CN208444368U - A kind of grabbing device - Google Patents
A kind of grabbing device Download PDFInfo
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- CN208444368U CN208444368U CN201820440728.XU CN201820440728U CN208444368U CN 208444368 U CN208444368 U CN 208444368U CN 201820440728 U CN201820440728 U CN 201820440728U CN 208444368 U CN208444368 U CN 208444368U
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- clamping
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- grabbing device
- bottom plate
- driving assembly
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Abstract
The utility model embodiment provides a kind of grabbing device, the grabbing device includes rotating mechanism, telescoping mechanism and clamping device, wherein, rotating mechanism includes rotating seat and rotary drive assembly, and the rotary drive assembly is for driving the rotating seat to carry out rotary motion；Telescoping mechanism includes expandable bottom plate, telescopic component and flexible driving assembly, and the flexible driving assembly is for driving the telescopic component linear expansion to move；Clamping device includes clamping bottom plate, transmission shaft, clamping plate and clamping driving assembly, and the clamping driving assembly is for driving the transmission shaft to carry out rotary motion, to drive the clamping plate to carry out straight reciprocating motion on the transmission shaft.Implement the utility model embodiment, it can be achieved that grabbing to multi-angle, is conducive to the flexibility ratio and crawl efficiency of promotion gripping device.
Description
Technical field
The utility model relates to grab technical field more particularly to a kind of grabbing device.
Background technique
With the continuous development of society, automatic vending equipment is gradually popularized in daily life and is used.It is in the prior art
Vending Machine usually directly slides commodity from shelf to access section after user's payment for merchandise amount of money, or only
It moves linearly after simply commodity are grabbed.This grasp mode angle is single, and the crawl for being unable to satisfy complex operations is dynamic
Make, is unfavorable for promoting user experience, while being easy to cause commodity to damage, and inefficiency.
Utility model content
The utility model provides a kind of more flexible grabbing device of operational readiness.
Grabbing device provided by the utility model includes:
Rotating mechanism, including rotating seat and rotary drive assembly, the rotating seat are connect with the rotary drive assembly,
The rotary drive assembly is for driving the rotating seat to carry out rotary motion；
Telescoping mechanism, including expandable bottom plate, telescopic component and flexible driving assembly, the expandable bottom plate and the rotation
Seat is fixedly connected, and one end of the telescopic component is fixedly connected with the expandable bottom plate；The flexible driving assembly is for driving
The telescopic component linear expansion movement；
Clamping device, including clamping bottom plate, transmission shaft, clamping plate and clamping driving assembly, the clamping bottom plate with it is described
The other end of telescopic component is fixedly connected, and the both ends of the transmission shaft are fixedly connected with the clamping bottom plate, clamps driving assembly
With the transmission axis connection, the clamping plate is set on the transmission shaft；The clamping driving assembly is for driving the transmission
Axis carries out rotary motion, to drive the clamping plate to carry out straight reciprocating motion on the transmission shaft.
Further, the transmission shaft includes double end screw mandrel, and the screw rod spiral shell being movably connected in the double end screw mandrel
Mother, the clamping plate are flexibly connected by the feed screw nut with the double end screw mandrel.
Further, the clamping device further includes clamping guidance set, and the clamping plate and the clamping guidance set connect
It connects, the clamping guidance set is linear guide or linear guide.
Further, the telescoping mechanism further includes flexible guidance set, and the flexible guidance set is double-layer guide rail knot
Structure, the double-layer guide rail structure include track and sliding block, and the track is fixedly connected with the expandable bottom plate, the sliding block with
The clamping bottom plate is fixedly connected.
Further, the flexible driving assembly includes telescopic drive motor and drive link, the flexible driving electricity
Machine is connect by the drive link with the telescopic component.
Further, the drive link includes the first drive rod, the second drive rod and drive shaft, and described first drives
Lever is flexibly connected by the drive shaft with second drive rod, far from the drive shaft in first drive rod
One end be fixedly connected with the telescopic drive motor, in second drive rod far from the drive shaft one end with it is described
Telescopic component connection.
Further, the telescopic component includes hinged shaft and articulated linkage, the articulated linkage and described hinged
Shaft is flexibly connected.
Further, the telescoping mechanism further includes position sensor, and the position sensor is described flexible for obtaining
The telescopic location of component.
Further, the clamping plate includes roller, and the roller is arranged in parallel on the clamping plate.
Further, the grabbing device further includes the installing mechanism being fixedly connected with the rotating mechanism, the installation
Installation through-hole is offered in mechanism.
The utility model provides a kind of grabbing device, which includes rotating mechanism, telescoping mechanism and clamping
Mechanism, the rotating mechanism include rotating seat and rotary drive assembly, can drive the rotation by the rotary drive assembly
Swivel base carries out rotary motion, and the telescoping mechanism includes expandable bottom plate, telescopic component and flexible driving assembly, is stretched by described
Contracting driving assembly, can drive telescopic component linear expansion move, the clamping device include clamping bottom plate, transmission shaft, clamping plate with
And clamping driving assembly, the clamping plate can be driven to carry out linear reciprocation fortune on the transmission shaft by the clamping driving assembly
It is dynamic.Implement the utility model embodiment, it can be achieved that grabbing to multi-angle, is conducive to the flexibility ratio and crawl of promotion gripping device
Efficiency.
Detailed description of the invention
In order to illustrate more clearly of the utility model embodiment technical solution, will make below to required in embodiment description
Attached drawing is briefly described, it should be apparent that, the accompanying drawings in the following description is some embodiments of the utility model, for
For those of ordinary skill in the art, without creative efforts, it can also be obtained according to these attached drawings other
Attached drawing.
Fig. 1 is a kind of schematic perspective view of grabbing device in an embodiment of the present invention；
Fig. 2 is a kind of dimensional decomposition structure diagram of grabbing device in an embodiment of the present invention；
Fig. 3 is a kind of another dimensional decomposition structure diagram of grabbing device in an embodiment of the present invention；
Fig. 4 is the schematic perspective view of another grabbing device in an embodiment of the present invention；
Fig. 5 is the schematic perspective view of another grabbing device in an embodiment of the present invention.
Drawing reference numeral explanation
The object 200 to be grabbed of grabbing device 100
110 telescoping mechanism 120 of rotating mechanism
130 rotating seat 111 of clamping device
121 rotating bottom board 113 of expandable bottom plate
Flexible 123 telescopic component 122 of driving assembly
Transmission shaft 132 clamps bottom plate 131
Clamp 134 clamping plate 133 of driving assembly
1322 double end screw mandrel 1321 of feed screw nut
Flexible guidance set 124 clamps guidance set 135
1232 telescopic drive motor 1231 of drive link
The hinged shaft 1221 of articulated linkage 1222
1331 position sensor 125 of roller
141 installing mechanism 140 of installation through-hole
First drive rod, 1,234 second drive rod 1235
Drive shaft 1236
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.Obviously, the embodiments are a part of the embodiments of the present invention, rather than whole implementation
Example.Based on the embodiments of the present invention, those of ordinary skill in the art are obtained without making creative work
The every other embodiment obtained, fall within the protection scope of the utility model.
It should be appreciated that ought use in this specification and in the appended claims, term " includes " and "comprising" instruction
Described feature, entirety, step, operation, the presence of element and/or component, but one or more of the other feature, whole is not precluded
Body, step, operation, the presence or addition of element, component and/or its set.
The explanation of following embodiment is to can be used to the specific of implementation to illustrate the utility model with reference to additional schema
Embodiment.The direction term that the utility model is previously mentioned, for example, "upper", "lower", "front", "rear", "left", "right", "inner", "
Outside ", " side " etc. is only the direction with reference to annexed drawings.Therefore, the direction term used is to illustrate and understand that this is practical
It is novel, rather than to limit the utility model.
Fig. 1 to Fig. 3 is please referred to, is a kind of stereochemical structure signal of grabbing device 100 in an embodiment of the present invention
Figure and dimensional decomposition structure diagram.The grabbing device 100 includes rotating mechanism 110, telescoping mechanism 120 and clamping machine
Structure 130.
Rotating mechanism 110, including rotating seat 111 and rotary drive assembly (not shown), the rotating seat 111 with
The rotary drive assembly connection, the rotary drive assembly is for driving the rotating seat 111 to carry out rotary motion.
In specific implementation, rotating mechanism 110 further includes rotating bottom board 113, and rotating bottom board is fixedly installed in rotary drive assembly
On 113 one side.Rotating bottom board 113 offers the through-hole for accommodating rotary shaft, the rotating seat 111 by rotary shaft with
Rotary drive assembly connection.Rotary drive assembly includes rotary drive motor, if the selection driving motor starts, drives rotary shaft
Rotation is to drive rotating seat 111 to carry out rotary motion.
Rotary drive assembly can by with programmable logic controller (PLC) (PLC, Programmable Logic
Controller it) connects, programmable logic controller (PLC) is a kind of digital electronic device with microprocessor, for automating control
Control instruction can be loaded storage in memory at any time and executed by the digital logic controller of system.Programmable controller is by inside
CPU, the units institute modularity such as instruction and data memory, input-output unit, power supply mould group, digital simulation are combined into.Specifically,
Rotary drive motor and programmable logic controller (PLC) in the rotary drive assembly, rotary drive motor is by receiving programmable patrol
The control signal that controller is sent is collected to realize that rotating forward, reversion, acceleration and deceleration etc. move, and then controls the rotation angle of rotating seat 111
Degree, rotation speed.
Telescoping mechanism 120, including expandable bottom plate 121, telescopic component 122 and flexible driving assembly 123, the flexible bottom
Plate 121 is fixedly connected with the rotating seat 111, and one end of the telescopic component 122 is fixedly connected with the expandable bottom plate 121；
The flexible driving assembly 123 is for driving 122 linear expansion of telescopic component to move.
In specific implementation, telescopic component 122 includes hinged shaft 1221 and articulated linkage 1222, the articulated linkage
1222 are flexibly connected with the hinged shaft 1221.Wherein, hinged shaft 1221 all can be with the quantity of articulated linkage 1222
It is multiple.Hinged shaft 1221 is opened in articulated linkage 1222, articulated linkage 1222 by hinged shaft 1221 with it is another hingedly
Connecting rod 1222 is flexibly connected, and articulated linkage 1222 is parallel with expandable bottom plate 121.By multiple articulated linkages 1222 with it is multiple hinged
Shaft 1221 combines, to form telescopic component 122.Telescopic component 122 under the effect of external force, can carry out extending and retracting fortune
It is dynamic.
Further, the flexible driving assembly 123 includes telescopic drive motor 1231 and drive link 1232, described
Telescopic drive motor 1231 is connect by the drive link 1232 with the telescopic component 122.Wherein, drive link 1232 is wrapped
The first drive rod 1234, drive shaft 1236 and the second drive rod 1235 are included, the first drive rod 1234 passes through drive shaft
1236 are flexibly connected with the second drive rod 1235.One end and flexible driving in first drive rod 1234 far from drive shaft 1236
Motor 1231 is fixedly connected, and one end in the second drive rod 1235 far from drive shaft 1236 is connect with telescopic component 122.If stretching
Contracting driving motor 1231 starts, and is moved by 1232 driving assembly linear expansion of drive link.
Further, the telescoping mechanism 120 further includes position sensor 125 and programmable logic controller (PLC), described
Position sensor 125 is used to obtain the telescopic location of the telescopic component 122.Telescopic component is obtained by position sensor 125
122 telescopic location, and feed back to programmable logic controller (PLC), programmable logic controller (PLC) according to the telescopic location received,
Corresponding control signal is sent to telescopic drive motor 1231, drives the telescopic drive motor 1231 to be rotated forward, instead to realize
Turn and the movement such as acceleration and deceleration, and then realizes the telescopic direction and stretching speed of control telescopic component 122.
Particularly, the telescoping mechanism 120 further includes flexible guidance set 124, and the telescoping mechanism 120 further includes stretching
Guidance set 124, the flexible guidance set 124 are double-layer guide rail structure, and the double-layer guide rail structure includes track and cunning
Block, the track are fixedly connected with the expandable bottom plate 121, and the sliding block is fixedly connected with the clamping bottom plate 131.
The quantity of flexible guidance set 124 can be two, and be respectively arranged at expandable bottom plate 121 same side two
A side edge is parallel to each other between flexible guidance set 124.By the way that flexible guidance set 124 is arranged on expandable bottom plate 121,
And connect by flexible guidance set 124 with clamping bottom plate 131, the integral strength of grabbing device 100 can be enhanced, elevating mechanism can
By property.Meanwhile by the design of double-layer track structure, the space size of telescoping mechanism 120 is reduced, the equal volume the case where
Under, realize the flexible stroke of longer distance.
Clamping device 130, including clamping bottom plate 131, transmission shaft 132, clamping plate 133 and clamping driving assembly 134, it is described
Clamping bottom plate 131 is fixedly connected with the other end of the telescopic component 122, the both ends of the transmission shaft 132 and the clamping bottom
Plate 131 is fixedly connected, and clamping driving assembly 134 is connect with the transmission shaft 132, and the clamping plate 133 is set to the transmission shaft
On 132；The clamping driving assembly 134 is for driving the transmission shaft 132 to carry out rotary motion, to drive the clamping plate 133
Straight reciprocating motion is carried out on the transmission shaft 132.
In specific implementation, clamping plate 133 is flexible stainless steel plate.The transmission shaft 132 includes double end screw mandrel 1321,
And it is movably connected on the feed screw nut 1322 in the double end screw mandrel 1321, the clamping plate 133 passes through the feed screw nut
1322 are flexibly connected with the double end screw mandrel 1321.Double-end lead-screw is the driving member for converting rotary motion to linear motion.Its
In, the quantity of clamping plate 133 can be two, then the two clamping plates 133 are respectively by being set to the silk at 1321 both ends of double end screw mandrel
Stem nut 1322 is flexibly connected with double end screw mandrel 1321, if double end screw mandrel 1321 carries out rotary motion, can drive 133 edge of clamping plate
The axial direction of double end screw mandrel 1321 carries out straight reciprocating motion.
Clamping driving assembly 134 includes clamping driving motor and gear combination, and clamping driving motor passes through gear combination
It is connect with one end of double end screw mandrel 1321.If clamping driving motor starting, double end screw mandrel is sent power to by gear combination
1321, to drive double end screw mandrel 1321 to carry out rotary motion, and then realize that driving clamping plate 133 carries out straight reciprocating motion.
Further, the clamping device 130 further includes clamping guidance set 135, and the clamping guidance set 135 is straight
Line guide rod or linear guide, the clamping plate 133 are connect with the clamping guidance set 135.Specifically, the quantity of clamping plate 133
Can be two, clamping plate 133 is sheathed on linear guide or linear guide by sliding part, with realize clamping plate 133 with it is described
Linear guide or linear guide are flexibly connected.
Further, the clamping plate 133 includes roller 1331, and the roller 1331 is arranged in parallel in the clamping plate
On 133.The quantity of roller 1331 can be multiple, and roller 1331 is set to the inside of clamping plate 133, the inside be clamping plate 133 with
The side that object to be held is in contact.By the way that roller 1331 is arranged on clamping plate 133, in order to which object to be held is slid into clamping plate
In 133 clamping ranges.
Implement the utility model embodiment, can be realized by the clamping device 130 in the grabbing device 100 and treat crawl object
The crawl of body 200, by rotating mechanism 110 and telescoping mechanism 120, it can be achieved that controlling object 200 to be grabbed carries out straight line fortune
Dynamic and circular motion.Wherein grabbing device 100 can be applied to all kinds of automated production lathes, automatic vending equipment etc., such as
The grabbing device 100 is mountable in Vending Machine, to realize the crawl to commodity in Vending Machine.The Vending Machine
It can be coconut Vending Machine.Being somebody's turn to do object 200 to be grabbed can be coconut, packed meal etc..The utility model embodiment is not right
The type of the application scenarios of grabbing device 100 and object to be grabbed 200, shape define.Implement the utility model implementation
Example is, it can be achieved that grabbing multi-angle, being conducive to the flexibility ratio of promotion gripping device and grabbing efficiency.
In other embodiments, specifically referring to figure 4., another grabbing device 100 in an embodiment of the present invention
Schematic perspective view.Specifically, the present embodiment specifically provides a kind of articulated linkage 1222 and mutually hangs down with expandable bottom plate 121
Straight grabbing device 100.The grabbing device 100 includes rotating mechanism 110, telescoping mechanism 120 and clamping device 130.Wherein,
110 telescoping mechanism of rotating mechanism, 120 expandable bottom plate 121, telescopic component 122 and flexible driving assembly 123.Wherein, flexible group
Part 122 includes hinged shaft 1221 and articulated linkage 1222, and the articulated linkage 1222 and the hinged shaft 1221 are movable
Connection.The quantity of hinged shaft 1221 and articulated linkage 1222 all can be multiple.Hinged shaft 1221 is opened in articulated linkage
On 1222, articulated linkage 1222 is flexibly connected by hinged shaft 1221 with another articulated linkage 1222, articulated linkage 1222 with
Expandable bottom plate 121 is vertical.It is combined by multiple articulated linkages 1222 with multiple hinged shafts 1221, to form telescopic component 122.
Telescopic component 122 under the effect of external force, can carry out extending and retracting movement.The specific structure and connection relationship of other component
Previous embodiment is please referred to, this is no longer going to repeat them.
It is specific referring to FIG. 5, another grabbing device 100 in its an embodiment of the present invention in other embodiments
Schematic perspective view.The grabbing device 100 further includes the installing mechanism 140 being fixedly connected with the rotating mechanism 110,
Installation through-hole 141 is offered on the installing mechanism 140.Specifically, which can be with rotating bottom board 113 in vertical
Straight relationship can also be in parallel relation with rotating bottom board 113, by opening up the through-hole of different directions, it can be achieved that different installation
Direction, in order to the installation of grabbing device 100.
It should be noted that for simple description, therefore, it is stated as a systems for each embodiment of the method above-mentioned
The combination of actions of column, but those skilled in the art should understand that, the utility model is not by the limit of described sequence of movement
System, because certain some step can be performed in other orders or simultaneously according to the application.Secondly, those skilled in the art
Also it should be aware of, the embodiments described in the specification are all preferred embodiments, and related actions and modules might not
It is necessary to the application.
In the above-described embodiments, it all emphasizes particularly on different fields to the description of each embodiment, is not described in some embodiment
Part, reference can be made to the related descriptions of other embodiments.
Above description is only a specific implementation of the present invention, but the protection scope of the utility model is not limited to
In this, anyone skilled in the art within the technical scope disclosed by the utility model, can be readily occurred in various
Equivalent modifications or substitutions, these modifications or substitutions should be covered within the scope of the utility model.Therefore, this is practical
Novel protection scope should be subject to the protection scope in claims.
Claims (10)
1. a kind of grabbing device, which is characterized in that the grabbing device includes:
Rotating mechanism, including rotating seat and rotary drive assembly, the rotating seat is connect with the rotary drive assembly, described
Rotary drive assembly is for driving the rotating seat to carry out rotary motion；
Telescoping mechanism, including expandable bottom plate, telescopic component and flexible driving assembly, the expandable bottom plate and the rotating seat are solid
Fixed connection, one end of the telescopic component is fixedly connected with the expandable bottom plate；The flexible driving assembly is described for driving
The movement of telescopic component linear expansion；
Clamping device, including clamping bottom plate, transmission shaft, clamping plate and clamping driving assembly, the clamping bottom plate stretch with described
The other end of component is fixedly connected, and the both ends of the transmission shaft are fixedly connected with the clamping bottom plate, clamps driving assembly and institute
Transmission axis connection is stated, the clamping plate is set on the transmission shaft；The clamping driving assembly for drive the transmission shaft into
Row rotary motion, to drive the clamping plate to carry out straight reciprocating motion on the transmission shaft.
2. grabbing device as described in claim 1, which is characterized in that the transmission shaft includes double end screw mandrel, and activity is even
The feed screw nut being connected in the double end screw mandrel, the clamping plate are flexibly connected by the feed screw nut with the double end screw mandrel.
3. grabbing device as claimed in claim 2, which is characterized in that the clamping device further includes clamping guidance set, institute
It states clamping plate to connect with the clamping guidance set, the clamping guidance set is linear guide or linear guide.
4. grabbing device as described in claim 1, which is characterized in that the telescoping mechanism further includes flexible guidance set, institute
Stating flexible guidance set is double-layer guide rail structure, and the double-layer guide rail structure includes track and sliding block, the track with it is described
Expandable bottom plate is fixedly connected, and the sliding block is fixedly connected with the clamping bottom plate.
5. grabbing device as described in claim 1, which is characterized in that the flexible driving assembly include telescopic drive motor with
And drive link, the telescopic drive motor are connect by the drive link with the telescopic component.
6. grabbing device as claimed in claim 5, which is characterized in that the drive link includes the first drive rod, the second drive
Lever and drive shaft, first drive rod is flexibly connected by the drive shaft with second drive rod, described
One end in first drive rod far from the drive shaft is fixedly connected with the telescopic drive motor, in second drive rod
One end far from the drive shaft is connect with the telescopic component.
7. grabbing device as described in claim 1, which is characterized in that the telescopic component includes hinged shaft and hingedly connects
Bar, the articulated linkage are flexibly connected with the hinged shaft.
8. grabbing device as described in claim 1, which is characterized in that the telescoping mechanism further includes position sensor, described
Position sensor is used to obtain the telescopic location of the telescopic component.
9. grabbing device as described in claim 1, which is characterized in that the clamping plate includes roller, and the roller is parallel to each other
It is set on the clamping plate.
10. grabbing device as described in claim 1, which is characterized in that the grabbing device further includes and the rotating mechanism
The installing mechanism being fixedly connected offers installation through-hole on the installing mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820440728.XU CN208444368U (en) | 2018-03-29 | 2018-03-29 | A kind of grabbing device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820440728.XU CN208444368U (en) | 2018-03-29 | 2018-03-29 | A kind of grabbing device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208444368U true CN208444368U (en) | 2019-01-29 |
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ID=65093642
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820440728.XU Active CN208444368U (en) | 2018-03-29 | 2018-03-29 | A kind of grabbing device |
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| Country | Link |
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| CN (1) | CN208444368U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108447178A (en) * | 2018-03-29 | 2018-08-24 | 深圳市道中创新科技有限公司 | A kind of grabbing device |
-
2018
- 2018-03-29 CN CN201820440728.XU patent/CN208444368U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108447178A (en) * | 2018-03-29 | 2018-08-24 | 深圳市道中创新科技有限公司 | A kind of grabbing device |
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