CN207346760U - A kind of high-freedom degree software article grasping mechanism easy to remove - Google Patents
A kind of high-freedom degree software article grasping mechanism easy to remove Download PDFInfo
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- CN207346760U CN207346760U CN201721065694.2U CN201721065694U CN207346760U CN 207346760 U CN207346760 U CN 207346760U CN 201721065694 U CN201721065694 U CN 201721065694U CN 207346760 U CN207346760 U CN 207346760U
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- fixedly connected
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- hydraulic cylinder
- software article
- screw
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Abstract
The utility model discloses a kind of high-freedom degree software article grasping mechanism easy to remove, including bottom plate and roller；The plate upper surface is fixedly connected with first hydraulic cylinder, and first hydraulic cylinder is connected with First piston bar, beam rail is fixedly connected with the top of First piston bar；The beam rail is rotatably connected to screw, and screw is connected with the first driving motor；Movable block is arranged with the screw；The movable block bottom is fixedly connected with second hydraulic cylinder, and second hydraulic cylinder is connected with second piston bar, grabbing device is equipped with below second piston bar.The utility model passes through equipped with hydraulic lift and screw horizontal mobile device so that grabbing device has the higher free degree；The utility model is equipped with the dome-type ball of four direction as clamping device, reduces the damage of software article, while dome-type rubber ball surface is evenly distributed with strip-shaped rubber fin, increases the grasp force to software article, has good crawl effect.
Description
Technical field
Crawl machinery field is the utility model is related to, is specifically a kind of high-freedom degree software article crawl dress easy to remove
Put.
Background technology
In clothes or cloth production plant, it is necessary to the software article such as cloth be captured, easy to move in the production line
Dynamic and transport, traditional robotic arm grabbing device use rigid mechanical gripper more, are grabbed to the software article such as cloth
When taking, easily so that the software article such as cloth causes deeper fold after damage or crawl occurs, it is unfavorable for follow-up
Processing and vanning, traditional mechanical arm grabbing device is complicated, and cost is high, and maintenance cost is high.
Need it is a kind of have it is simple in structure, easy to the grabbing device of maintenance, meanwhile, what is captured to software article
When, there is preferable chucking power, software article will not be caused to damage or cause to form deeper fold on software article.
Utility model content
The purpose of this utility model is to provide a kind of high-freedom degree software article grasping mechanism easy to remove, to solve
Problem proposed in the above background technology.
To achieve the above object, the utility model provides following technical solution：
A kind of high-freedom degree software article grasping mechanism easy to remove, including bottom plate and roller；The plate upper surface
First hydraulic cylinder is fixedly connected with, first hydraulic cylinder is connected with First piston bar, crossbeam is fixedly connected with the top of First piston bar
Bar；The beam rail is rotatably connected to screw, and screw is connected with the first driving motor；Movable block is arranged with the screw, is moved
Motion block is connected with wire rod thread；The movable block bottom is fixedly connected with second hydraulic cylinder, and second hydraulic cylinder is connected with the second work
Stopper rod, second piston bar lower section are equipped with grabbing device；The grabbing device is equipped with movable stand, and movable stand is fixed with second piston bar
Connection；The movable stand bottom is fixedly connected with supporting sleeve block；The movable stand is fixedly connected with the second driving motor；Described
Two driving motors are connected with shaft, and shaft is rotatablely connected by bearing and supporting sleeve block；The shaft is located at position in supporting sleeve block
Put and be fixedly connected with first gear, first gear is ratcheting to have the first transverse teeth batten and positioned at the first transverse teeth batten diagonal position
The the second transverse teeth batten put；The first transverse teeth batten and the second transverse teeth batten end have been respectively fixedly connected with vertically
Plate, vertical plate bottom inside are fixedly connected with dome-type ball；The dome-type rubber ball surface is evenly distributed with bar shaped
Rubber fin；The shaft, which is located at below first gear, is fixedly connected with second gear, and second gear is ratcheting first longitudinal direction tooth
Batten and second longitudinal direction rack-plate；First longitudinal direction rack-plate and second longitudinal direction the rack-plate end is connected to vertical plate,
Vertical plate bottom inside is fixedly connected with dome-type ball.
As further program of the utility model：The bottom base plate is equipped with roller, and roller is equipped with locking device.
As further program of the utility model：The movable block is slidably connected with beam rail lower surface.
As further program of the utility model：The supporting sleeve block is hollow-core construction.
As further program of the utility model：The second longitudinal direction rack-plate is located at the diagonal of first longitudinal direction rack-plate
Line position.
Compared with prior art, the beneficial effects of the utility model are：The utility model passes through equipped with hydraulic lift
With screw horizontal mobile device so that grabbing device has the higher free degree；The utility model is equipped with the hemisphere of four direction
Type ball reduces the damage of software article, while dome-type rubber ball surface is evenly distributed with bar shaped rubber as clamping device
Glue fin, increases the grasp force to software article, has good crawl effect.
Brief description of the drawings
Fig. 1 for ease of mobile high-freedom degree software article grasping mechanism sectional view；
Fig. 2 for ease of grabbing device in mobile high-freedom degree software article grasping mechanism structure diagram；
Fig. 3 for ease of dome-type ball in mobile high-freedom degree software article grasping mechanism structure diagram；
Fig. 4 for ease of mobile high-freedom degree software article grasping mechanism middle gear and rack-plate connection diagram.
In figure：1- bottom plates；2- rollers；3- first hydraulic cylinders；4- First piston bars；5- beam rails；6- screws；7- first drives
Dynamic motor；8- movable blocks；9- second hydraulic cylinders；10- second piston bars；11- grabbing devices；12- movable stands；13- supporting sleeve blocks；
14- second drives motor；15- shafts；16- first gears；17- the first transverse teeth battens；18- vertical bars；19- dome-type rubber
Ball；20- second gears；21- first longitudinal direction rack-plates；22- second longitudinal direction rack-plates；23- rubber fins；The second transverse teeths of 24-
Batten.
Embodiment
The following is a combination of the drawings in the embodiments of the present utility model, and the technical scheme in the embodiment of the utility model is carried out
Clearly and completely describe, it is clear that the described embodiments are only a part of the embodiments of the utility model, rather than whole
Embodiment.Based on the embodiment in the utility model, those of ordinary skill in the art are without making creative work
All other embodiments obtained, shall fall within the protection scope of the present invention.
Please refer to Fig.1~4, in the utility model embodiment, a kind of high-freedom degree software article crawl dress easy to remove
Put, including bottom plate 1 and roller 2；1 bottom of bottom plate is equipped with roller 2, and roller 2 is equipped with locking device, is moved easy to device；Institute
State 1 upper surface of bottom plate and be fixedly connected with first hydraulic cylinder 3, first hydraulic cylinder 3 is electrically connected with external power supply；First hydraulic pressure
Cylinder 3 is connected with First piston bar 4, and the top of First piston bar 4 is fixedly connected with beam rail 5；The beam rail 5 is rotatably connected to silk
Bar 6, screw 6 are connected with the first driving motor 7, and the first driving motor 7 is connected with external power supply, and the first driving motor 7 drives silk
Bar 6 rotates；Movable block 8 is arranged with the screw 6, movable block 8 is threadedly coupled with screw 6, movable block 8 and 5 following table of beam rail
Face is slidably connected；8 bottom of movable block is fixedly connected with second hydraulic cylinder 9, and second hydraulic cylinder 9 is connected with second piston bar
10, the lower section of second piston bar 10 is equipped with grabbing device 11；The grabbing device 11 is equipped with movable stand 12, and movable stand 12 and second is lived
Stopper rod 10 is fixedly connected；12 bottom of movable stand is fixedly connected with supporting sleeve block 13, and supporting sleeve block 13 is hollow-core construction；It is described
Movable stand 12 is fixedly connected with the second driving motor 14, and the second driving motor 14 is electrically connected with external power supply；Described second drives
Dynamic motor 14 is connected with shaft 15, and shaft 15 is rotatablely connected by bearing and supporting sleeve block 13；The shaft 15 is located at supporting sleeve
Position is fixedly connected with first gear 16 in block 13, and first gear 16 is ratcheting to have the first transverse teeth batten 17 and positioned at the first transverse direction
Second transverse teeth batten 24 of 17 diagonal positions of rack-plate；The end of first transverse teeth batten 17 and the second transverse teeth batten 24
End has been respectively fixedly connected with vertical plate 18, and 18 bottom inside of vertical plate is fixedly connected with dome-type ball 19；The dome-type
19 surface of ball is evenly distributed with the rubber fin 23 of bar shaped, increases the frictional force to software article；The shaft 15 is located at
The lower section of first gear 16 is fixedly connected with second gear 20, and second gear 20 is ratcheting first longitudinal direction rack-plate 21 and second longitudinal direction
Rack-plate 22, second longitudinal direction rack-plate 22 are located at the diagonal positions of first longitudinal direction rack-plate 21；The first longitudinal direction rack-plate
21 and 22 end of second longitudinal direction rack-plate be connected to vertical plate 18,18 bottom inside of vertical plate is fixedly connected with dome-type rubber
Glueballs 19.
The operation principle of the utility model is：The lower section of bottom plate 1 is equipped with the roller 2 with locking device, easy to remove dress
Put, crawl article is moved；Beam rail 5 is driven to move up and down by first hydraulic cylinder 3 and First piston bar 4, and then band
Dynamic grabbing device 11 moves up and down, and drives 8 left and right movement of movable block by the first driving motor 7 and screw 6, and then drive and grab
11 left and right movement of device is taken, grabbing device 11 is finely adjusted by second hydraulic cylinder 9, realizes the height of grabbing device freely
Degree, simple in structure, operation is easy；By starting the second driving motor 14, the second driving motor 14 drives shaft 15 to rotate, shaft
15 drive first gears 16 and second gear 20 rotate, so drive the first transverse teeth batten 17 and the second transverse teeth batten 24 with
And first longitudinal direction rack-plate 21 and second longitudinal direction rack-plate 22 move towards so that four dome-type balls 19 are poly- to centre
Hold together, software article is captured, there is preferable grasp force, while dome-type ball 19 is equipped with the rubber fin of bar shaped
23, increase the frictional force to software article, increase grasp force；Dome-type ball 19 will not cause to damage to software article at the same time
Wound, or cause fold on software article.
It is obvious to a person skilled in the art that the utility model is not limited to the details of above-mentioned one exemplary embodiment, and
And in the case of the spirit or essential attributes without departing substantially from the utility model, it can realize that this practicality is new in other specific forms
Type.Therefore, in all respects, the present embodiments are to be considered as illustrative and not restrictive, this practicality is new
The scope of type is indicated by the appended claims rather than the foregoing description, it is intended that the equivalency fallen in claim is contained
All changes in justice and scope are embraced therein.Any reference numeral in claim should not be considered as limitation
Involved claim.
Moreover, it will be appreciated that although the present specification is described in terms of embodiments, not each embodiment is only wrapped
Containing an independent technical solution, this narrating mode of specification is only that those skilled in the art should for clarity
Using specification as an entirety, the technical solutions in the various embodiments may also be suitably combined, forms those skilled in the art
It is appreciated that other embodiment.
Claims (5)
1. a kind of high-freedom degree software article grasping mechanism easy to remove, including bottom plate（1）And roller（2）；It is characterized in that,
The bottom plate（1）Upper surface is fixedly connected with first hydraulic cylinder（3）, first hydraulic cylinder（3）It is connected with First piston bar（4）, the
One piston rod（4）Top is fixedly connected with beam rail（5）；The beam rail（5）It is rotatably connected to screw（6）, screw（6）Connection
There is the first driving motor（7）；The screw（6）On be arranged with movable block（8）, movable block（8）With screw（6）It is threadedly coupled；Institute
State movable block（8）Bottom is fixedly connected with second hydraulic cylinder（9）, second hydraulic cylinder（9）It is connected with second piston bar（10）, second
Piston rod（10）Lower section is equipped with grabbing device（11）；The grabbing device（11）Equipped with movable stand（12）, movable stand（12）With
Two piston rods（10）It is fixedly connected；The movable stand（12）Bottom is fixedly connected with supporting sleeve block（13）；The movable stand（12）
It is fixedly connected with the second driving motor（14）；The second driving motor（14）It is connected with shaft（15）, shaft（15）Pass through axis
Hold and supporting sleeve block（13）Rotation connection；The shaft（15）Positioned at supporting sleeve block（13）Interior position is fixedly connected with first gear
（16）, first gear（16）It is ratcheting to have the first transverse teeth batten（17）With positioned at the first transverse teeth batten（17）Diagonal positions
Second transverse teeth batten（24）；The first transverse teeth batten（17）With the second transverse teeth batten（24）End is respectively fixedly connected with
There is vertical plate（18）, vertical plate（18）Bottom inside is fixedly connected with dome-type ball（19）；The dome-type ball
（19）Surface is evenly distributed with the rubber fin of bar shaped（23）；The shaft（15）Positioned at first gear（16）Lower section is fixedly connected
There is second gear（20）, second gear（20）It is ratcheting to have first longitudinal direction rack-plate（21）With second longitudinal direction rack-plate（22）；It is described
First longitudinal direction rack-plate（21）With second longitudinal direction rack-plate（22）End is connected to vertical plate（18）, vertical plate（18）Bottom
Inner side is fixedly connected with dome-type ball（19）.
A kind of 2. high-freedom degree software article grasping mechanism easy to remove according to claim 1, it is characterised in that institute
State bottom plate（1）Bottom is equipped with roller（2）, roller（2）Equipped with locking device.
A kind of 3. high-freedom degree software article grasping mechanism easy to remove according to claim 1, it is characterised in that institute
State movable block（8）With beam rail（5）Lower surface is slidably connected.
A kind of 4. high-freedom degree software article grasping mechanism easy to remove according to claim 1, it is characterised in that institute
State supporting sleeve block（13）For hollow-core construction.
A kind of 5. high-freedom degree software article grasping mechanism easy to remove according to claim 1, it is characterised in that institute
State second longitudinal direction rack-plate（22）Positioned at first longitudinal direction rack-plate（21）Diagonal positions.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721065694.2U CN207346760U (en) | 2017-08-24 | 2017-08-24 | A kind of high-freedom degree software article grasping mechanism easy to remove |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721065694.2U CN207346760U (en) | 2017-08-24 | 2017-08-24 | A kind of high-freedom degree software article grasping mechanism easy to remove |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207346760U true CN207346760U (en) | 2018-05-11 |
Family
ID=62412814
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721065694.2U Expired - Fee Related CN207346760U (en) | 2017-08-24 | 2017-08-24 | A kind of high-freedom degree software article grasping mechanism easy to remove |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207346760U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109131494A (en) * | 2018-07-17 | 2019-01-04 | 临泉县永恒门业有限公司 | A kind of clamping transfer device |
| CN109974550A (en) * | 2019-04-21 | 2019-07-05 | 吉林工程技术师范学院 | A kind of high-accuracy main shaft detection device |
| CN110386389A (en) * | 2019-07-08 | 2019-10-29 | 广西科技大学 | A kind of grabbing device |
| CN110406873A (en) * | 2019-07-08 | 2019-11-05 | 广西科技大学 | A kind of intelligence connectionization tiered warehouse facility device based on technology of Internet of things |
| CN113617671A (en) * | 2021-08-02 | 2021-11-09 | 苏州快捷智能科技有限公司 | Intelligent sorting system and sorting device thereof |
-
2017
- 2017-08-24 CN CN201721065694.2U patent/CN207346760U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109131494A (en) * | 2018-07-17 | 2019-01-04 | 临泉县永恒门业有限公司 | A kind of clamping transfer device |
| CN109131494B (en) * | 2018-07-17 | 2020-05-15 | 临泉县永恒门业有限公司 | Door clamping and transferring device |
| CN109974550A (en) * | 2019-04-21 | 2019-07-05 | 吉林工程技术师范学院 | A kind of high-accuracy main shaft detection device |
| CN110386389A (en) * | 2019-07-08 | 2019-10-29 | 广西科技大学 | A kind of grabbing device |
| CN110406873A (en) * | 2019-07-08 | 2019-11-05 | 广西科技大学 | A kind of intelligence connectionization tiered warehouse facility device based on technology of Internet of things |
| CN113617671A (en) * | 2021-08-02 | 2021-11-09 | 苏州快捷智能科技有限公司 | Intelligent sorting system and sorting device thereof |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20200522 Address after: 528400 e205, Block E, No.8, East Jinshan Avenue, Sanjiao Town, Zhongshan City, Guangdong Province Patentee after: Guangdong intelligent manufacturing equipment Technology Co., Ltd Address before: 528000, No. 1, block 133, 501 Hua Hua Xi Road, Chancheng District, Guangdong, Foshan Patentee before: FOSHAN YIBEIER TECHNOLOGY Co.,Ltd. |
|
| 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: 20180511 Termination date: 20200824 |