CN208326652U - A kind of grasping mechanism - Google Patents
A kind of grasping mechanism Download PDFInfo
- Publication number
- CN208326652U CN208326652U CN201820975218.2U CN201820975218U CN208326652U CN 208326652 U CN208326652 U CN 208326652U CN 201820975218 U CN201820975218 U CN 201820975218U CN 208326652 U CN208326652 U CN 208326652U
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- guide rail
- sliding block
- limit switch
- central axes
- axis
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Abstract
The utility model discloses a kind of grasping mechanisms, including guidance type shaft stool, X-axis guide rail mounting base and shaft coupling, it is characterized by: being provided with Y-axis linear guide support plate above the guidance type shaft stool, the first sliding block is provided with above first guide rail, the right of the Y-axis linear guide support plate is provided with the second limit switch, the right of first limit switch is provided with the second sliding block, the X-axis guide rail mounting base is located at the rear of protection cap, third sliding block is provided in front of second sliding block, third guide rail is provided with below the pen type cylinder, pneumatic-finger cylinder is provided with below the fixed platform, the shaft coupling is located at the rear of the second servo motor, guide rail mounting plate is provided with above second ball-screw.The grasping mechanism is provided with hold-down support, and hold-down support integrally can smoothly support device in the use process of device, improves the rigidity and stability of mechanism.
Description
Technical field
The utility model relates to automated machine equipment technical field, specially a kind of grasping mechanism.
Background technique
Manipulator be it is a kind of simulation manpower operation capture apparatus, it can according to fixed routine grab, carry object or
Clamping device completes some specific operations, can replace people using manipulator and is engaged in dull, repetition or heavy manual labor,
It realizes automated production process, can also be operated under toxic or radiation environment, improve work situation, guarantee worker's peace
Entirely, currently, robot device has been widely used for the fields such as various industrial productions.If conveyer belt is carried, workpiece-taking of plastic jetting-moulding machine is produced
Product vanning etc., but the generally existing deficiencies such as structure is complicated, at high cost, control precision is low of common capture apparatus.
In view of the above-mentioned problems, carrying out innovative design on the basis of original grasping mechanism.
Summary of the invention
The purpose of this utility model is to provide a kind of grasping mechanisms, to solve to propose that structure is multiple in above-mentioned background technique
Problem miscellaneous, at high cost, control precision is low.
To achieve the above object, the utility model provides the following technical solutions: a kind of grasping mechanism, including guiding profile shaft branch
Seat, X-axis guide rail mounting base and shaft coupling are provided with Y-axis linear guide support plate, and Y-axis above the guidance type shaft stool
It is provided with the first guide rail above linear guide support plate, the first sliding block is provided with above first guide rail, and first is sliding
It is provided with fixed plate above block, protection cap is provided in front of the fixed plate, and is provided with the first original above protection cap
Point sensor, and the right of the first origin sensor is provided with the first limit switch, the right side of the Y-axis linear guide support plate
Side is provided with the second limit switch, and the right of first limit switch is provided with the second sliding block, and the right of the second sliding block is set
It is equipped with third limit switch, the right of the third limit switch is provided with first servo motor, and before first servo motor
Side is provided with the 4th limit switch, the second origin sensor is provided in front of the 4th limit switch, and the second origin passes
The second servo motor is provided in front of sensor, the X-axis guide rail mounting base is located at the rear of protection cap, and X-axis guide rail is installed
The front of seat is provided with the second guide rail, and first ball screw is provided on the inside of the second guide rail, before second sliding block
Side is provided with third sliding block, and the rear of the third sliding block is provided with link block, and pen type cylinder is provided with above link block,
It is provided with third guide rail below the pen type cylinder, and is provided with fixed platform in front of third guide rail, the fixed platform
Lower section be provided with pneumatic-finger cylinder, and clamping jaw is provided with below pneumatic-finger cylinder, the shaft coupling is located at second and watches
The rear of motor is taken, and the rear of shaft coupling is provided with the second ball-screw, is provided with and leads above second ball-screw
Rail mounting plate, and the rear of guide rail mounting plate is provided with hold-down support, U-shaped seat is provided with below the hold-down support, and U-shaped
The lower section of seat is provided with Four-slider, and the 4th guide rail is provided with below Four-slider.
Preferably, the central axes of first guide rail and the central axes of the 4th guide rail are parallel to each other, and in the first guide rail
The central axes of axis and the second guide rail are mutually perpendicular to, and the upper surface of the first guide rail and the central axes of third guide rail are mutually hung down
Directly.
Preferably, it is connected with each other between second servo motor and the second ball-screw by shaft coupling, and the second rolling
Ballscrew and Four-slider, which are constituted, to be threadedly coupled, and the central axes phase mutual respect of the central axes of the second ball-screw and the 4th guide rail
It closes, while the second ball-screw is identical with the structure of first ball screw.
Preferably, pass through the first guide rail and the between the left end of the X-axis guide rail mounting base and Y-axis linear guide support plate
One sliding block is connected with each other, and the right end of X-axis guide rail mounting base and hold-down support are weldedization structure, and hold-down support and
It is connected with each other between guidance type shaft stool by Four-slider and the 4th guide rail.
Preferably, the pen type cylinder and third guide rail are weldedization structure, and the piston rod of pen type cylinder passes through
Floating junction and third sliding block are connected with each other.
Preferably, the fixed platform is bolted between third sliding block and pneumatic-finger cylinder respectively, and gas
The central axes of dynamic finger cylinder and the central axes of pen type cylinder are parallel to each other.
Compared with prior art, the utility model has the beneficial effects that the grasping mechanism,
1, it is provided with the first sliding block, the first guide rail, the second sliding block, the second guide rail, are cooperated in the use process of device
Three sliding blocks, third guide rail, Four-slider and the 4th guide rail use, and clamping jaw is allowed to be carried out the reciprocal straight of XYZ axis respectively
Line movement, realizes the adjustment of Three Degree Of Freedom, improves the practicability of device；
2, it is provided with the first origin sensor, first origin sensor and the second origin sensor are Roland
The control circuit that FJ740k type origin sensor, the first origin sensor and the second origin sensor and S7-200 type PLC are constituted
Signal connection is constituted, origin can be quickly returning to the exact shift distance of determining device convenient for device, realize the essence of grabbing device
True feeding and blowing；
3, it is provided with the first limit switch, the second limit switch, third limit switch are cooperated in the use process of device
With the 4th limit switch use, can effectively anti-locking apparatus moves out stroke in all directions, convenient for exceeding in stroke
When timely disconnecting device power supply, prevent contingency；
4, it is provided with hold-down support, hold-down support integrally can smoothly prop up device in the use process of device
Support, improves the rigidity and stability of mechanism.
Detailed description of the invention
Fig. 1 is the utility model schematic perspective view；
Fig. 2 is the utility model positive structure schematic；
Fig. 3 is the utility model side structure schematic diagram.
In figure: 1, guidance type shaft stool；2, Y-axis linear guide support plate；3, the first guide rail；4, the first sliding block；5, fixed
Plate；6, protection cap；7, the first origin sensor；8, the first limit switch；9, the second limit switch；10, the second sliding block；11,
Three limit switches；12, first servo motor；13, the 4th limit switch；14, the second origin sensor；15, the second servo motor；
16, X-axis guide rail mounting base；17, the second guide rail；18, first ball screw；19, third sliding block；20, link block；21, pen type gas
Cylinder；22, third guide rail；23, fixed platform；24, pneumatic-finger cylinder；25, clamping jaw；26, shaft coupling；27, the second ball-screw；
28, guide rail mounting plate；29, hold-down support；30, U-shaped seat；31, Four-slider；32, the 4th guide rail.
Specific embodiment
The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model
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 embodiments of the present invention, those of ordinary skill in the art are without making creative work
Every other embodiment obtained, fall within the protection scope of the utility model.
Fig. 1-3 is please referred to, the utility model provides a kind of technical solution: a kind of grasping mechanism, including guidance type shaft stool
1, Y-axis linear guide support plate 2, the first guide rail 3, the first sliding block 4, fixed plate 5, protection cap 6, the first origin sensor 7, first
Limit switch 8, the second limit switch 9, the second sliding block 10, third limit switch 11, first servo motor 12, the 4th limit switch
13, the second origin sensor 14, the second servo motor 15, X-axis guide rail mounting base 16, the second guide rail 17, first ball screw 18,
Third sliding block 19, link block 20, pen type cylinder 21, third guide rail 22, fixed platform 23, pneumatic-finger cylinder 24, clamping jaw 25, connection
Axis device 26, the second ball-screw 27, guide rail mounting plate 28, hold-down support 29, U-shaped seat 30, Four-slider 31 and the 4th guide rail 32,
The top of guidance type shaft stool 1 is provided with Y-axis linear guide support plate 2, and the top of Y-axis linear guide support plate 2 is provided with
First guide rail 3, the top of the first guide rail 3 is provided with the first sliding block 4, and the top of the first sliding block 4 is provided with fixed plate 5, fixed
The front of plate 5 is provided with protection cap 6, and the top of protection cap 6 is provided with the first origin sensor 7, and the first origin senses
The right of device 7 is provided with the first limit switch 8, and the right of Y-axis linear guide support plate 2 is provided with the second limit switch 9, and first
The right of limit switch 8 is provided with the second sliding block 10, and the right of the second sliding block 10 is provided with third limit switch 11, third pole
The right of limit switch 11 is provided with first servo motor 12, and the front of first servo motor 12 is provided with the 4th limit switch
13, the front of the 4th limit switch 13 is provided with the second origin sensor 14, and the front of the second origin sensor 14 is provided with
Second servo motor 15, X-axis guide rail mounting base 16 is located at the rear of protection cap 6, and the front of X-axis guide rail mounting base 16 is provided with
Second guide rail 17, and the inside of the second guide rail 17 is provided with first ball screw 18, and the front of the second sliding block 10 is provided with
Three sliding blocks 19, the rear of third sliding block 19 is provided with link block 20, and the top of link block 20 is provided with pen type cylinder 21, pen type
The lower section of cylinder 21 is provided with third guide rail 22, and the front of third guide rail 22 is provided with fixed platform 23, fixed platform 23
Lower section is provided with pneumatic-finger cylinder 24, and the lower section of pneumatic-finger cylinder 24 is provided with clamping jaw 25, and shaft coupling 26 is located at second
The rear of servo motor 15, and the rear of shaft coupling 26 is provided with the second ball-screw 27, the top of the second ball-screw 27 is set
It is equipped with guide rail mounting plate 28, and the rear of guide rail mounting plate 28 is provided with hold-down support 29, the lower section of hold-down support 29 is provided with U
Type seat 30, and the lower section of U-shaped seat 30 is provided with Four-slider 31, and the lower section of Four-slider 31 is provided with the 4th guide rail 32.
The central axes of first guide rail 3 and the central axes of the 4th guide rail 32 of this example are parallel to each other, and the axis of the first guide rail 3
The central axes of line and the second guide rail 17 are mutually perpendicular to, and the upper surface of the first guide rail 3 and the central axes of third guide rail 22 are mutual
Vertically, it is moved freely convenient for three directions of device.
It is connected with each other between second servo motor 15 and the second ball-screw 27 by shaft coupling 26, and the second ball-screw
27 and Four-slider 31 constitute and be threadedly coupled, and the central axes of the second ball-screw 27 and the central axes of the 4th guide rail 32 are mutual
It is overlapped, while the second ball-screw 27 is identical with the structure of first ball screw 18, carries out precise displacement convenient for driving device.
Pass through the first guide rail 3 and the first sliding block 4 between the left end and Y-axis linear guide support plate 2 of X-axis guide rail mounting base 16
It is connected with each other, and the right end of X-axis guide rail mounting base 16 and hold-down support 29 are weldedization structure, and 29 He of hold-down support
It is connected with each other, X-axis guide rail mounting base 16 can be carried out by Four-slider 31 and the 4th guide rail 32 between guidance type shaft stool 1
Stable support improves the stability of device.
Pen type cylinder 21 and third guide rail 22 are weldedization structure, and the piston rod of pen type cylinder 21 is connect by floating
Head is connected with each other with third sliding block 19, can be insufficient with the bias of alleviator, parallel accuracy by floating junction connection.
Fixed platform 23 is bolted between third sliding block 19 and pneumatic-finger cylinder 24 respectively, and pneumatic-finger
The central axes of cylinder 24 and the central axes of pen type cylinder 21 are parallel to each other, and relatively the structure of device is fixed, and allows device steady
Surely feeding and blanking are carried out.
Working principle: first that the power supply of device and power grid is mutual according to Fig. 1-2 when using the grasping mechanism
Connection opens the second servo motor 15 to begin to use in the use process of device, and the second servo motor 15 drives first
Ball-screw 18 is rotated, so that the second sliding block 10 being threadedly coupled with first ball screw 18 starts along the second guide rail 17
Mobile, then according to Fig.3, the second sliding block 10 drives link block 20 to be moved, and carries out to be displaced to the X-axis of clamping jaw 25
It adjusts, then opens first servo motor 12 in the use process of device, first servo motor 12 drives second by shaft coupling 26
Ball-screw 27 is rotated, so that Four-slider 31 is moved along the 4th guide rail 32, while the first sliding block 4 is along first
Guide rail 3 synchronizes movement, carries out stablizing movement so that X-axis guide rail mounting base 16 is whole, so that clamping jaw 25 be driven to carry out Y-axis side
To displacement, in the use process of device, open pen type cylinder 21, push third sliding block 19 moved along third guide rail 22,
Third sliding block 19 drives fixed platform 23, so that clamping jaw 25 carries out the displacement of Z-direction, while can open pneumatic-finger cylinder
24 pairs of clamping jaws 25 open and close, to carry out the crawl and movement to material, first is former in the use process of device
The shift length of device can be monitored in real time in point sensor 7 and the second origin sensor 14, while in the first limit switch 8,
Two limit switches 9, third limit switch 11 and the 4th limit switch 13 can in all directions limit the displacement of device
System, when stroke exceeds can disconnecting device power supply in time, improve the safety of device, be not described in detail in this specification
Content belongs to the prior art well known to professional and technical personnel in the field.
While there has been shown and described that the embodiments of the present invention, for the ordinary skill in the art,
It is understood that these embodiments can be carried out with a variety of variations in the case where not departing from the principles of the present invention and spirit, repaired
Change, replacement and variant, the scope of the utility model is defined by the appended claims and the equivalents thereof.
Claims (6)
1. a kind of grasping mechanism, including guidance type shaft stool (1), X-axis guide rail mounting base (16) and shaft coupling (26), feature exists
In: Y-axis linear guide support plate (2), and Y-axis linear guide support plate (2) are provided with above the guidance type shaft stool (1)
Top be provided with the first guide rail (3), be provided with the first sliding block (4) above first guide rail (3), and the first sliding block (4)
Top be provided with fixed plate (5), be provided with protection cap (6) in front of the fixed plate (5), and set above protection cap (6)
It is equipped with the first origin sensor (7), and the right of the first origin sensor (7) is provided with the first limit switch (8), the Y
The right of axis linear guide support plate (2) is provided with the second limit switch (9), the right setting of first limit switch (8)
Have the second sliding block (10), and the right of the second sliding block (10) is provided with third limit switch (11), the third limit switch
(11) right is provided with first servo motor (12), and is provided with the 4th limit switch in front of first servo motor (12)
(13), it is provided with the second origin sensor (14) in front of the 4th limit switch (13), and the second origin sensor (14)
Front be provided with the second servo motor (15), the X-axis guide rail mounting base (16) is located at the rear of protection cap (6), and X-axis is led
It is provided in front of rail mounting base (16) the second guide rail (17), and is provided with first ball screw on the inside of the second guide rail (17)
(18), it is provided with third sliding block (19) in front of second sliding block (10), the rear of the third sliding block (19) is provided with company
It connects block (20), and is provided with pen type cylinder (21) above link block (20), is provided with below the pen type cylinder (21)
Three guide rails (22), and fixed platform (23) are provided in front of third guide rail (22), the lower section setting of the fixed platform (23)
Have pneumatic-finger cylinder (24), and be provided with clamping jaw (25) below pneumatic-finger cylinder (24), the shaft coupling (26) is located at
The rear of second servo motor (15), and the rear of shaft coupling (26) is provided with the second ball-screw (27), second ball
It is provided with above lead screw (27) guide rail mounting plate (28), and the rear of guide rail mounting plate (28) is provided with hold-down support (29),
It is provided with U-shaped seat (30) below the hold-down support (29), and is provided with Four-slider (31) below U-shaped seat (30), and
And the 4th guide rail (32) is provided with below Four-slider (31).
2. a kind of grasping mechanism according to claim 1, it is characterised in that: the central axes of first guide rail (3) and
The central axes of four guide rails (32) are parallel to each other, and the central axes of the first guide rail (3) and the central axes of the second guide rail (17) are mutually hung down
Directly, and the upper surface of the first guide rail (3) and the central axes of third guide rail (22) are mutually perpendicular to.
3. a kind of grasping mechanism according to claim 1, it is characterised in that: second servo motor (15) and the second rolling
It is connected with each other between ballscrew (27) by shaft coupling (26), and the second ball-screw (27) and Four-slider (31) constitute screw thread
Connection, and the central axes of the second ball-screw (27) and the central axes of the 4th guide rail (32) overlap, while the second ball
Lead screw (27) is identical with the structure of first ball screw (18).
4. a kind of grasping mechanism according to claim 1, it is characterised in that: the left end of the X-axis guide rail mounting base (16)
It is connected with each other between Y-axis linear guide support plate (2) by the first guide rail (3) and the first sliding block (4), and X-axis guide rail is installed
The right end and hold-down support (29) of seat (16) are weldedization structure, and hold-down support (29) and guidance type shaft stool (1)
Between by Four-slider (31) and the 4th guide rail (32) interconnection.
5. a kind of grasping mechanism according to claim 1, it is characterised in that: the pen type cylinder (21) and third guide rail
It (22) is weldedization structure, and the piston rod of pen type cylinder (21) is mutually interconnected by floating junction with third sliding block (19)
It connects.
6. a kind of grasping mechanism according to claim 1, it is characterised in that: the fixed platform (23) is sliding with third respectively
It is bolted between block (19) and pneumatic-finger cylinder (24), and the central axes of pneumatic-finger cylinder (24) and pen type cylinder
(21) central axes are parallel to each other.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820975218.2U CN208326652U (en) | 2018-06-25 | 2018-06-25 | A kind of grasping mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820975218.2U CN208326652U (en) | 2018-06-25 | 2018-06-25 | A kind of grasping mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208326652U true CN208326652U (en) | 2019-01-04 |
Family
ID=64769630
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820975218.2U Active CN208326652U (en) | 2018-06-25 | 2018-06-25 | A kind of grasping mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208326652U (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110549469A (en) * | 2019-09-12 | 2019-12-10 | 浙江阿斯克建材科技股份有限公司 | High-temperature-resistant calcium silicate molded by casting and manufacturing method thereof |
| CN110899019A (en) * | 2019-12-10 | 2020-03-24 | 阜南县利民工艺品有限公司 | High-efficient even wooden handicraft paint spraying apparatus |
| CN111285096A (en) * | 2020-02-29 | 2020-06-16 | 荆门怡盛源环保科技有限公司 | Device is distribute with nursery stock to farming |
| CN111380784A (en) * | 2020-04-13 | 2020-07-07 | 浙江大学 | Detection device for Chinese medicinal material infiltration process |
| CN112251885A (en) * | 2020-09-30 | 2021-01-22 | 天津工业大学 | Mixed weaving carbon/carbon combined material prefabricated part shaping frock location optical axis plug manipulator |
| CN114147148A (en) * | 2021-11-30 | 2022-03-08 | 先之科半导体科技(东莞)有限公司 | Diode pin length detection cutting assembly |
| CN114161072A (en) * | 2021-12-23 | 2022-03-11 | 湖北工业大学 | Clamping device is used in vehicle bearing processing |
| CN114888562A (en) * | 2022-04-29 | 2022-08-12 | 江苏博涛智能热工股份有限公司 | Heat insulation bearing seat assembly machine |
-
2018
- 2018-06-25 CN CN201820975218.2U patent/CN208326652U/en active Active
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110549469A (en) * | 2019-09-12 | 2019-12-10 | 浙江阿斯克建材科技股份有限公司 | High-temperature-resistant calcium silicate molded by casting and manufacturing method thereof |
| CN110899019A (en) * | 2019-12-10 | 2020-03-24 | 阜南县利民工艺品有限公司 | High-efficient even wooden handicraft paint spraying apparatus |
| CN110899019B (en) * | 2019-12-10 | 2020-12-22 | 阜南县利民工艺品有限公司 | High-efficient even wooden handicraft paint spraying apparatus |
| CN111285096B (en) * | 2020-02-29 | 2021-07-09 | 湖南梓鸿农业开发股份有限公司 | Device is distribute with nursery stock to farming |
| CN111285096A (en) * | 2020-02-29 | 2020-06-16 | 荆门怡盛源环保科技有限公司 | Device is distribute with nursery stock to farming |
| CN111380784A (en) * | 2020-04-13 | 2020-07-07 | 浙江大学 | Detection device for Chinese medicinal material infiltration process |
| CN112251885A (en) * | 2020-09-30 | 2021-01-22 | 天津工业大学 | Mixed weaving carbon/carbon combined material prefabricated part shaping frock location optical axis plug manipulator |
| CN112251885B (en) * | 2020-09-30 | 2021-09-21 | 天津工业大学 | Mixed weaving carbon/carbon combined material prefabricated part shaping frock location optical axis plug manipulator |
| CN114147148A (en) * | 2021-11-30 | 2022-03-08 | 先之科半导体科技(东莞)有限公司 | Diode pin length detection cutting assembly |
| CN114147148B (en) * | 2021-11-30 | 2022-08-23 | 先之科半导体科技(东莞)有限公司 | Diode pin length detection cutting assembly |
| CN114161072A (en) * | 2021-12-23 | 2022-03-11 | 湖北工业大学 | Clamping device is used in vehicle bearing processing |
| CN114888562A (en) * | 2022-04-29 | 2022-08-12 | 江苏博涛智能热工股份有限公司 | Heat insulation bearing seat assembly machine |
| CN114888562B (en) * | 2022-04-29 | 2023-12-12 | 江苏博涛智能热工股份有限公司 | Heat insulation bearing seat assembly machine |
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