first block; 450. a second trigger block; 460. a first limiting ring; 470. a second limiting ring;
50. an adjusting mechanism; 510. a fourth motor; 520. a screw rod IV; 530. a guide rod IV; 540. connecting sleeve III; 550. a connecting sleeve IV; 560. an electromagnet; 570. an elastic rope;
60. a collar; 610. a carrying plate; 620. a first guide plate; 630. and a second guide plate.
Detailed Description
The technical scheme of the invention is further described below by the specific embodiments with reference to the accompanying drawings.
Wherein the drawings are for illustrative purposes only and are shown in schematic, non-physical, and not intended to limit the invention; for the purpose of better illustrating embodiments of the invention, certain elements of the drawings may be omitted, enlarged or reduced and do not represent the size of the actual product; it will be appreciated by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted.
The same or similar reference numbers in the drawings of embodiments of the invention correspond to the same or similar components; in the description of the present invention, it should be understood that, if the terms "upper", "lower", "left", "right", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, only for convenience in describing the present invention and simplifying the description, rather than indicating or implying that the apparatus or elements being referred to must have a specific orientation, be constructed and operated in a specific orientation, so that the terms describing the positional relationships in the drawings are merely for exemplary illustration and are not to be construed as limiting the present invention, and that the specific meanings of the terms described above may be understood by those of ordinary skill in the art according to specific circumstances.
In the description of the present invention, unless explicitly stated and limited otherwise, the term "coupled" or the like should be interpreted broadly, as it may be fixedly coupled, detachably coupled, or integrally formed, as indicating the relationship of components; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between the two parts or interaction relationship between the two parts. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
As shown in fig. 1 to 11, an industrial automatic control gripping device, comprising:
the device comprises a base 10, a first support plate 110, a first motor 111, a first lead screw 112, a first guide rod 113, a support frame 114, a mounting mechanism 20 and a clamping mechanism 30, wherein the first support plate 110 is fixedly arranged on the base 10, the first support plate 110 is provided with a plurality of motors, the first motor 111 is arranged on the first support plate 110, an output shaft of the first motor 111 is horizontally arranged, one end of the first lead screw 112 is fixedly connected with an output shaft end of the first motor 111 coaxially, the other end of the first lead screw 112 is rotatably connected with a plate surface of the first other support plate 110, the first guide rod 113 is arranged on one side of the first lead screw 112 in parallel, the bottom of the support frame 114 is sleeved on the first lead screw 112 and the first guide rod 113, the mounting mechanism 20 is arranged at the top of the support frame 114, and the clamping mechanism 30 is arranged on the mounting mechanism 20 and is positioned below the mounting mechanism 20.
More specifically, the mounting mechanism 20 includes a second motor 210, a second screw rod 220, a second guide rod 230, a first connecting sleeve 240, a second connecting sleeve 250, a mounting plate 260 and a first mounting plate 270, the second motor 210 is mounted at the top of the support frame 114, an output shaft of the second motor 210 is vertically downward, the mounting plate 260 is positioned below the second motor 210, the mounting plate 260 is horizontally arranged, the first connecting sleeve 240 and the second connecting sleeve 250 are vertically and fixedly arranged at the top of the mounting plate 260, one end of the second screw rod 220 is coaxially and fixedly connected with an output shaft end of the second motor 210, the other end of the second screw rod is sleeved in the first connecting sleeve 240, the second guide rod 230 is parallelly arranged at one side of the second screw rod 220, the bottom of the second guide rod 230 is sleeved in the second connecting sleeve 250, the first mounting plate 270 is vertically fixed at the bottom of the mounting plate 260, the first mounting plate 270 is provided with two and is parallelly arranged, and the clamping mechanism 30 is mounted at the bottom of the mounting plate 260 through the connecting assembly 280.
As shown in fig. 4, the clamping mechanism 30 includes a second mounting plate 310, a clamping housing 320, a third motor 330, a third screw 340, a third guide rod 350, a first clamping block 360, a second clamping block 370 and an electromagnet 380, the second mounting plate 310 is vertically and fixedly arranged at the top of the clamping housing 320, the clamping housing 320 is connected with the first mounting plate 270 through a connecting component 280, the third motor 330 is mounted on the wall of the clamping housing 320, an output shaft of the third motor 330 is horizontally arranged, one end of the third screw 340 is coaxially and fixedly connected with an output shaft of the third motor 330, the other end of the third screw 340 is rotatably connected with the wall of the clamping housing 320, the third guide rod 350 is arranged on one side of the third screw 340 in parallel, the first clamping block 360 and the second clamping block 370 are sleeved on the third screw 340 and the third guide rod 350, the first clamping block 360 and the second clamping block 370 are structurally identical, and the opposite faces of the first clamping block 360 and the second clamping block 370 are provided with clamping grooves.
More specifically, the connection assembly 280 includes a connection shaft 281, a gear 282, a first support plate 283, a second support plate 284, a guide pillar 285, and a rack 286, where the second mounting plate 310 is located between the first mounting plates 270, the connection shaft 281 is horizontally rotatably mounted on the first mounting plates 270, the second mounting plate 310 is fixedly sleeved on the connection shaft 281, the first support plate 283 and the second support plate 284 are fixedly disposed on the surface of the second mounting plate 310, the guide pillar 285 is horizontally connected between the first support plate 283 and the second support plate 284, the guide pillar 285 is provided with two parallel racks, the rack 286 is sleeved on the guide pillar 285 through a sliding sleeve, the gear 282 is coaxially and fixedly sleeved on the end of the connection shaft 281, the gear 282 is meshed with the rack 286, the guide pillar 285 is sleeved with a first spring and a second spring, one end of the first spring contacts the first support plate 283, the other end of the first spring contacts the sliding sleeve, one end of the second spring contacts the second support plate 284, the other end of the first spring contacts the sliding sleeve, and the clamping housing 320 is in a horizontal state in an initial state.
As shown in fig. 7 and fig. 9-11, the mounting plate 260 is disc-shaped, the collar 60 is rotatably nested on the mounting plate 260, the bearing plate 610 is horizontally and fixedly arranged on the circumference of the collar 60, the adjusting mechanism 50 is arranged on the bearing plate 610, the triggering mechanism 40 is arranged on one side of the mounting plate 270, when the bar and the rod-shaped workpiece are grabbed, the bar and the rod-shaped workpiece can be clamped on the clamping block 360 and the clamping block 370, if the bar is not clamped at the center of gravity of the bar, the bar is easy to incline, so that the clamp is easy to deform, and when the bar is clamped and deviated from the center of gravity, the triggering mechanism 40 works, so that the adjusting mechanism 50 adjusts the bar to be in a horizontal state, and the clamp is prevented from deforming.
More specifically, the triggering mechanism 40 includes a fixing plate 410, a first ejector rod 420, a second ejector rod 430, a first triggering block 440, and a second triggering block 450, where the fixing plate 410 is horizontally and vertically fixed on the plate surface of the first mounting plate 270, the first ejector rod 420 and the second ejector rod 430 are vertically disposed on the fixing plate 410, the top of the first ejector rod 420 and the top of the second ejector rod 430 penetrate through the plate surface of the fixing plate 410, an external step is disposed at the top of the first ejector rod 420, an external step is disposed at the top of the second ejector rod 430, a first limiting ring 460 is fixedly sleeved on the circumference of the first ejector rod 420, a second limiting ring 470 is fixedly sleeved on the circumference of the second ejector rod 430, a third spring is sleeved on the first ejector rod 420, one end of the third spring contacts with the first limiting ring 460, the other end of the third spring contacts with the bottom of the fixing plate 410, one end of the fourth spring contacts with the bottom of the second limiting ring 470, the first triggering block 440 and the second triggering block 450 are respectively fixedly disposed at the bottom of the first ejector rod 420 and the second ejector rod 430, and the first triggering block 440 and the second triggering block 450 are mutually close to each other.
More specifically, the two end surfaces of the first trigger block 440 and the second trigger block 450, which are close to each other, are obliquely arranged, the distance between the two end surfaces of the first trigger block 440 and the second trigger block 450, which are close to each other, is gradually reduced from bottom to top, a push rod 287 is vertically and fixedly arranged at the wall of the rack 286, the push rod 287 horizontally extends, the end part of the push rod 287 is positioned between the first trigger block 440 and the second trigger block 450, a first guide plate 620 and a second guide plate 630 are fixedly arranged on the circumference of the bottom of the collar 60, the first guide plate 620 and the second guide plate 630 are symmetrically arranged, the first guide plate 620 and the second guide plate 630 are arc plates, the bottom of the first push rod 420 is close to the bottom of the first guide plate 620, the bottom of the second push rod 430 is close to the bottom of the second guide plate 630, when a bar is clamped, if the bar clamping deviates from the center of gravity and causes the clamping shell 320 to deflect clockwise, thereby driving the connecting shaft 281 and the gear 282 to rotate clockwise, thereby driving the rack 286 to move towards the direction approaching the first support plate 283, thereby driving the push rod 287 to move towards the direction approaching the first trigger block 440, then the end part of the push rod 287 is abutted against the inclined surface of the first trigger block 440, thereby driving the first trigger block 440 to move upwards, then driving the first push rod 420 to move upwards, then driving the top part of the first push rod 420 to abut against the bottom part of the first guide plate 620, thereby driving the collar 60 to rotate anticlockwise, then transferring the adjusting mechanism 50 on the bearing plate 610 to the lower end of the bar, then sucking and pulling the lower end of the bar, thereby keeping the bar horizontal, if the bar clamps off the gravity center and causes the clamp shell 320 to deflect anticlockwise, thereby driving the connecting shaft 281 and the gear 282 to rotate anticlockwise, thereby driving the rack 286 to move away from the first support plate 283, thereby driving the push rod 287 to move towards the direction approaching the second trigger block 450, then the end of the push rod 287 abuts against the inclined surface of the second trigger block 450, so as to drive the second trigger block 450 to move upwards, then drive the second push rod 430 to move upwards, then the top of the second push rod 430 abuts against the bottom of the second guide plate 630, so as to drive the collar 60 to rotate clockwise, then the adjusting mechanism 50 on the bearing plate 610 is transferred to the low-level end of the bar, and then the adjusting mechanism 50 attracts and pulls the low-level end of the bar, so that the bar is kept horizontal.
More specifically, the adjusting mechanism 50 includes a motor four 510, a screw four 520, a guide rod four 530, a connecting sleeve three 540, a connecting sleeve four 550, an electromagnet two 560, the motor four 510 is installed at the bottom of the bearing plate 610, the output shaft of the motor four 510 is vertically downward, the electromagnet two 560 is located below the bearing plate 610, the connecting sleeve three 540 and the connecting sleeve four 550 are vertically and fixedly arranged at the top of the electromagnet two 560, one end of the screw four 520 is fixedly connected with the output shaft end of the motor four 510 coaxially, the other end of the screw four 520 is sleeved in the connecting sleeve three 540, the guide rod four 530 is arranged at one side of the screw four 520 in parallel, the guide rod four 530 is sleeved in the connecting sleeve four 550, when the adjusting mechanism 50 is transferred to the low end of a bar, the motor four 510 drives the electromagnet two 560 to move downwards, so that the electromagnet two 560 contacts with the low end of the bar, the electromagnet two 560 is then moved upwards, so that the bar is driven to move upwards, and then the bar is in a horizontal state, so that the clamping shell 320 is kept in a horizontal state.
More specifically, the bottom of the first clamping block 360 and the second clamping block 370 is provided with an electromagnet 380, so that the sheet-shaped workpiece can be conveniently taken.
More specifically, the end of the bearing plate 610 is connected to the wall of the supporting frame 114 through an elastic rope 570, so as to facilitate the restoration of the bearing plate 610.
Working principle:
in the use process of the invention, when the bar and the rod-shaped workpiece are grabbed, the bar and the rod-shaped workpiece can be clamped in the clamping grooves of the clamping blocks I360 and II 370, when the bar is clamped, if the bar is clamped and deviated from the center of gravity and the clamping shell 320 is caused to deflect clockwise, the connecting shaft 281 and the gear 282 are driven to rotate clockwise, the rack 286 is driven to move towards the direction close to the support plate I283, the push rod 287 is driven to move towards the direction close to the trigger block I440, then the end part of the push rod 287 abuts against the inclined surface of the trigger block I440, the trigger block I440 is driven to move upwards, the push rod I420 is driven to move upwards, then the top part of the push rod I420 abuts against the bottom part of the guide plate I620, the collar 60 is driven to rotate anticlockwise, then the adjusting mechanism 50 on the bearing plate 610 is transferred to the low end of the bar, the adjusting mechanism 50 attracts and pulls the low end of the bar, so that the bar is kept horizontal, if the bar is clamped and deviated from the center of gravity and causes the clamping shell 320 to deflect anticlockwise, the connecting shaft 281 and the gear 282 are driven to rotate anticlockwise, the rack 286 is driven to move away from the first support plate 283, the push rod 287 is driven to move towards the direction close to the second trigger block 450, then the end part of the push rod 287 abuts against the inclined surface of the second trigger block 450, the second trigger block 450 is driven to move upwards, then the second push rod 430 is driven to move upwards, then the top part of the second push rod 430 abuts against the bottom part of the second guide plate 630, the collar 60 is driven to rotate clockwise, then the adjusting mechanism 50 on the bearing plate 610 is transferred to the low end of the bar, when the adjusting mechanism 50 is transferred to the low end of the bar, the fourth motor 510 drives the second electromagnet 560 to move downwards, so that the second electromagnet 560 contacts with the low end of the bar, the bar is attracted, and then the fourth motor 510 drives the second electromagnet 560 to move upwards, thereby moving the lower end of the bar upward and then putting the bar in a horizontal state, thereby maintaining the clamping housing 320 in a horizontal state.
It should be understood that the above description is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be apparent to those skilled in the art that various modifications, equivalents, variations, and the like can be made to the present invention. However, such modifications are intended to fall within the scope of the present invention without departing from the spirit of the present invention. In addition, some terms used in the specification and claims of the present application are not limiting, but are merely for convenience of description.
Claims (9)
1. An industrial automation control gripping device, characterized in that it comprises:
the device comprises a base, a first support plate, a first motor, a first screw rod, a first guide rod, a support frame, a mounting mechanism and a clamping mechanism, wherein the first support plate is fixedly arranged on the base, a plurality of first support plates are arranged, the first motor is mounted on the first support plate, an output shaft of the first motor is horizontally arranged, one end of the first screw rod is fixedly connected with an output shaft end of the first motor coaxially, the other end of the first screw rod is rotatably connected with a plate surface of the first support plate, the first guide rod is arranged on one side of the first screw rod in parallel, the bottom of the support frame is sleeved on the first screw rod and the first guide rod, the mounting mechanism is arranged at the top of the support frame, and the clamping mechanism is arranged on the mounting mechanism and below the mounting mechanism;
the mounting mechanism comprises a motor II, a screw rod II, a guide rod II, a connecting sleeve I, a connecting sleeve II, a mounting plate and a mounting plate I, wherein the motor II is mounted at the top of the supporting frame, an output shaft of the motor II is vertically downwards, the mounting plate is positioned below the motor II, the mounting plate is horizontally arranged, the connecting sleeve I and the connecting sleeve II are vertically fixedly arranged at the top of the mounting plate, one end of the screw rod II is coaxially and fixedly connected with the output shaft end of the motor II, the other end of the screw rod II is sleeved in the connecting sleeve I, the guide rod II is parallelly arranged on one side of the screw rod II, the bottom of the guide rod II is sleeved in the connecting sleeve II, the mounting plate I is vertically fixed at the bottom of the mounting plate, the mounting plate I is provided with two clamping mechanisms which are arranged in parallel, and the clamping mechanism is mounted at the bottom of the mounting plate through a connecting assembly.
2. The industrial automatic control grabbing device according to claim 1, wherein the clamping mechanism comprises a mounting plate II, a clamping shell, a motor III, a screw rod III, a guide rod III, a clamping block I, a clamping block II and an electromagnet, the mounting plate II is vertically and fixedly arranged at the top of the clamping shell, the clamping shell is connected with the mounting plate I through a connecting component, the motor III is mounted on the wall of the clamping shell, an output shaft of the motor III is horizontally arranged, one end of the screw rod III is fixedly connected with an output shaft end of the motor III coaxially, the other end of the screw rod III is rotatably connected with the wall of the clamping shell, the guide rod III is arranged on one side of the screw rod III in parallel, the clamping block I and the clamping block II are sleeved on the screw rod III and the guide rod III, the screw rod III is a bidirectional screw rod, the clamping block I and the clamping block II are identical in structure, and clamping grooves are formed in the opposite faces of the clamping block I and the clamping block II.
3. The industrial automatic control grabbing device according to claim 2, wherein the connecting assembly comprises a connecting shaft, a gear, a first support plate, a second support plate, a guide post and a rack, the second mounting plate is arranged between the first mounting plates, the connecting shaft is horizontally rotatably mounted on the first mounting plates, the second mounting plates are fixedly sleeved on the connecting shaft, the first support plate and the second support plate are fixedly arranged on the surface of the second mounting plates, the guide post is horizontally connected between the first support plate and the second support plate, the guide post is arranged in two and parallel, the rack is sleeved on the guide post through a sliding sleeve, the gear is coaxially and fixedly sleeved at the end part of the connecting shaft, the gear is meshed with the rack, the first spring and the second spring are sleeved on the guide post, one end of the first spring is in contact with the first support plate, the other end of the first spring is in contact with the sliding sleeve, the other end of the second spring is in contact with the sliding sleeve, and the clamping shell is in a horizontal state in an initial state.
4. An industrial automatic control gripping device according to claim 3, wherein the mounting plate is disc-shaped, a collar is rotatably nested on the mounting plate, a bearing plate is horizontally and fixedly arranged on the circumference of the collar, an adjusting mechanism is arranged on the bearing plate, and a triggering mechanism is arranged on one side of the first mounting plate.
5. The industrial automatic control grabbing device according to claim 4, wherein the triggering mechanism comprises a fixing plate, a first ejector rod, a second ejector rod, a triggering block I and a triggering block II, the fixing plate is horizontally and vertically fixed on the plate surface of the first mounting plate, the first ejector rod and the second ejector rod are vertically arranged on the fixing plate, the top of the first ejector rod and the top of the second ejector rod penetrate through the plate surface of the fixing plate, an external step is arranged at the top of the first ejector rod, an external step is arranged at the top of the second ejector rod, a limiting ring I is fixedly sleeved on the circumference of the first ejector rod, a limiting ring II is fixedly sleeved on the circumference of the second ejector rod, a spring III is sleeved on the first ejector rod, one end of the spring III is in contact with the limiting ring I, the other end of the spring IV is in contact with the bottom of the fixing plate, the triggering block I and the triggering block II are fixedly arranged at the bottom of the first ejector rod and the second ejector rod, and the triggering block I and the triggering block II are close to each other.
6. The industrial automatic control grabbing device according to claim 5, wherein two end faces of the first trigger block and the second trigger block, which are close to each other, are obliquely arranged, the distance between the two end faces of the first trigger block and the second trigger block, which are close to each other, is gradually reduced from bottom to top, a push rod is vertically and fixedly arranged on the wall portion of the rack, the push rod horizontally extends, the end portion of the push rod is located between the first trigger block and the second trigger block, a first guide plate and a second guide plate are fixedly arranged on the circumference of the bottom of the lantern ring, the first guide plate and the second guide plate are symmetrically arranged, the first guide plate and the second guide plate are arc-shaped plates, the bottom of the push rod is close to the bottom of the first guide plate, and the bottom of the push rod is close to the bottom of the second guide plate.
7. The industrial automatic control grabbing device according to claim 6, wherein the adjusting mechanism comprises a motor IV, a screw rod IV, a guide rod IV, a connecting sleeve III, a connecting sleeve IV and an electromagnet II, the motor IV is arranged at the bottom of the bearing plate, an output shaft of the motor IV is vertically downward, the electromagnet II is arranged below the bearing plate, the connecting sleeve III and the connecting sleeve IV are vertically and fixedly arranged at the top of the electromagnet II, one end of the screw rod IV is fixedly connected with an output shaft end of the motor IV coaxially, the other end of the screw rod IV is sleeved in the connecting sleeve III, the guide rod IV is arranged on one side of the screw rod IV in parallel, and the guide rod IV is sleeved in the connecting sleeve IV.
8. The industrial automatic control gripping device according to claim 7, wherein the first electromagnet is arranged at the bottom of the first clamping block and the second clamping block, and the end part of the bearing plate is connected with the wall part of the supporting frame through an elastic rope.
9. The gripping method of an industrial automatic control gripping device according to claim 8, wherein the method comprises the steps of:
when the bar and the rod-shaped workpiece are grabbed, the bar and the rod-shaped workpiece can be clamped in the clamping grooves of the first clamping block and the second clamping block, when the bar is clamped, if the bar is clamped and deviated from the center of gravity and causes the clamping shell to deflect clockwise, the connecting shaft and the gear are driven to rotate clockwise, the rack is driven to move towards the direction close to the first supporting plate, the push rod is driven to move towards the direction close to the first triggering block, then the end part of the push rod is abutted against the inclined surface of the first triggering block, the first triggering block is driven to move upwards, the push rod is driven to move upwards, then the top part of the first push rod is abutted against the bottom of the first guiding plate, the lantern ring is driven to rotate anticlockwise, then the adjusting mechanism on the bearing plate is transferred to the low end of the bar, and then the adjusting mechanism attracts and pulls the low end of the bar, so that the bar is kept horizontal;
if the bar is clamped and deviated from the center of gravity and causes the clamping shell to deflect anticlockwise, the connecting shaft and the gear are driven to rotate anticlockwise, the rack is driven to move in a direction away from the first support plate, the push rod is driven to move in a direction close to the second trigger block, then the end part of the push rod abuts against the inclined surface of the second trigger block, the second trigger block is driven to move upwards, the second push rod is driven to move upwards, then the top part of the second push rod abuts against the bottom part of the second guide plate, the lantern ring is driven to rotate clockwise, and then the adjusting mechanism on the bearing plate is transferred to the low end of the bar;
when the adjusting mechanism is transferred to the low end of the bar, the motor IV drives the electromagnet II to move downwards, so that the electromagnet II is contacted with the low end of the bar, the bar is attracted, then the motor IV drives the electromagnet II to move upwards, so that the low end of the bar is driven to move upwards, then the bar is in a horizontal state, and the clamping shell is kept in the horizontal state.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311604785.9A CN117340918A (en) | 2023-11-29 | 2023-11-29 | Industrial automatic control grabbing device and grabbing method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311604785.9A CN117340918A (en) | 2023-11-29 | 2023-11-29 | Industrial automatic control grabbing device and grabbing method |
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| CN117340918A true CN117340918A (en) | 2024-01-05 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202311604785.9A Pending CN117340918A (en) | 2023-11-29 | 2023-11-29 | Industrial automatic control grabbing device and grabbing method |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117645148A (en) * | 2024-01-30 | 2024-03-05 | 成都大学 | Turnover grabbing mechanical arm |
| CN117863722A (en) * | 2024-03-12 | 2024-04-12 | 烟台市裕同印刷包装有限公司 | Automatic printing equipment |
-
2023
- 2023-11-29 CN CN202311604785.9A patent/CN117340918A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117645148A (en) * | 2024-01-30 | 2024-03-05 | 成都大学 | Turnover grabbing mechanical arm |
| CN117645148B (en) * | 2024-01-30 | 2024-04-02 | 成都大学 | Turnover grabbing mechanical arm |
| CN117863722A (en) * | 2024-03-12 | 2024-04-12 | 烟台市裕同印刷包装有限公司 | Automatic printing equipment |
| CN117863722B (en) * | 2024-03-12 | 2024-05-17 | 烟台市裕同印刷包装有限公司 | Automatic printing equipment |
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