CN203171619U - Efficient grabbing mechanism and grinding device - Google Patents
Efficient grabbing mechanism and grinding device Download PDFInfo
- Publication number
- CN203171619U CN203171619U CN 201320042748 CN201320042748U CN203171619U CN 203171619 U CN203171619 U CN 203171619U CN 201320042748 CN201320042748 CN 201320042748 CN 201320042748 U CN201320042748 U CN 201320042748U CN 203171619 U CN203171619 U CN 203171619U
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- grasping mechanism
- guide rail
- cylinder
- grippers
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Abstract
The utility model relates to the technical field of grabbing mechanisms and discloses an efficient grabbing mechanism and a grinding device. The efficient grabbing mechanism comprises a movable assembly and a mechanical hand, wherein a linking block which can move in the horizontal direction, the perpendicular direction and the vertical direction is arranged on the movable assembly, the linking block is connected with a rotating assembly which can move along with the linking block, and the mechanical hand comprises a plurality of grabbing pieces which are used for grabbing workpieces. The grabbing pieces are jointly connected to the rotating assembly and arranged in a claw-type mode. The mechanical hand is driven by the movable assembly and can move in the horizontal direction, the perpendicular direction and the vertical direction, the grabbing pieces which are arranged on the mechanical hand can grab the workpieces, when one grabbing piece grabs one workpiece, other grabbing pieces on the mechanical hand can also continuously grab the workpieces through rotation of the rotating assembly, and therefore the mechanical hand can simultaneously grab the plurality of workpieces. Operation time is greatly shortened, operation efficiency is improved, and for the grinding device which comprises the grabbing mechanism, the machining efficiency of the grinding device is also greatly improved.
Description
Technical field
The utility model relates to the technical field of grasping mechanism, the lapping device that relates in particular to efficient grasping mechanism and comprise this efficient grasping mechanism.
Background technology
Along with constantly bringing forth new ideas of science and technology, in various automatic processing apparatus, for realizing automation processing, wherein all be provided with grasping mechanism, be used for grasping the workpiece that need process or process, realize operation of feeding and discharging.
In the prior art, grasping mechanism generally all includes moving assembly and is installed in manipulator on the moving assembly, moving assembly drives manipulator and moves, generally all be provided with grippers in the manipulator, be used for grasping workpiece to be processed or that process, in existing grasping mechanism, only be provided with single grippers in the manipulator, by this grippers grabbing workpiece, carry out the operation of extracting and blowing simultaneously, like this, after the grippers grabbing workpiece, after it need wait for that workpiece is transferred, just can grasp another workpiece again, just can not carry out a plurality of grasping manipulations simultaneously, make that the efficient of grasping mechanism is lower, influence the operating efficiency of processing unit (plant).
The utility model content
The purpose of this utility model is to provide efficient grasping mechanism, is intended to solve grasping mechanism of the prior art and can not grasps a plurality of workpiece so that ineffective problem simultaneously.
The utility model is to realize like this, efficient grasping mechanism, comprise moving assembly and manipulator, described moving assembly is provided with the linking piece that can move in horizontal direction, vertical direction and vertical direction, described linking piece is connected with the rotary components that moves with it, described manipulator comprises a plurality of grippers for grabbing workpiece, and a plurality of described grippers are connected in rotary components jointly, and is pawl formula layout.
Further, described moving assembly comprises and moves horizontally structure, is connected in and describedly moves horizontally structure and driven the vertical moving structure that along continuous straight runs moves and be connected in described vertical moving structure and drive the vertical moving structure that moves in the vertical direction by described vertical moving structure by the described structure that moves horizontally, described linking piece is connected in described vertical moving structure, and is driven vertically mobile by described vertical moving structure.
Further, the described structure that moves horizontally comprises horizontal guide rail and the first power spare of arranging in horizontal direction, described vertical moving structure comprises vertical guide rail and the second power spare of arranging in vertical direction, described vertical moving structure comprises upright guide rail and the 3rd power spare that is the vertical direction layout, described vertical guide rail connects described horizontal guide rail by moving horizontally piece, the described piece that moves horizontally is connected in the described first power spare, described upright guide rail is connected in described vertical guide rail by vertical movable block, described vertical movable block is connected in the described second power spare, described linking piece places on the described upright guide rail, and is connected in described the 3rd power spare.
Further, described rotary components comprises the rotary cylinder that is connected in described linking piece, the rolling disc that is connected in described rotary cylinder and rotates with described rotary cylinder, be connected with contiguous block on the described rolling disc, a plurality of described grippers one ends are connected to described contiguous block, and the other end forms the pawl formula and arranges.
Further, described rotary cylinder is provided with the inductor of the described rotary cylinder rotational angle of induction.
Further, be connected with the buffer of the energy that produces for the described rotary cylinder rotation of buffering on the described contiguous block.
Further, described grippers comprises cylinder and connects described cylinder and grab part by the hand of described air cylinder driven grabbing workpiece that described cylinder is connected in described contiguous block.
Further, described hand is grabbed part and is comprised the strip fingers that is connected in described cylinder and be used for draws workpiece and the tabular fingers that is connected in described cylinder, described tabular fingers and described strip fingers are set up in parallel, and its lower end is provided with the opening that passes for workpiece.
Further, the quantity of described grippers is two, and two described grippers at right angles intersect arranges.
The utility model also provides lapping device, comprises above-mentioned efficient grasping mechanism.
Compared with prior art, manipulator in the utility model is driven by moving assembly, can be in the horizontal direction, mobile on vertical direction and the vertical direction, and, when manipulator moves to correct position, grippers on it can grasp to be processed or manufactured workpiece, when a certain grippers has grasped workpiece, rotates by runner assembly, other grippers on the manipulator also can continue grabbing workpiece, like this, guarantee that manipulator can grasp a plurality of workpiece simultaneously, shorten the operating time greatly, improve operating efficiency, certainly, for the lapping device that comprises this grasping mechanism, its working (machining) efficiency also improves greatly.
Description of drawings
Fig. 1 is the schematic perspective view of the efficient grasping mechanism that provides of the utility model embodiment;
Fig. 2 is the schematic perspective view of the manipulator that provides of the utility model embodiment;
The specific embodiment
In order to make the purpose of this utility model, technical scheme and advantage clearer, below in conjunction with drawings and Examples, the utility model is further elaborated.Should be appreciated that specific embodiment described herein only in order to explaining the utility model, and be not used in restriction the utility model.
Below in conjunction with concrete accompanying drawing realization of the present utility model is described in detail.
Shown in Fig. 1 ~ 2, a preferred embodiment that provides for the utility model.
With reference to Fig. 1, the grasping mechanism 1 that present embodiment provides is used for grasping to be processed or manufactured workpiece 2, and the shape of workpiece 2 can be various, is not restricted to the sample that present embodiment provides.Directions X among the definition figure is horizontal direction, and Y-direction is vertical direction, and the Z direction is vertical direction.
Grasping mechanism 1 comprises moving assembly and manipulator, this moving assembly is provided with the linking piece 14 that can move in horizontal direction, vertical direction and vertical direction, manipulator comprises a plurality of grippers, a plurality of grippers are the formula of grabbing and arrange, be connected on the runner assembly jointly, this rotary components can rotate, and it is connected and is connected on the piece 14.
Like this, driven by moving assembly, being connected piece 14 can be in the horizontal direction, mobile on vertical direction and the vertical direction, and, drive connection manipulator thereon also in the horizontal direction, mobile on vertical direction and the vertical direction, when manipulator moves to correct position, grippers on it can grasp to be processed or manufactured workpiece 2, when a certain grippers has grasped workpiece 2, rotate by runner assembly, other grippers on the manipulator also can continue grabbing workpiece 2, like this, guarantee that manipulator can grasp a plurality of workpiece 2 simultaneously, shorten the operating time greatly, improve operating efficiency, certainly, for processing unit (plant), its working (machining) efficiency also improves greatly.
With reference to Fig. 1, above-mentioned moving assembly comprises and moves horizontally structure 11, is connected this and moves horizontally the vertical moving structure 12 of structure 11 and be connected vertical moving structure 13 on the vertical moving structure 12, moving horizontally the vertical moving structure 12 that structure 11 drives on it moves in the horizontal direction, it is mobile in vertical direction that vertical moving structure 12 drives the vertical moving structure 13 that connects thereon, above-mentioned linking piece 14 is connected on the vertical moving structure 13, and it can be driven by vertical moving structure 13 and move at vertical direction.Like this, under the acting in conjunction that moves horizontally structure 11, vertical moving structure 12 and vertical moving structure 13, being connected piece 14 can be in the horizontal direction, mobile on vertical direction and the vertical direction, thereby the driving device hand in the horizontal direction, mobile on vertical direction and the vertical direction, and then obtain the workpiece 2 of the optional position on the solid space.
Particularly, move horizontally structure 11 and comprise horizontal guide rail 111 and the first power spare 112 that is horizontally disposed, vertical moving structure 12 comprises and is vertically arranged vertical guide rail 121 and the second power spare 122 that vertically moving structure 13 comprises upright guide rail 131 and the 3rd power spare 132 that is vertical layout.Vertical guide rail 121 is connected on the horizontal guide rail 111 by moving horizontally piece 113, and is connected on the first power spare 112, and is mobile at horizontal guide rail 111 by these first power spare, 112 drivers; Upright guide rail 131 is connected on the vertical guide rail 121 by vertical movable block 133, and is connected on the second power spare 122, drives it by this second power spare 122 and moves along vertical guide rail 121; Above-mentioned linking piece 14 is arranged on the upright guide rail 131, and connects the 3rd power spare 132, drive it by the 3rd power spare 132 and move along upright guide rail 131, thereby make on it manipulator also in the vertical direction move.
In the present embodiment, the first power spare 112 and the second power spare 122 are respectively stepper motors, and the 3rd power spare 132 is electric cylinder, and certainly, the first power spare 112, the second power spare 122 and the 3rd power spare 132 also can be other dynamical element.
With reference to Fig. 2, above-mentioned rotary components comprises the rotary cylinder 158 that is connected on the linking piece 14, be connected the rotating disc 151 on the rotary cylinder 158 and be connected contiguous block 152 on this rotating disc 151, be connected piece 14, being superimposed shape between rotating disc 151 and contiguous block 152 threes connects, this rotating disc 151 and contiguous block 152 drive rotation by rotary cylinder 158, one end of a plurality of grippers is connected in the connection jointly, the other end is claw-like and arranges, like this, rotation by rotary cylinder 158, can change the position between a plurality of grippers, thereby realize changing the effect of grabbing workpiece 2.
In order to guarantee the precision of rotary cylinder 158 in rotation process, which is provided with inductor 157, be used for the rotational angle of induction rotary cylinder 158, like this, can guarantee the precision of a plurality of grippers in rotation transposition process, avoid rotating phenomenon not in place or the mistake position.
On contiguous block 152, also be provided with buffer 153, be used for energy and resistance that buffering rotary cylinder 158 produces at rotation process.Periphery around contiguous block 152 is arranged, is connected with the buffer 153 of a plurality of alternate layouts on the contiguous block 152, and certainly, the quantity of buffer 153 can be decided according to the actual requirements.
In the present embodiment, grippers comprises that cylinder 154 and the hand that is connected on the cylinder 154 grab part, and cylinder 154 is connected on the contiguous block 152, and hand is grabbed part and is connected on the cylinder 154, drives grabbing workpieces 2 by this cylinder 154.
Particularly, hand is grabbed part and is comprised the strip fingers 155 that is connected on the cylinder 154, draws workpiece 2 by this strip fingers 155, thereby realizes the extracting to workpiece 2.
In order to use various workpieces 2 needs, above-mentioned hand is grabbed part and is also comprised tabular fingers 156, itself and strip fingers 155 are set up in parallel, its lower end is provided with opening, like this, after strip fingers 155 is drawn workpiece 2, be the workpiece 2 of strip for some structures, this opening can pass for workpiece 2, avoids forming and interferes.
Certainly, the shape of grippers is not restricted to the structure in the present embodiment, and it can also be other multiple structure, if its can satisfy 2 of grabbing workpieces can.
Particularly, the quantity of the grippers in the present embodiment is two, and these two grippers are at right angles arranged, just form 90 ° of angles each other, and like this, rotating disc 151 is in rotating process, and directly half-twist then can.Certainly, grippers can also be more than two, and like this, according to the angle between the adjacent grippers, the angle that rotating disc 151 rotates is then different.
Present embodiment also provides lapping device, it comprises above-mentioned grasping mechanism 1, like this, utilizes this grasping mechanism 1 to grasp to need and grinds or ground workpiece, because the high efficiency of this grasping mechanism 1, thereby make that also the grinding efficiency of lapping device is higher.
The above only is preferred embodiment of the present utility model; not in order to limit the utility model; all any modifications of within spirit of the present utility model and principle, doing, be equal to and replace and improvement etc., all should be included within the protection domain of the present utility model.
Claims (10)
1. efficient grasping mechanism, it is characterized in that, comprise moving assembly and manipulator, described moving assembly is provided with the linking piece that can move in horizontal direction, vertical direction and vertical direction, described linking piece is connected with the rotary components that moves with it, described manipulator comprises a plurality of grippers for grabbing workpiece, and a plurality of described grippers are connected in rotary components jointly, and is pawl formula layout.
2. efficient grasping mechanism as claimed in claim 1, it is characterized in that, described moving assembly comprises and moves horizontally structure, is connected in and describedly moves horizontally structure and driven the vertical moving structure that along continuous straight runs moves and be connected in described vertical moving structure and drive the vertical moving structure that moves in the vertical direction by described vertical moving structure by the described structure that moves horizontally, described linking piece is connected in described vertical moving structure, and is driven vertically mobile by described vertical moving structure.
3. efficient grasping mechanism as claimed in claim 2, it is characterized in that, the described structure that moves horizontally comprises horizontal guide rail and the first power spare of arranging in horizontal direction, described vertical moving structure comprises vertical guide rail and the second power spare of arranging in vertical direction, described vertical moving structure comprises upright guide rail and the 3rd power spare that is the vertical direction layout, described vertical guide rail connects described horizontal guide rail by moving horizontally piece, the described piece that moves horizontally is connected in the described first power spare, described upright guide rail is connected in described vertical guide rail by vertical movable block, described vertical movable block is connected in the described second power spare, described linking piece places on the described upright guide rail, and is connected in described the 3rd power spare.
4. as each described efficient grasping mechanism of claim 1 to 3, it is characterized in that, described rotary components comprises the rotary cylinder that is connected in described linking piece, the rolling disc that is connected in described rotary cylinder and rotates with described rotary cylinder, be connected with contiguous block on the described rolling disc, a plurality of described grippers one ends are connected to described contiguous block, and the other end forms the pawl formula and arranges.
5. efficient grasping mechanism as claimed in claim 4 is characterized in that, described rotary cylinder is provided with the inductor of the described rotary cylinder rotational angle of induction.
6. efficient grasping mechanism as claimed in claim 4 is characterized in that, is connected with the buffer of the energy that produces for the described rotary cylinder rotation of buffering on the described contiguous block.
7. efficient grasping mechanism as claimed in claim 4 is characterized in that, described grippers comprises cylinder and connect described cylinder and grab part by the hand of described air cylinder driven grabbing workpiece that described cylinder is connected in described contiguous block.
8. efficient grasping mechanism as claimed in claim 7, it is characterized in that, described hand is grabbed part and is comprised the strip fingers that is connected in described cylinder and be used for draws workpiece and the tabular fingers that is connected in described cylinder, described tabular fingers and described strip fingers are set up in parallel, and its lower end is provided with the opening that passes for workpiece.
9. as each described efficient grasping mechanism of claim 1 to 3, it is characterized in that the quantity of described grippers is two, two described grippers at right angles intersect arranges.
10. lapping device is characterized in that, comprises each described efficient grasping mechanism of claim 1 ~ 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320042748 CN203171619U (en) | 2013-01-25 | 2013-01-25 | Efficient grabbing mechanism and grinding device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320042748 CN203171619U (en) | 2013-01-25 | 2013-01-25 | Efficient grabbing mechanism and grinding device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203171619U true CN203171619U (en) | 2013-09-04 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201320042748 Expired - Fee Related CN203171619U (en) | 2013-01-25 | 2013-01-25 | Efficient grabbing mechanism and grinding device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203171619U (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103802121A (en) * | 2014-02-11 | 2014-05-21 | 喻铁军 | Positioning structure of clamp assembly |
| CN103862369A (en) * | 2014-03-25 | 2014-06-18 | 昆山艾思迪机械科技有限公司 | Automatic feeding and discharging mechanism of six-shaft five-linkage tool grinder |
| CN104759982A (en) * | 2015-03-31 | 2015-07-08 | 湖北远蓝机器有限公司 | Grinding machine |
| CN105081916A (en) * | 2015-07-28 | 2015-11-25 | 横店集团东磁股份有限公司 | Automatic burr removing, composing and conveying integrated system for magnetic shoes |
| CN105081470A (en) * | 2015-07-28 | 2015-11-25 | 横店集团东磁股份有限公司 | Automatic magnetic shoe processing equipment |
| CN105366357A (en) * | 2015-11-11 | 2016-03-02 | 宁波长壁流体动力科技有限公司 | Rotary feeding device |
| CN105583804A (en) * | 2016-01-25 | 2016-05-18 | 玉环县中等职业技术学校 | Mechanical arm |
| CN108313693A (en) * | 2018-02-12 | 2018-07-24 | 横店集团东磁股份有限公司 | A kind of automatic production line and its implementation suitable for magnetic shoe production |
| CN110668165A (en) * | 2019-10-28 | 2020-01-10 | 青岛萨沃特机器人有限公司 | Material grabbing hand device |
-
2013
- 2013-01-25 CN CN 201320042748 patent/CN203171619U/en not_active Expired - Fee Related
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103802121A (en) * | 2014-02-11 | 2014-05-21 | 喻铁军 | Positioning structure of clamp assembly |
| CN103862369A (en) * | 2014-03-25 | 2014-06-18 | 昆山艾思迪机械科技有限公司 | Automatic feeding and discharging mechanism of six-shaft five-linkage tool grinder |
| CN104759982A (en) * | 2015-03-31 | 2015-07-08 | 湖北远蓝机器有限公司 | Grinding machine |
| CN105081916A (en) * | 2015-07-28 | 2015-11-25 | 横店集团东磁股份有限公司 | Automatic burr removing, composing and conveying integrated system for magnetic shoes |
| CN105081470A (en) * | 2015-07-28 | 2015-11-25 | 横店集团东磁股份有限公司 | Automatic magnetic shoe processing equipment |
| CN105366357A (en) * | 2015-11-11 | 2016-03-02 | 宁波长壁流体动力科技有限公司 | Rotary feeding device |
| CN105583804A (en) * | 2016-01-25 | 2016-05-18 | 玉环县中等职业技术学校 | Mechanical arm |
| CN108313693A (en) * | 2018-02-12 | 2018-07-24 | 横店集团东磁股份有限公司 | A kind of automatic production line and its implementation suitable for magnetic shoe production |
| CN108313693B (en) * | 2018-02-12 | 2023-09-05 | 横店集团东磁股份有限公司 | Automatic production line suitable for magnetic shoe production and implementation method thereof |
| CN110668165A (en) * | 2019-10-28 | 2020-01-10 | 青岛萨沃特机器人有限公司 | Material grabbing hand device |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20130904 Termination date: 20190125 |