CN209478221U - A kind of flexible grabbing device - Google Patents
A kind of flexible grabbing device Download PDFInfo
- Publication number
- CN209478221U CN209478221U CN201920164574.0U CN201920164574U CN209478221U CN 209478221 U CN209478221 U CN 209478221U CN 201920164574 U CN201920164574 U CN 201920164574U CN 209478221 U CN209478221 U CN 209478221U
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- flexible
- cylinder
- grappling fixture
- grabbing device
- connecting rod
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Abstract
The utility model relates to mechanical equipment technical fields, especially a kind of flexible grabbing device, including frame and cylinder, the pedestal of cylinder is connect with frame upper end, the extension bar of cylinder stretches out downward and end is provided with the rack gear on left and right two sides, and rack gear left and right ends are engaged with gear respectively, and gear is connect by shaft with frame, gear radially stretches out connecting rod, and flexible grappling fixture is arranged in connecting rod outer end.The flexible grabbing device of the utility model, the brittleness fragile goods such as two flexible grappling fixture crawl bowls, cups are driven using cylinder, grasp speed is high-efficient fastly, the shaft master of flexible grappling fixture is additionally provided with torsional spring simultaneously, grappling fixture is set to deform a part outward, greatly reduce stress when crawl, reduces the probability of broken bowl.
Description
Technical field
The utility model belongs to mechanical equipment technical field, and in particular to a kind of flexible grabbing device.
Background technique
With the continuous development of robot technology, more and more manipulators are in industrial automation production.Traditional
Industry mechanical arm is generally Rigid Manipulators, has preferable control precision and operability, but its average physique is larger, needs
Working space is big, is not easy to grab the relatively small object of some volumes, and since manipulator is rigidly larger, should not grab and carry
In irregular shape, frangible delicate objects.And it is many times needed in the industrial automations such as food industry and packaging industry production
This type objects is grabbed and carries, Rigid Manipulators are unable to complete these work, and are accomplished manually that this working efficiency is low and precision
It is low, error is larger.Especially on automatic bowl and sorting device, after sorting device classifies dish, bowl, cup, need to grab dress
It sets and is placed on dish after picking up bowl and cup, this just needs flexible grabbing device, prevents Rigid Manipulators from damaging bowl and cup, simultaneously
It is required that grasp speed is fast and secured.
Utility model content
The purpose of this utility model is to provide a kind of flexible grabbing devices, it is intended to which solving existing Rigid Manipulators can not grab
Take bowl brittleness rapid wear and irregular the problem of waiting objects.
To achieve the above object, a kind of flexible grabbing device of the utility model is adopted the following technical scheme that including frame
And cylinder, the pedestal of cylinder are connect with frame upper end, the extension bar of cylinder stretches out downward and end is provided with left and right two sides
Rack gear, rack gear left and right ends are engaged with gear respectively, and gear is connect by shaft with frame, and gear radially stretches out company
Flexible grappling fixture is arranged in bar, connecting rod outer end.
The grappling fixture and connecting rod are hinged, and hinged place, which is provided with torsional spring, compresses flexible grappling fixture inwardly, flexible grappling fixture and connecting rod
Hinged place is additionally provided with limited block, so that flexible grappling fixture is rotated inward angle relative to connecting rod and is limited.
The frame includes the top plate of the pedestal of fixed cylinder, and top plate two sides are provided with side plate, intermediate setting below side plate
There is middle plate, the extension bar that hole passes through cylinder is provided among middle plate, guide holder is additionally provided on middle plate, the extension bar of cylinder is carried out
Guiding；It is respectively arranged with cover board before and after the middle plate, is corresponded on cover board and is provided with hole at shaft.
The frame is made of low-density materials, and is connected by screw to.
The flexibility grappling fixture is made of rubber material.
The flexibility grappling fixture inner surface is the shape for being crawled article.
The beneficial effects of the utility model are: the flexible grabbing device of the utility model, drives two flexibilities using cylinder
Grappling fixture grabs the brittleness rapid wear irregular items such as bowl, cup, and grasp speed is high-efficient fastly, while also setting up in the shaft of flexible grappling fixture
There is torsional spring, grappling fixture is enable to deform a part outward, greatly reduce stress when crawl, reduces and grabbed the broken probability of article.
Detailed description of the invention
Fig. 1 is the three-dimensional view of the utility model；
Fig. 2 is the front sectional view of the utility model.
Appended drawing reference: 1- frame, 101- top plate, 102- side plate, plate, 104- cover board, 2- cylinder, 3- rack gear, 4- in 103-
Gear, 5- shaft, 6- connecting rod, 7- flexibility grappling fixture, 8- torsional spring, 9- guide holder.
Specific embodiment
The embodiment of utility model is described further with reference to the accompanying drawing.
A kind of embodiment of flexible grabbing device of the utility model, it is shown as depicted in figs. 1 and 2, including frame 1 and cylinder
2, the pedestal of cylinder 2 is connect with 1 upper end of frame, and the extension bar of cylinder 2 stretches out downward and end is provided with the tooth on left and right two sides
Item 3,3 left and right ends of rack gear are engaged with gear 4 respectively, and gear 4 is connect by shaft 5 with frame 1, and gear 4 is radially stretched
Flexible grappling fixture 7 is arranged in connecting rod 6 out, 6 outer end of connecting rod；Grappling fixture 7 and connecting rod 6 are hinged, and hinged place, which is provided with torsional spring 8, makes flexible grappling fixture
7 inwardly compress, and flexible grappling fixture 7 is additionally provided with limited block with 6 hinged place of connecting rod, rotate inward flexible grappling fixture 7 relative to connecting rod 6
Angle is limited, and when cylinder 2 is received upwards clamps connecting rod, if holding tension, flexible grappling fixture 7 is flared out by the elastic force of spring
A bit, it is ensured that bowl will not be caught broken.
It dismantles in order to facilitate the installation of, frame 1 includes the top plate 101 of the pedestal of fixed cylinder 2, and 101 two sides of top plate are provided with
Side plate 102,102 lower section of side plate is intermediate to be provided with middle plate 103, and the extension bar that hole passes through cylinder 2, middle plate are provided among middle plate 103
Guide holder 9 is additionally provided on 103 to be oriented to the extension bar of cylinder 2；It is respectively arranged with cover board 104 before and after the middle plate 103,
It is corresponded on cover board 104 and is provided with hole at shaft 5.Frame 1 is whole to be made reduction weight of equipment using low-density materials such as aluminium sheets, and leads to
Screw connection is crossed, if special requirement certainly, can also use stainless steel material.
In order to grab flexible grappling fixture 7 securely and not allow frangible bowl, flexible grappling fixture 7 is made of rubber material, can also be with
Other non-rigid materials, flexible 7 inner surface of grappling fixture be it is arc-shaped, facilitate the circular bowl of crawl and cup, be also possible to its other party
Just the shape of object is grabbed.
The utility model flexible grabbing device course of work: the extension bar of cylinder stretches out, and turns the connecting rod in left side clockwise
The connecting rod on dynamic right side rotates counterclockwise, and separates two flexible grappling fixtures, then entire flexible grabbing device be moved to bowl just on
Side, after move down, make the two sides of two flexible grappling fixture alignment bowls, the extension bar of cylinder retracts, and two flexible grappling fixtures is made to collapse and press from both sides
The two sides of tight bowl enable flexible grappling fixture while promptly due to the elastic force of torsional spring, will not be too long and broken due to cylinder stroke
Bowl, then entire flexible grabbing device is moved to the position for needing to put bowl, and the extension bar stretching of cylinder puts down bowl, completes one and grab
Take movement.
In the description of the present invention, it should be understood that the orientation or positional relationship of instruction is based on shown in attached drawing
Orientation or positional relationship, be merely for convenience of describing the present invention and simplifying the description, rather than indication or suggestion is signified
Device or element must have a particular orientation, be constructed and operated in a specific orientation, therefore should not be understood as practical new to this
The limitation of type.
In the present invention unless specifically defined or limited otherwise, for example, it may be being fixedly connected, be also possible to
It is detachably connected, or integral；It can be mechanical connection, be also possible to be electrically connected；It can be directly connected, it can also be in
Between medium be indirectly connected, can be the connection inside two elements or the interaction relationship of two elements, unless otherwise clear
Restriction can understand above-mentioned term in the utility model as the case may be for the ordinary skill in the art
In concrete meaning.
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 flexible grabbing device, it is characterised in that: including frame and cylinder, the pedestal of cylinder is connect with frame upper end, gas
The extension bar of cylinder stretches out downward and end is provided with the rack gear on left and right two sides, and rack gear left and right ends are engaged with gear, tooth respectively
Wheel is connect by shaft with frame, and gear radially stretches out connecting rod, and flexible grappling fixture is arranged in connecting rod outer end.
2. a kind of flexible grabbing device according to claim 1, it is characterised in that: the grappling fixture and connecting rod are hinged, hingedly
Place, which is provided with torsional spring, compresses flexible grappling fixture inwardly, and flexible grappling fixture and connecting rod hinged place are additionally provided with limited block.
3. a kind of flexible grabbing device according to claim 1, it is characterised in that: the frame includes the bottom of fixed cylinder
The top plate of seat, top plate two sides are provided with side plate, and side plate lower section is intermediate to be provided with middle plate, and hole stretching across cylinder is provided among middle plate
Rod is additionally provided with guide holder on middle plate and is oriented to the extension bar of cylinder；It is respectively arranged with cover board before and after the middle plate, is covered
It is corresponded on plate and is provided with hole at shaft.
4. a kind of flexible grabbing device according to claim 3, it is characterised in that: the frame uses low-density materials system
At, and be connected by screw to.
5. a kind of flexible grabbing device according to claim 1, it is characterised in that: the flexibility grappling fixture uses rubber material
It is made.
6. a kind of flexible grabbing device according to claim 1, it is characterised in that: the flexibility grappling fixture inner surface is to be grabbed
Take the shape of article.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920164574.0U CN209478221U (en) | 2019-01-30 | 2019-01-30 | A kind of flexible grabbing device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920164574.0U CN209478221U (en) | 2019-01-30 | 2019-01-30 | A kind of flexible grabbing device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209478221U true CN209478221U (en) | 2019-10-11 |
Family
ID=68133166
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920164574.0U Active CN209478221U (en) | 2019-01-30 | 2019-01-30 | A kind of flexible grabbing device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209478221U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109623861A (en) * | 2019-01-30 | 2019-04-16 | 郑州莱发科技有限公司 | A kind of flexible grabbing device |
| CN112218213A (en) * | 2020-10-10 | 2021-01-12 | 安徽井利电子有限公司 | Sound cone assembling device of loudspeaker and implementation method thereof |
-
2019
- 2019-01-30 CN CN201920164574.0U patent/CN209478221U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109623861A (en) * | 2019-01-30 | 2019-04-16 | 郑州莱发科技有限公司 | A kind of flexible grabbing device |
| CN112218213A (en) * | 2020-10-10 | 2021-01-12 | 安徽井利电子有限公司 | Sound cone assembling device of loudspeaker and implementation method thereof |
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