CN209160901U - A kind of material fetching mechanism - Google Patents

Abstract

The utility model discloses a material reclaiming mechanism, comprising an opening assembly and a clamping assembly which can be simultaneously moved by a mechanical arm, the opening assembly and the clamping assembly can operate relatively independently; the opening assembly includes a top cover part and a top cover driving device for driving the top cover member to perform linear reciprocating motion; the clamping assembly includes a left clamping part, a right clamping part, and driving the left clamping part and the right clamping part to open or A closed chuck driving device; the opposite sides of the left and right clamping parts are respectively provided with clamping parts adapted to the shape of the upper edge of the cooking utensil. The rake tooth structure of the top cover is used to open the cover body of the cooking utensil, and the cylinder moves along the connecting plate chute to open, close and close, so as to use the clamp head fixed with the cylinder to open, close and close to complete the matching. The clamping operation in which the cooking utensils are released and clamped.

Description

a reclaiming mechanism

technical field

The utility model relates to the technical field of mechanical parts, in particular to a material reclaiming mechanism.

Background technique

When traditional fixtures are applied to automated manipulators, there are the following deficiencies:

1. The non-automatic movable clamping structure of the traditional fixture cannot be adapted to the automatic machine of the manipulator. The manipulator itself only acts as the directional rotation and angle transformation of the joint. The fixture itself uses the outside world such as the user's hand strength, mechanical kinetic energy, etc. Force to complete the clamping, the clamp structure itself has no driving and movable clamping structure, resulting in poor function of the clamp;

2. When the traditional clamp is adapted to the manipulator, the clamping position conversion and adjustment operation of the clamp can only be changed by the activity of the manipulator, which increases the workload of the manipulator. The clamp itself cannot complete the work of clamping and angle adjustment independently. Lead to poor applicability of the fixture;

In the context of automation and intelligent construction, based on the above problems, it is necessary to study the application of fixtures suitable for automatic manipulators in the current era. The design of the clamp structure in the prior art is unreasonable, the clamp structure needs to rely on excessive external force to complete the clamping, and at the same time, it cannot independently complete operations such as position change, and its application scope is limited, which also limits the applicability and practicability of the manipulator to a certain extent. .

Utility model content

The purpose of this utility model is, in view of the above-mentioned problems, to provide a clamp, which utilizes a pneumatic clamp-type structure, which is convenient for the clamp to clamp and fix the structural edges of bowls, pots, etc., and at the same time, a pneumatic lift-type top cover can be used to connect with the pot. The lifting handles such as the lid and the bowl cover are connected together, and the lifting operation is carried out by longitudinal lifting, which improves the applicability of the clamp and the manipulator to a certain extent.

In order to achieve the above purpose, the technical solution adopted by the present invention is: a material reclaiming mechanism, including a cover opening assembly and a clamping assembly that can be simultaneously moved by a mechanical arm, and the cover opening assembly and the clamping assembly can operate relatively independently. ;

The cover-opening assembly includes a top-cover member and a top-cover driving device that drives the top-cover member to perform linear reciprocating motion;

The clamping assembly includes a left clamping part, a right clamping part and a clamping head driving device for driving the left clamping part and the right clamping part to open or close; the left clamping part and the right clamping part On the opposite sides of the clamping portion, there are respectively provided clamping portions adapted to the shape of the upper edge of the cooking utensil.

Preferably, the cover opening assembly includes a clamp seat plate, a connecting shaft seat and a connecting plate;

the connecting shaft seat is arranged on the clamp seat plate;

The connecting plate is arranged on the connecting shaft seat, and a chute is provided in the middle of the connecting plate;

The chuck driving device is an expansion-type square cylinder, which is provided with two sliding parts. The right clamping part is respectively fixedly connected with the two sliding parts.

Preferably, it also includes a U-shaped seat;

The U-shaped seat is fixedly connected to the clamp seat plate, and the U-shaped notch is provided with a slot at the lower end of the U-shaped seat;

The connecting shaft seat is fixedly connected with an L-shaped plate, and the L-shaped plate is embedded in the slot of the U-shaped seat, and two spring shafts are arranged between the L-shaped plate and the slot of the U-shaped seat, and the spring shafts are left and right. Both ends are fixedly connected with the U-shaped seat, and the L-shaped plate is slidably connected with the outer surface of the spring shaft.

Preferably, the left clamping portion includes an inwardly inclined clamping surface, and an end of the right clamping portion is bent inwardly in a hook shape.

Preferably, the opposite sides of the left clamping portion and the right clamping portion are respectively provided with anti-skid pieces.

Preferably, the anti-skid member is a rubber sleeve or a rubber block.

Preferably, the top cover is a rake-shaped plate, and one end of the rake-shaped plate extends vertically outward to form rake teeth.

Preferably, the cover opening assembly further comprises a rail rod, a retractable rod, a seat plate and a sleeve shaft, and the seat plate is fixed to the clamp seat plate by bolts;

The ends of the rail rod and the retracting rod are respectively fixed on the back of the top cover, and the rail rod and the retracting rod are relatively parallel, and the rod body parts of the rail rod and the retracting rod can slide through the middle of the seat plate;

The top cover driving device is a driving cylinder, which is fixed on the back of the seat plate; the upper end of the retracting rod is connected with the driving rod of the top cover driving device;

The sleeve shaft is arranged in parallel with the top cover driving device, the sleeve shaft is fixed on the back of the seat plate, and the sleeve shaft is a kind of hollow pipe, the upper end of the rail rod penetrates through the middle of the sleeve shaft, and the rail rod and the The inner wall of the sleeve shaft is slidably connected.

Owing to adopting the above-mentioned technical scheme, the utility model has the following beneficial effects:

1. The present utility model can use the rail rod type push-out and contraction activities to make the top cover part move in the horizontal or vertical position along with the inflating and air-extracting process of the top cover driving device with the retracting rod, and use the top cover. A rake tooth structure is used to lift the cover of the cooking utensil;

2. The utility model utilizes the pneumatic expansion type cylinder structure to make the cylinder along the connecting plate by utilizing the expansion of the cylinder after inflation and the negative pressure environment formed in the cylinder after the exhaust during the process of inflating and pumping air into the cylinder. The chute is used for opening, closing and closing activities, so as to utilize the opening, closing and closing activities of the pliers fixed with the cylinder to complete the clamping operation of loosening and clamping the cooking utensils.

Description of drawings

In order to more clearly illustrate the embodiments of the present utility model or the technical solutions in the prior art, the following briefly introduces the accompanying drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description These are just some embodiments of the present invention, and for those of ordinary skill in the art, other drawings can also be obtained based on the structures shown in these drawings without any creative effort.

Fig. 1 is the overall structure schematic diagram of the present utility model;

FIG. 2 is a schematic structural diagram of a clamping assembly in the present invention.

Description of reference numbers:

In the drawings, 1-clamp seat plate, 2-bearing plate, 3-U-shaped seat, 4-connecting shaft seat, 5-air pressure nozzle, 6-connecting plate, 7-clamp driving device; 8-clamping part, 81-left clamping part, 82-right clamping part; 9-spring shaft, 10-top cover, 11-rail rod, 12-contraction rod, 13-seat plate, 14-sleeve shaft, 15-suction pipe Port, 16-top cover drive device, 17-inflatable nozzle

The realization, functional characteristics and key points of the purpose of the present utility model will be further described with reference to the accompanying drawings in conjunction with the embodiments.

Detailed ways

The technical solutions in the embodiments of the present utility model will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, not all of them. Example. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present invention.

It should be noted that if there are directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention, the directional indications are only used to explain a certain posture (such as the accompanying drawings). When the relative positional relationship, movement situation, etc. between the various components shown below), if the specific posture changes, the directional indication also changes accordingly.

In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present invention, the descriptions of "first", "second", etc. are only for the purpose of description, and should not be construed as instructions or Implicit their relative importance or implicitly indicate the number of technical features indicated. Thus, a feature delimited with "first", "second" may expressly or implicitly include at least one of that feature. In addition, the technical solutions between the various embodiments can be combined with each other, but must be based on the realization by those of ordinary skill in the art. When the combination of technical solutions is contradictory or cannot be realized, it should be considered that the combination of such technical solutions does not exist. , is not within the scope of protection required by the present utility model.

The material reclaiming mechanism of the utility model comprises a cover opening assembly and a clamping assembly which can be simultaneously moved by a mechanical arm.

As shown in FIG. 1 and FIG. 2 , a reclaiming mechanism includes an opening assembly and a clamping assembly that can be simultaneously moved by a mechanical arm, and the opening assembly and the clamping assembly can operate relatively independently;

The cover opening assembly includes a top cover member 10 and a top cover driving device 16 for driving the top cover member 10 to perform linear reciprocating motion; cover to open.

After the lid of the cooking device is opened, the mechanical arm adjusts the position of the clamping assembly, through which the clamping assembly includes a left clamping part 81, a right clamping part 82, and drives the left clamping part 81 and the right clamping part The clamping head driving device 7 with the opening or closing of the part 82; the opposite sides of the left clamping part 81 and the right clamping part 82 are respectively provided with clamping parts adapted to the shape of the upper edge of the cooking utensil.

In a specific embodiment, the cover opening assembly includes a top cover member 10 , a rail rod 11 , a retractable rod 12 , a seat plate 13 , a sleeve shaft 14 and a top cover driving device 16 ;

The top cover member 10 is a rake-shaped plate, and one end of the top cover member 10 extends vertically outward to form rake teeth (with a small volume, it is adapted to open the buckle structure between the upper cover body and the pot body of the cooking utensil, and the opening is increased. The accuracy of the cover); the rail rod 11 and the retractable rod 12 are respectively fixed on the back of the top cover 10, and the rail rod 11 and the retractable rod 12 are relatively parallel, and the rod parts of the rail rod 11 and the retractable rod 12 penetrate through the seat plate 13 middle; the sleeve shaft 14 is fixed on the back of the seat plate 13, and the sleeve shaft 14 is a kind of hollow tube, the upper end of the rail rod 11 penetrates the middle part of the sleeve shaft 14, and the rail rod 11 is slidably connected with the inner wall of the sleeve shaft 14;

The top cover driving device 16 is a driving cylinder, which is fixed on the back of the seat plate 13; the upper end of the retracting rod 12 is connected with the driving rod of the top cover driving device 16;

The sleeve shaft 14 is arranged in parallel with the top cover driving device 16 , the sleeve shaft 14 is fixed on the back of the seat plate 13 , and the sleeve shaft 13 is a kind of hollow pipe, and the upper end of the rail rod 11 penetrates through the sleeve shaft 14, and the rail rod 11 is slidably connected to the inner wall of the sleeve shaft 14.

The side walls of the left and right ends of the top cover driving device 16 are respectively provided with an inflatable nozzle 17 and a suction nozzle 15, and both the suction nozzle 15 and the inflatable nozzle 17 communicate with the air cavity in the top cover driving device 16; At the same time, through the gas transmission and air extraction pipeline equipment, the inflatable nozzles 17 at the left and right ends of the top cover driving device 16 are docked with the suction nozzle 15, so that when the gas transmission pipeline inputs gas to the inflatable nozzle 17, the top cover drives The air cavity of the device 16 is filled with gas, and the end of the retractable rod 12 is pushed by the filling gas to push the top cover 10 to the right side of the seat plate 13. During the process, the rail rod 11 slides relative to the seat plate 13, and the rail rod 11 By sliding along the inner wall of the sleeve shaft 14, the upper end of the top cover member 10 is always pushed out to the vertical direction of the rail rod 11, so as to ensure the stability of the movement of the top cover member 10 and the retractable rod 12. When the longitudinal position of the top cover 10 is changed by moving the top cover member 10 in the direction of the cooking device, the cover body of the cooking device is pressed to open it.

The clamping assembly includes a clamp seat plate 1, a U-shaped seat 3, a connecting shaft seat 4, a connecting plate 6, a chuck driving device 7 and a clamping part 8 (including a left clamping part 81 and a right clamping part 82), the seat plate 13 is fixed on the upper end of the clamp base plate 1 by bolts;

The U-shaped seat 3 is fixed on the lower end of the clamp seat plate 1 by bolts, and the U-shaped seat 3 is slotted and provided with a U-shaped notch; the connecting shaft seat 4 is a metal spliced square seat plate, and the lower end of the connecting shaft seat 4 is arranged There are two pairs of air pressure nozzles 5, an L-shaped plate is welded on the upper end of the connecting shaft seat 4, and the L-shaped plate is embedded in the slot of the U-shaped seat 3, and there are two through the L-shaped plate and the slot of the U-shaped seat 3. The spring shaft 9, the left and right ends of the spring shaft 9 are fixedly connected with the U-shaped seat 3, and the L-shaped plate is slidably connected with the outer surface of the spring shaft 9; the connecting plate 6 is fixed on the right side of the connecting shaft seat 4, and the middle of the connecting plate 6 is slotted with sliding groove.

The chuck driving device 7 is an expansion-type square cylinder, which is provided with two sliding parts. The parts 82 are respectively fixedly connected with the sliding parts; wherein the connecting shaft seat 4 is docked with the U-shaped seat 3 through the upper end L-shaped plate, so as to be fixed with the clamp seat plate 1. When the whole clamp structure is active, the connecting shaft seat 4 and the U-shaped seat are connected. At the connection of the seat 3, the sliding of the connecting shaft seat 4 along the spring shaft 9 can be used to buffer the movement of the U-shaped seat 3 by the elastic contraction of the spring shaft 9, so as to avoid the rigid collision with other external structures when the connecting shaft seat 4 is active. Cause structural damage; when the clamping part 8 needs to be used to clamp the article, the air suction pipe and the inflation pipe can be respectively connected to the air pressure pipe 5 at the lower end of the connecting shaft base 4. When inflating, the gas is discharged into the chuck along the air pressure pipe 5. In the driving device 7, the pipeline between the two chuck driving devices 7 is caused to expand, and the interaction between the chuck driving devices 7 makes the two chuck driving devices 7 slide in the opposite direction along the chute of the connecting plate 6. 8 Due to the change of the position of the chuck driving device 7, the two clamping parts 8 tend to open outward. When the gas is pumped, the gas is discharged from the chuck driving device 7 to the air pressure pipe 5, and the left and right ends of the chuck With the action of negative pressure after the gas is emptied, the driving device 7 causes the left and right two chuck driving devices 7 to slide and shrink inward along the chute of the connecting plate 6, thereby driving the clamping part 8 connected to it to move closer to the middle. The clamping operation is performed by the retraction of the head drive device 7 and the clamping portion 8 .

Wherein, the left clamping portion 81 includes an inwardly inclined clamping surface, and the end of the right clamping portion 82 is bent inward to form a hook shape. The hook-shaped structure of the clamping portion 8 is used to ensure that the left and right consecutive segments are clamped. When the parts 8 are close together and closed, the hook shape at the front end is used to ensure the clamping force. Further, the opposite sides of the left clamping part and the right clamping part are respectively provided with anti-skid parts, the anti-skid parts are rubber sleeves or rubber blocks, and the inner wall of the clamping part 8 is enlarged by using the anti-skid parts provided on the inside The coefficient of friction with the edge of the clamped item prevents the item from sliding off.

As shown in Figure 1, a bearing plate 2 is welded on the left side of the fixture chassis 1. The bearing plate 2 is a kind of hollow disk metal. The outer edge of the bearing plate 2 is evenly distributed with screw holes. During installation, the bearing plate 2 can be passed through bolts It is fixed with the rotating shaft equipment or the movable shaft body of the mechanical arm. When the rotating shaft equipment rotates, the bearing disc 2 connected to it can be driven to follow, thereby driving the clamp to rotate, so as to change the angle of the clamped objects during operation.

The utility model includes two parts, which are inseparable. The clamp-type structure moves through the pneumatic contraction and expansion cylinder to use the inflatable equipment to inflate the air pressure connecting pipe 5, and the inflatable chuck driving device 7 is used to interact with the filling gas. Expansion, so that the chuck driving device 7 slides along the connecting plate 6 and opens and closes outward. When the inflatable equipment uses the air pressure nozzle 5 to pump air to the chuck driving device 7, it uses the gas in the chuck driving device 7 to be evacuated. The negative pressure environment acts to make the left and right chuck drive devices 7 slide along the connecting plate 6 and fold inward, so as to use the folded clamping portion 8 to clamp the article, and the cover opening assembly is a two-way rail-type pneumatic The retractable movable structure is used to utilize the change of filling gas and evacuating gas in the top cover driving device 16 during the movement, so that the retracting rod 12 penetrated in the top cover driving device 16 is retracted along the inner and outer directions of the top cover driving device 16, Push out and drive the rail rod 11 connected with it to move along the sleeve shaft 14, so that the movement of the retractable rod 12 and the rail rod 11 can change the longitudinal position of the top cover 10 to realize the action of opening the cover.

The embodiments of the present utility model are not intended to limit the scope of the patent of the present utility model. Under the concept of the present utility model, the equivalent structure transformation made by using the contents of the description and the accompanying drawings of the present utility model, or directly/indirectly applied in the Other related technical fields are included in the scope of patent protection of the present invention.

Claims (8)

1. a kind of material fetching mechanism, it is characterised in that: described including uncap component and clamp assemblies that can be mobile simultaneously by mechanical arm It uncaps component and clamp assemblies relatively independent can operate；

The component of uncapping includes the top cover driving device that top cover and the driving top cover do straight reciprocating motion；

The clamp assemblies include that left clamping part, right clamping part and the driving left clamping part and the right clamping part are opened or closed The collet driving device of conjunction；On the left clamping part and the opposite side of the right clamping part, it is respectively equipped with adaptation cooking apparatus Upper edge shape clamping portion.

2. material fetching mechanism according to claim 1, which is characterized in that the component of uncapping includes fixture attic base, connecting shaft Seat and connecting plate；

The connection shaft seat is set to the fixture attic base；

The connecting plate is set to connection shaft seat, offers sliding slot in the middle part of the connecting plate；

The collet driving device is expansion type square cylinder body, is provided with two pieces of sliding parts, two pieces of sliding parts are in left and right It is symmetrically embedded in the sliding slot of connecting plate, the left clamping part and the right clamping part are fixed with two pieces of sliding parts connect respectively It connects.

3. material fetching mechanism according to claim 2, it is characterised in that: further include U-shaped seat；

The U-shaped seat is fixedly connected on the fixture attic base, and the U-shaped seat lower end fluting is provided with U type slot；

The connection shaft seat is fixedly connected with one block of L-type plate, and L-type plate is embedded in U-shaped seat slot mouth, L-type plate and U-shaped seat slot mouth Between be provided through two spring shafts, the spring shaft left and right ends are fixedly connected with U-shaped seat, L-type plate and spring shaft appearance Face is slidably connected.

4. material fetching mechanism according to claim 1, it is characterised in that: the left clamping part includes intilted clamping The end in face, the right clamping part curves inwardly in hook.

5. material fetching mechanism according to claim 1, it is characterised in that: the left clamping part and the opposite side of right clamping part On be respectively equipped with Non-slip material.

6. material fetching mechanism according to claim 5, it is characterised in that: the Non-slip material is gum cover or rubber block.

7. material fetching mechanism according to claim 1, which is characterized in that the top cover is a kind of rake plate, the rake One end of plate extends perpendicularly outward to form rake teeth.

8. material fetching mechanism according to claim 7, it is characterised in that: the component of uncapping further includes rail bar, contraction pole, seat Plate and set axis, the seat board are fixed by bolts in fixture attic base；

The end of the rail bar and contraction pole is individually fixed in the top cover back side, and relatively parallel between rail bar and contraction pole, institute The body of rod position for stating rail bar and contraction pole slidably extends through in the middle part of the seat board；

The top cover driving device is driving cylinder, is fixed on the back side of the seat board；The upper end of the contraction pole with it is described The drive rod of top cover driving device connects；

The set axis is opposite with the top cover driving device to be arranged in parallel, and the set axis is fixed on the seat board back side, and covering axis is one Kind hollow pipe fitting, the upper end of the rail bar is through set axis middle part, and rail bar is slidably connected with set axis inner wall.