CN205290944U - Machinery grabber - Google Patents
Machinery grabber Download PDFInfo
- Publication number
- CN205290944U CN205290944U CN201620036417.8U CN201620036417U CN205290944U CN 205290944 U CN205290944 U CN 205290944U CN 201620036417 U CN201620036417 U CN 201620036417U CN 205290944 U CN205290944 U CN 205290944U
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- axis motion
- driving mechanism
- grabber
- machinery
- clamping jaw
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Abstract
The utility model relates to a machinery grabber, include the three -dimensional moving platform and the tongs device that constitute by X axle motion, Y axle motion, Z axle motion, the tongs device includes that the left and right sides that is connected with Z axle motion revolves the lead screw, about revolve be equipped with two on the lead screw can be at gliding slider under the actuating mechanism drive, two each is connected two with a centre gripping arm that is parallel to each other with X axle motion the slider a set of clamping jaw structure is respectively established to two tip of centre gripping arm. Machinery grabber can effectively extend the scope that snatchs of tongs device.
Description
Technical field
This utility model relates to a kind of machinery grabbing device, is specifically related to a kind of three-dimensional machinery grabber expanding crawl scope.
Background technology
In full-automation experiment or production platform, due to the difference of production technology or experimental procedure, it usually needs realize material container transfer between the internal different station of operating platform. At present, it is possible to realize material container clamping and in spatial environments the equipment of movement be three-dimensional machinery grabber. By setting certain control program, three-dimensional machinery grabber can move to specifying station to clamp specific material container, or by after the clamping of specific material container, move and put to specifying station. But, existing three-dimensional machinery grabber, typically directly clamping jaw structure is arranged on Z axis motion. Inside operating platform, the crawl scope of mechanical gripper, clamping jaw structure limit along the movement travel of X-axis. Therefore, for being positioned over the material container on the operating platform beyond the scope corresponding to X-axis motion, the mechanical grabber of this traditional structural design, often cannot realize clamping or transfer operation.
Utility model content
The material container on the operating platform beyond the scope corresponding to X-axis motion can be captured to realize machinery grabber, this utility model provides one and is arranged in double fastener gripping arm by clamping jaw structure, and the mechanical grabber that two clamping limbs are paralleled with X-axis motion.
This utility model solves above-mentioned technical problem and be the technical scheme is that a kind of machinery grabber, including the three-dimensional movement platform being made up of X-axis motion, Y-axis motion, Z axis motion and gripper equipment,
Described Y-axis motion is slidably mounted on X-axis motion, and under the first driving mechanism drives, slides along X-direction;
Described Z axis motion is slidably mounted on Y-axis motion, and under the second driving mechanism drives, slides in Y direction;
Described gripper equipment is installed on Z axis motion;
Described Z axis motion under the 3rd driving mechanism drives, can drive gripper equipment to slide up and down along Z-direction;
Described gripper equipment includes the left-right rotary screw mandrel being connected with Z axis motion, described left-right rotary screw mandrel is provided with two slide blocks that can drive lower slider at the 4th driving mechanism, two described slide blocks are respectively connected with a clamping limb being parallel to each other with X-axis motion, and two ends of two described clamping limbs respectively set one group of clamping jaw structure.
In machinery grabber described in the utility model, Y-axis motion, under the driving of the first driving mechanism, horizontally slips along X-direction, and drives the material container corresponding to X-direction on gripper equipment grasping manipulation platform; Z axis motion, under the driving of the second drive motor, along Y direction slide anteroposterior, and drives the material container corresponding to Y direction on gripper equipment grasping manipulation platform; Z axis motion drives gripper equipment to move up and down along Z-direction under the 3rd driving mechanism drives. Simultaneously, owing to gripper equipment described in the utility model is made up of double fastener gripping arm and two groups of clamping jaw structures being installed in double fastener gripping arm, when Y-axis motion slides to X-axis motion end, double fastener gripping arm can be extended out outside X-axis motion, drives on gripper equipment grasping manipulation platform corresponding to the material container beyond X-axis motion scope. Compared with traditional mechanical grabber, the crawl scope of gripper equipment expanded by machinery grabber described in the utility model.
As preferably, described left-right rotary screw mandrel is arranged close in arbitrary group of clamping jaw structure place. Left-right rotary screw mandrel is arranged close to arbitrary group of place in two groups of clamping jaw structures, it is possible to achieve double fastener gripping arm extends X-axis motion to greatest extent, captures the material container being positioned over operating platform edge.
As preferably, two described clamping limbs are slidably mounted on coupled slide block respectively. Two clamping limbs are slidably mounted on coupled slide block so that gripper equipment is capable of on two-way grasping manipulation platform corresponding to the material container beyond X-axis motion scope.
Further, described the first driving mechanism, the second driving mechanism, the 3rd driving mechanism, the 4th driving mechanism are servomotor or electricity cylinder.
As preferably, often organizing described clamping jaw structure and include two V-type grip blocks cooperated, connecting V-type supporting plate bottom each described V-type grip block, often two V-type supporting plates on group jaw cooperate setting. The clamping jaw structure that said structure is arranged just can stably capture the bottleneck of material container under less moment of torsion, it is achieved the transhipment of container also positions.
This utility model compared with the existing technology has the following advantages and effect:
1, machinery grabber described in the utility model is three-dimensional machinery grabber, it is possible not only to capture the material container on operating platform corresponding with X-axis motion according to program setting, and can also capture with the scope corresponding to X-axis motion beyond operating platform on material container, compared with traditional mechanical grabber, expand crawl scope.
2, machinery grabber described in the utility model, arranges two groups of clip claw mechanisms on two clamping limbs, is effectively increased the integrally-built stability of clamping limb.
3, machinery grabber described in the utility model, is disposed in proximity to left-right rotary screw mandrel arbitrary one group of place of two groups of clamping jaw structures, it is possible to achieve clamping limb extends X-axis motion to greatest extent, expands crawl scope.
4, two clamping limbs described in the utility model are slidably mounted on the slide block on left-right rotary screw mandrel, it is possible to achieve the two-way crawl of gripper equipment, crawl scope expands further.
Accompanying drawing explanation
In order to be illustrated more clearly that this utility model embodiment or technical scheme of the prior art, the accompanying drawing used required in embodiment or description of the prior art will be briefly described below, apparently, accompanying drawing in the following describes is only embodiments more of the present utility model, for those of ordinary skill in the art, under the premise not paying creative work, it is also possible to obtain other accompanying drawing according to these accompanying drawings.
Fig. 1 is the structural representation of machinery grabber described in the utility model.
Fig. 2 is the structural representation of gripper equipment described in the utility model.
Fig. 3 is the schematic diagram of clamping jaw structure described in the utility model
Label declaration: 1, X-axis motion; 11, the first driving mechanism; 2, Y-axis motion; 21, the second driving mechanism; 3, Z axis motion; 31, the 3rd driving mechanism; 4, gripper equipment; 41, left-right rotary screw mandrel; 42, clamping limb; 43, clamping jaw structure; 44, V-type grip block; 45, V-type supporting plate; 46, the 4th driving mechanism.
Detailed description of the invention
Below in conjunction with embodiment, this utility model being described in further detail, following example are that this utility model is not limited to following example to explanation of the present utility model.
Embodiment 1: as shown in Figures 1 to 3, a kind of machinery grabber, including the three-dimensional movement platform being made up of X-axis motion 1, Y-axis motion 2, Z axis motion 3 and gripper equipment 4,
Described Y-axis motion 2 is slidably mounted on X-axis motion 1, and described Y-axis motion 2, under the first driving mechanism 11 drives, slides along X-direction;
Described Z axis motion 3 is slidably mounted on Y-axis motion 2, and described Z axis motion 3, under the second driving mechanism 21 drives, slides along Y direction;
Described gripper equipment 4 is installed on Z axis motion 3;
Described Z axis motion 3, under the 3rd driving mechanism 31 drives, drives gripper equipment 4 to slide up and down along Z-direction;
Described gripper equipment 4 includes the left-right rotary screw mandrel 41 being connected with Z axis motion 3, described left-right rotary screw mandrel 41 is provided with slide rail, described slide rail is provided with two two slide blocks being mutually matched and can slide along slide rail under the 4th driving mechanism 46 drives with it, two described slide blocks are respectively connected with a clamping limb 42 being parallel to each other with X-axis motion 1, two ends of two described clamping limbs 42 respectively set one group of clamping jaw structure 43, often organize described clamping jaw structure 43 and include two V-type grip blocks 44 cooperated, V-type supporting plate 45 is connected bottom each described V-type grip block 44, often two V-type supporting plates 45 on group jaw 43 cooperate setting.
In the present embodiment 1, described first driving mechanism the 11, second driving mechanism the 21, the 3rd driving mechanism the 31, the 4th driving mechanism 46 is servomotor or electricity cylinder.
In the mechanical grabber described in the present embodiment 1, Y-axis motion 2 can drive gripper equipment 4 to move left and right along X-direction; Z axis motion 3 can drive gripper equipment 4 to move forward and backward along Y direction; Z axis motion 3, under the 3rd driving mechanism 31 drives, drives gripper equipment 4 to move up and down along Z-direction.
Specifically, the gripper equipment 4 described in the present embodiment 1, along X-axis, Y-axis and Z-direction moving process, can capture the material container on the operating platform corresponding to X-axis motion 1. Simultaneously, when Y-axis motion 2 slides to X-axis motion 1 end, the double fastener gripping arm 42 of gripper equipment 4 extends to the outside of X-axis motion 1, clamping jaw structure 43 can capture the material container on the operating platform beyond corresponding to X-axis motion 1 scope, compared with conventional mechanical grabber, expand crawl scope.
Embodiment 2: a kind of machinery grabber described in the present embodiment 2 is distinctive in that with embodiment 1, and described left-right rotary screw mandrel 41 is arranged close in arbitrary group of clamping jaw structure 43 place. Two clamping limbs 42 of the mechanical grabber described in the present embodiment 2 can extend X-axis motion 1 to greatest extent, captures corresponding to the material container on the operating platform beyond X-axis motion 1 scope.
Embodiment 3: a kind of machinery grabber described in the present embodiment 3 is distinctive in that with embodiment 1 or embodiment 2, and two described clamping limbs 42 are slidably mounted on coupled slide block respectively. The double fastener gripping arm 42 being connected with two skid on left-right rotary screw mandrel 41, it is possible to achieve corresponding to the crawl of the material container on the both sides operating platform beyond X-axis motion 1 scope, and the maximization of the scope of crawl.
Mechanical grabber described in this utility model embodiment 1, embodiment 2, embodiment 3 according to the program set, can have been controlled crawl and the transhipment of automated material container by controller. The design of concrete Automated condtrol program, is referred to prior art.
Furthermore, it is necessary to illustrate, the specific embodiment described in this specification, the shape of its parts and components, be named title etc. can be different. All equivalences done according to the structure described in this utility model inventional idea, feature and principle or simple change, be all included in the protection domain of this utility model patent. Described specific embodiment can be made various amendment or supplements or adopt similar mode to substitute by this utility model person of ordinary skill in the field; without departing from structure of the present utility model or surmount the scope that present claims book is defined, protection domain of the present utility model all should be belonged to.
Claims (5)
1. a mechanical grabber, including the three-dimensional movement platform being made up of X-axis motion (1), Y-axis motion (2), Z axis motion (3) and gripper equipment (4),
Described Y-axis motion (2) is slidably mounted on X-axis motion (1), and under the first driving mechanism (11) drives, slides along X-direction;
Described Z axis motion (3) is slidably mounted on Y-axis motion (2), and under the second driving mechanism (21) drives, slides along Y direction;
Described gripper equipment (4) is installed on Z axis motion (3);
Described Z axis motion (3) under the 3rd driving mechanism (31) drives, can drive gripper equipment (4) to slide up and down along Z-direction;
It is characterized in that, described gripper equipment (4) includes the left-right rotary screw mandrel (41) being connected with Z axis motion (3), described left-right rotary screw mandrel (41) is provided with two slide blocks that can drive lower slider at the 4th driving mechanism (46), two described slide blocks are respectively connected with a clamping limb (42) being parallel to each other with X-axis motion (1), and two ends of two described clamping limbs (42) respectively set one group of clamping jaw structure (43).
2. machinery grabber according to claim 1, it is characterised in that described left-right rotary screw mandrel (41) is arranged close in arbitrary group of clamping jaw structure (43) place.
3. machinery grabber according to claim 1, it is characterised in that two described clamping limbs (42) are slidably mounted on coupled slide block respectively.
4. the mechanical grabber according to Claims 2 or 3, it is characterized in that, described the first driving mechanism (11), the second driving mechanism (21), the 3rd driving mechanism (31), the 4th driving mechanism (46) are servomotor or electricity cylinder.
5. machinery grabber according to claim 4, it is characterized in that, often organize described clamping jaw structure (43) and include two V-type grip blocks (44) cooperated, each described V-type grip block (44) bottom connects V-type plate supporting plate (45), often organizes two V-type supporting plates (45) on clamping jaw structure (43) and cooperates setting.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620036417.8U CN205290944U (en) | 2016-01-15 | 2016-01-15 | Machinery grabber |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620036417.8U CN205290944U (en) | 2016-01-15 | 2016-01-15 | Machinery grabber |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205290944U true CN205290944U (en) | 2016-06-08 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620036417.8U Active CN205290944U (en) | 2016-01-15 | 2016-01-15 | Machinery grabber |
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| Country | Link |
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| CN (1) | CN205290944U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109927019A (en) * | 2018-05-04 | 2019-06-25 | 上海翼人机器人有限公司 | A kind of three freedom degree manipulator of quick-replaceable motor |
| CN112045666A (en) * | 2020-08-24 | 2020-12-08 | 湖北文理学院 | Double-transverse-moving truss manipulator for drum brake pad hot press molding production line |
| CN112599280A (en) * | 2020-12-18 | 2021-04-02 | 杭州景业智能科技股份有限公司 | Bag changing system and automatic packaging system for radioactive materials |
| CN112635090A (en) * | 2020-12-18 | 2021-04-09 | 杭州景业智能科技股份有限公司 | Bag replacing device for radioactive materials and automatic packaging system |
-
2016
- 2016-01-15 CN CN201620036417.8U patent/CN205290944U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109927019A (en) * | 2018-05-04 | 2019-06-25 | 上海翼人机器人有限公司 | A kind of three freedom degree manipulator of quick-replaceable motor |
| CN112045666A (en) * | 2020-08-24 | 2020-12-08 | 湖北文理学院 | Double-transverse-moving truss manipulator for drum brake pad hot press molding production line |
| CN112599280A (en) * | 2020-12-18 | 2021-04-02 | 杭州景业智能科技股份有限公司 | Bag changing system and automatic packaging system for radioactive materials |
| CN112635090A (en) * | 2020-12-18 | 2021-04-09 | 杭州景业智能科技股份有限公司 | Bag replacing device for radioactive materials and automatic packaging system |
| CN112599280B (en) * | 2020-12-18 | 2023-08-18 | 杭州景业智能科技股份有限公司 | Bag changing system for radioactive materials and automatic packaging system |
| CN112635090B (en) * | 2020-12-18 | 2023-08-22 | 杭州景业智能科技股份有限公司 | Bag changing device for radioactive materials and automatic packaging system |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CP03 | "change of name, title or address" |
Address after: Room 35001, Yuejiang business center, 857 Xincheng Road, Binjiang District, Hangzhou City, Zhejiang Province, 310053 Patentee after: Hangzhou Smart Technology Co.,Ltd. Address before: Room 1501, Yuanyue science and technology building, 3730 South Ring Road, Binjiang District, Hangzhou City, Zhejiang Province, 310053 Patentee before: HANGZHOU JINGYE INTELLIGENT TECHNOLOGY Co.,Ltd. |
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| CP03 | "change of name, title or address" |