CN211109819U - Grabbing mechanism - Google Patents

Abstract

The application relates to a snatch mechanism, this snatch mechanism includes: a first bracket; a second bracket; grasping the part; the guide assembly is arranged on the first support and is connected with the grabbing piece; the driving assembly is connected with the guide assembly; the tensioning assembly is arranged on the second bracket and is connected with the grabbing piece; the tensioning assembly is used for applying a force to the grabbing piece along the first direction and towards the second support so as to eliminate a movement gap between the guide assembly and the driving assembly when the grabbing piece moves. This application has set up taut subassembly on the execution end of snatching the mechanism, snatchs the mechanism and in the operation process of first direction, and taut subassembly can eliminate the movement clearance between guide assembly and the drive assembly in real time, and then has improved the stability when whole snatchs the mechanism operation, and is favorable to snatching the piece and fixes a position.

Description

Grabbing mechanism

Technical Field

The application relates to the field of machine manufacturing, in particular to a grabbing mechanism.

Background

Generally, when the material is grabbed, a connecting rod, a gear or a thread and other transmission mechanisms are needed to drive the clamping jaw to switch between the clamping position and the discharging position.

In order to meet the requirement that the clamping jaw moves in multiple directions, more hinged joints are required to be arranged in a general transmission structure. After a period of operation, the movement play of the entire transmission structure may become large due to wear of the material or contamination, or loosening of the hinged connection.

Further, after the mechanism is operated at a high speed in a reciprocating mode, the clamping jaws are located at the tail end of the mechanism, the movement rigidity of the mechanism is poor, the vibration amplitude of the whole grabbing mechanism is large, and the clamping jaws are inaccurate in positioning.

SUMMERY OF THE UTILITY MODEL

The application aims at providing a snatch mechanism, can eliminate the movement clearance, improve the stability of during operation.

In order to solve the above technical problem, a solution adopted by the present application is:

a grasping mechanism comprising: a first bracket; the second bracket is arranged opposite to the first bracket; grasping the part; the guide assembly is arranged on the first support and connected with the grabbing piece, and the guide assembly is used for driving the grabbing piece to move along a first direction; the driving assembly is connected with the guide assembly and used for driving the guide assembly so as to drive the grabbing piece to move; and the tensioning assembly is arranged on the second support and connected with the grabbing piece, and is used for applying acting force to the grabbing piece along the first direction and towards the second support so as to eliminate a movement gap between the guide assembly and the driving assembly when the grabbing piece moves.

In one embodiment of the present application, the tension assembly comprises: the mounting plate is arranged on the second bracket; and the first elastic piece is arranged on the mounting plate along the first direction, one end of the first elastic piece is connected with the mounting plate, and the other end of the first elastic piece is connected with the guide assembly or the grabbing piece.

In an embodiment of the present application, the tension assembly further comprises: and one end of the driving connecting plate is connected with the guide assembly, and the other end of the driving connecting plate is movably connected with the mounting plate.

In an embodiment of the present application, the tension assembly further comprises: the follower mounting plate is arranged on the mounting plate; the cam followers are arranged on the follower mounting plate; one end, close to the mounting plate, of the driving connecting plate is inserted between the two cam followers, so that the driving connecting plate is movably connected with the mounting plate.

In an embodiment of the present application, the guide assembly includes: the mounting block is arranged on the first bracket; the guide post penetrates through the mounting block along the first direction, and one end of the guide post is connected with the grabbing piece; the stop block is arranged at the other end of the guide pillar and is connected with the driving assembly; the guide post is used for driving the grabbing piece to move along the first direction under the driving of the driving assembly; the stop block is connected with one end, far away from the mounting plate, of the driving connecting plate.

In an embodiment of the present application, the driving assembly includes a first cam assembly, and the first cam assembly is connected to the stopper and configured to drive the stopper to drive the grasping element to move along the first direction.

In one embodiment of the present application, the first cam assembly comprises: the first driving piece and the first cam are connected with the first driving piece and driven by the first driving piece to rotate; one end of the first swing arm is fixedly arranged, and a first driven bearing matched with the first cam is arranged on the first swing arm so as to swing around the fixed end of the first swing arm under the rotation of the first cam; the first connecting rod assembly is connected with the stop block and the first swing arm respectively; when the first swing arm swings, the first link assembly drives the stop block to move along the first direction, so that the grabbing piece connected with the guide pillar can move along the first direction.

In an embodiment of the application, the mounting block is slidably disposed on the first bracket along a second direction, and the driving assembly further includes a second cam assembly, which is connected to the mounting block and is configured to drive the mounting block and the grasping member connected to the guide post to move along the second direction.

In an embodiment of the present application, the mounting plate is slidably disposed on the second bracket along the second direction, so that when the second cam assembly drives the mounting block to move, the tensioning assembly can follow the mounting block to move along the second direction.

In one embodiment of the present application, the second cam assembly comprises: the second driving piece and the second cam are connected with the second driving piece and driven by the second driving piece to rotate; one end of the second swing arm is fixedly arranged, and a second driven bearing matched with the second cam is arranged on the first swing arm so as to swing around the fixed end of the second swing arm under the rotation of the second cam; the second connecting rod assembly is connected with the mounting block and the second swing arm respectively; when the second swing arm swings, the second connecting rod assembly drives the mounting block to move along the second direction, so that the grabbing piece on the mounting block can move along the second direction.

The beneficial effect of this application is: being different from the prior art, the application provides a snatch subassembly through having set up taut subassembly on the second support to with taut subassembly with snatch the piece and be connected, in order to exert the effort along first direction and towards the second support to snatch the piece. From this, this application has set up taut subassembly on the execution end of snatching the mechanism, snatchs the mechanism and in the operation process of first direction, and taut subassembly can eliminate the movement clearance between guide component and the drive assembly in real time, and then has improved the stability when whole snatchs the mechanism operation, and is favorable to snatching the piece and fix a position.

Drawings

FIG. 1 is a schematic structural view of one embodiment of a grasping mechanism according to the present application;

fig. 2 is a schematic structural view of another embodiment of a grasping mechanism in the present application.

Detailed Description

The technical solutions in the embodiments of the present application will be described clearly and completely below, and it should be understood that the described embodiments are only a part of the embodiments of the present application, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

It is noted that directional terms, such as "upper," "lower," "front," "rear," "left," "right," "inner," "outer," "side," and the like, referred to herein are solely for the purpose of reference to the orientation of the appended drawings and, thus, are used for better and clearer illustration and understanding of the present application, and do not indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be considered limiting of the present application.

Referring to fig. 1, fig. 1 is a schematic structural diagram of a grabbing mechanism according to the present application. In this embodiment, the grasping mechanism 100 may include a first bracket 120, a second bracket 110, a grasping member 160, a guide assembly 140, a drive assembly 150, and a take-up assembly 130. Wherein the second bracket 110 is arranged opposite to the first bracket 120; the guide assembly 140 is disposed on the first bracket 120, and is connected to the grabbing member 160 for driving the grabbing member 160 to move along a first direction; the driving assembly 150 is connected with the guiding assembly 140 and is used for driving the guiding assembly 140 so as to drive the grabbing member 160 to move; the tension assembly 130 is disposed on the second bracket 110 and connected to the grasping member 160 for applying a force to the grasping member 160 in the first direction and toward the second bracket 110 to eliminate a movement gap between the guide assembly 140 and the driving assembly 150 when the grasping member 160 moves.

The present application is directed to applying a force to the grasping member 160 in a first direction and toward the second bracket 110 by providing the tensioning assembly 130 on the second bracket 110 and coupling the tensioning assembly 130 to the grasping member 160. The tensioning assembly 130 is arranged at the executing end of the grabbing mechanism 100, and in the process that the grabbing mechanism 100 runs in the first direction, the tensioning assembly 130 can eliminate the movement gap between the guide assembly 140 and the driving assembly 150 in real time, so that the stability of the whole grabbing mechanism 100 in running is improved, and the grabbing member 160 is favorably positioned.

With continued reference to fig. 1, in order to enable the tension assembly 130 to apply a force to the grabbing member 160 along the first direction, the tension assembly 130 of the present embodiment may include a mounting plate 131 and a first elastic member 133. Wherein the mounting plate 131 is disposed on the second bracket 110; the first elastic member 133 is provided on the mounting plate 131 in the first direction.

Since the grasping member 160 in this embodiment is connected to the guide member 140 and is moved in the first direction by the guide member 140. Therefore, the first elastic member 133 in this embodiment has one end connected to the mounting plate 131 and the other end connected to the grasping member 160 or the guide member 140. Therefore, when the grabbing member 160 moves along the first direction, the first elastic member 133 connected to the grabbing member is driven to deform, and the movement gap between the driving assembly 150 and the guiding assembly 140 is compensated by the deformation of the first elastic member 133.

Optionally, the tension assembly 130 in this embodiment may further include a drive connection plate 132, the drive connection plate 132 serving as a drive connection. The driving connection plate 132 is erected on a side of the mounting plate 131 away from the second bracket 110, and is connected with the mounting plate 131 and the guide assembly 140.

Further, in order to realize that the guide assembly 140 can bring the grabbing element 160 to move along the first direction, the guide assembly 140 in this embodiment includes a mounting block 141, a guide post 143, and a stopper 144. The mounting block 141 is disposed on the first bracket 120, the guide post 143 is disposed on the mounting block 141 along the first direction, the grabbing member 160 is disposed at one end of the guide post 143, and the stopper 144 is disposed at the other end of the guide post 143. The end of the driving connecting plate 132 away from the mounting plate 131 is connected to the stopper 144, and the grabbing member 160 moves in the first direction by the guide post 143.

The grasping member 160 in this embodiment may include a clamping jaw 161 and an air cylinder 162 for driving the clamping jaw 161 to move. In other embodiments, the grasping element 160 may also be other devices such as a suction cup, which is not further limited in this application.

Specifically, the first elastic member 133 in this embodiment has one end connected to the cylinder 162 of the grasping member 160 and the other end connected to the mounting plate 131 to apply a force to the grasping member 160 in the first direction and toward the second bracket 110. Of course, since the grasping member 160 is disposed at one end of the guide post 143, in other embodiments, the first elastic member 133 may also be connected to the guide post 143 or the stopper 144 in the guide assembly 140.

Further, to enable the guide post 143 to carry the grasping element 260 in the first direction, the driving assembly 150 in this embodiment may include a first cam assembly 151. The first cam assembly 151 is connected to the stopper 144 of the guide assembly 140, and is used for driving the stopper 144 and the guide pillar 143 connected thereto, so as to drive the grabbing member 160 connected to the guide pillar 143 to move along a first direction.

Specifically, the first cam assembly 151 includes a first drive member 1511, a first cam 1512, a first swing arm 1513, and a first link assembly 1514. The first driving part 1511 is connected to the first cam 1512 and is configured to drive the first cam 1512 to rotate; one end of the first swing arm 1513 is fixedly arranged, and the first swing arm 1513 is provided with a first driven bearing 15131 matched with the first cam 1512 so as to swing around a fixed pivot 25232 thereof along with the rotation of the first cam 1512; the first link 1514 is connected to the stop 144 and the second swing arm 1513, respectively, for driving the guide post 143 to move along the first direction under the driving of the first swing arm 1513.

Further, the first driving member 1511 may be a motor, and the first cam 1512 is sleeved on the power output shaft of the first driving member 1511. The first swing arm 1513 is disposed approximately parallel to the first direction, and abuts on the first cam 1512 through a first driven bearing 15131 provided on the first swing arm 1513. The first cam 1512 can be configured with a specific outer profile as desired to accommodate the motion of the grasping element 160.

Further, the first link assembly 1514 in this embodiment may include a first link 15141 and a first reversing swing arm 15142. Wherein, the first link 15141 is arranged along the second direction, one end of the first link 15141 is rotatably connected with the first swing arm 1513, and the other end is rotatably connected with the first reversing swing arm 15142; the first reversing swing arm 15142 has one end rotatably connected to the first link 15141 and the other end rotatably connected to the stopper 144, and the first reversing swing arm 15142 is configured to convert the movement of the first link in the second direction into a movement of the stopper 144 in the first direction, so as to drive the gripper 160 connected to the guide post 143 to move in the first direction.

Taking the arrangement direction of the grasping mechanism 100 shown in fig. 1 as an example, the first direction in the present embodiment may be a horizontal direction, and the second direction may be a vertical direction.

Specifically, a rotary bearing 15143 of the first reversing swing arm 15142 is provided on the first carriage 120, the rotary bearing 15143 divides the first reversing swing arm 15142 into two segments, and the first reversing swing arm 15142 rotates with the rotary bearing 15143 as a fulcrum. The section connected to the first link 15141 is perpendicular to the section connected to the stopper 144, so that when the section connected to the first link 15141 moves along the second direction along with the first link 15141, the section connected to the stopper 144 drives the stopper 144 to move along the first direction.

Considering that the segment of the first reversing swing arm 15142 pivotally connected to the stop 144 does not move exactly in the first direction when moving in the first direction, it is inevitable that some swing will occur in the first direction. In order to maintain the stability of the movement of the grabbing piece 160 in the first direction, the stop block 144 is provided with a limit groove 1441 in the second direction, and one end of the first reversing swing arm 15142 connected with the stop block 144 is arranged in the limit groove 1441.

Further, an end of the driving connecting plate 132 in the present embodiment, which is close to the mounting plate 131, is connected to the mounting plate 131 through the cam followers 135, the two cam followers 135 are disposed to be opposed to each other, and an end of the driving connecting plate 132 is interposed between the two cam followers 135. Thus, the cam follower 135 in this embodiment may form a certain relief space with the driving connection plate 132 to allow the driving connection plate 132 to move in the first direction following the guide post 143.

Further, the take-up assembly 130 in this embodiment also includes a follower mounting plate 134 and a cam follower 135. Wherein the follower mounting plate 134 is provided on the mounting plate 131, and the cam follower 135 is mounted on the follower mounting plate 134.

Specifically, the follower mounting plate 134 is provided on a side of the mounting plate 131 close to the mounting block 141, and the cam follower 135 provided on the follower mounting plate 134 may be a pair of followers disposed oppositely. One end of the driving connecting plate 132 adjacent to the mounting plate 131 is interposed between the two cam followers 135 so that the driving connecting plate 132 is movably connected to the mounting plate 131.

Therefore, when the mounting block 141 moves along the first direction, the driving connecting plate 132 connected to the mounting block 141 can drive the cam follower 135 and further drive the mounting plate 131 connected to the cam follower 135 to move along the first direction; and one end of the first elastic member 133 is disposed on the mounting plate 131 and the other end is connected to the catching member 160. Accordingly, the take-up assembly 130 in this embodiment can move in synchronization with the mounting block 141 in the first direction as the catch member 160 follows the mounting block 141 in the first direction driven by the first cam assembly 151.

In the grasping mechanism 100 of the present embodiment, a force is applied to the grasping member 160 in the first direction and toward the second support 110 by disposing the tensioning member 130 on the second support 110 and connecting the tensioning member 130 to the grasping member 160. The tension assembly 130 movably connects the driving connection plate 132 to the mounting plate 131 by providing a cam follower 135, and the other end of the driving connection plate 132 is connected to the mounting block 141. During the operation of the grabbing mechanism 100, the tensioning assembly 130 can synchronously move along the first direction along with the stop block 144, so that the movement gap between the guide assembly 140 and the driving assembly 150 is eliminated in real time, and the stability during the operation can be improved; further, the grabbing mechanism 100 of the present application can conveniently drive the mounting block 141 to move along the first direction by providing the first cam assembly 151, and can set the outer contour of the first cam 1512 to adjust the movement of the grabbing element 160 along the first direction.

Referring to fig. 2, fig. 2 is a schematic structural diagram of another embodiment of a grabbing mechanism according to the present application. Unlike the above embodiments, in the present embodiment, the guiding component 240 of the grabbing mechanism 200 can also be used to drive the grabbing element 260 to move in the second direction.

Wherein, the mounting block 241 of the guiding component 240 is slidably disposed on the first bracket 220 along the second direction. Since the guide post 243 is penetrated through the mounting block 241 in the first direction, the catching member 260 provided at one end of the guide post 243 may follow the mounting block 241 to move in the first direction when the mounting block 241 moves in the second direction.

Specifically, the mounting block 241 is slidably disposed on the first bracket 120 in the second direction. Wherein, can be equipped with first slide rail 242 and the first slider of mutually supporting along the second direction on the first support 120, installation piece 241 and second slider fixed connection to realize that installation piece 241 drives grabbing piece 260 and moves along the second direction.

Of course, in other embodiments, in order to realize the sliding connection between the mounting block 241 and the first bracket 220, other transmission manners may also be used, which are not described herein.

Further, to drive the movement of the mounting block 241 in the second direction, the drive assembly 250 in this embodiment includes a second cam assembly 252 in addition to the first cam assembly 251 coupled to the stop 244 in the guide assembly 240. Wherein the second cam assembly 252 is coupled to the mounting block 241 for driving the mounting block 241 in the second direction on the first bracket 220. The specific structure of the first cam component 251 can refer to the above embodiments, and will not be further described in this embodiment.

Specifically, the second cam assembly 252 of the present embodiment may also include a first driver 2521, a second cam 2522, a second swing arm 2523, and a second linkage assembly 2524. The second driving element 2521 is connected to the second cam 2522 and is used for driving the second cam 2522 to rotate; a second driven bearing 25231 matched with the second cam 2522 is arranged on the second swing arm 2523 so as to swing around a fixed fulcrum 25232 thereof along with the rotation of the second cam 2522, wherein the fixed fulcrum 25232 can be arranged on the first bracket 220 or other mounting brackets; the second connecting rod assembly 2524 is connected to the mounting block 241 and the second swing arm 2523, respectively, and is configured to drive the mounting block 241 to move along the second direction under the driving of the second swing arm 2523.

Further, the second driving element 2521 may also be a motor, and the second cam 2522 is sleeved on the power output shaft of the second driving element 2521. The second swing arm 2523 is disposed approximately parallel to the first direction, and abuts on the second cam 2522 through a second driven bearing 25231 provided on the second swing arm 2523. The second cam 2522 can be provided with a specific outer profile according to the actual needs, to match the action of the catch 260.

In the present embodiment, the second cam 2522 and the first cam 2511 are provided independently of each other, and are driven by the second driver 2521 and the first driver 2511, respectively. However, in connection with the embodiment of fig. 1, the second driver 2521 in this embodiment may also be the same as the first driver 2511; the first cam 2512 and the second cam 2522 may be the same and sleeved on the output shaft of the first driving element 2511. That is, the driving assembly 250 of the present embodiment can provide the first driven bearing 25131 and the second driven bearing 25231 abutting against the outer contour of the first cam 2521 on the first swing arm 2513 and the second swing arm 2523 respectively according to the motion of the grabbing element 260 in the first direction and the motion in the second direction, so that the effect of driving the grabbing element 260 to move along the first direction and the second direction simultaneously by one driving element can be achieved. It is understood that the position relationship between the first cam 2512 and the second cam 2522 can be adjusted by those skilled in the art according to actual conditions, so as to adapt to more usage scenarios.

Further, the second linkage assembly 2524 may include a second link 25241, a second reversing swing arm 25243, and a third link 25242. The second link 25241 and the third link 25242 are both disposed along the second direction, and the second reversing swing arm 25243 is disposed between the second link 25241 and the third link 25242 and respectively rotatably connects one end of the second link 25241 and one end of the third link 25242 for converting the moving direction of the second link 25241 to be opposite to the moving direction of the third link 25242. The other end of the second link 25241 is connected to the mounting block 241, and the other end of the third link 25242 is connected to the second swing arm 2523.

Considering that the second link 25241 is driven by the second reversing swing arm 25243 to move during the movement, the end of the second link 25241 connected to the second reversing swing arm 25243 cannot move strictly in the second direction, and inevitably swings to a certain extent. Accordingly, the mounting block 241 is provided with a joint bearing 2411 allowing the second link 25241 to rotate, so that when the second link 25241 drives the mounting block 241 to move along the second direction, the mounting block will swing around the joint bearing 2411 with a certain amplitude.

Further, the second reversing swing arm 25243 may also be used to adjust the amplitude of the movement of the mounting block 241. Specifically, a bearing seat 25244 is disposed on the second reversing swing arm 25243, the bearing seat 25244 divides the second reversing swing arm 25243 into two segments, and the second reversing swing arm 25243 rotates about the bearing seat 25244 as a fulcrum. When the length of the connection between the second reversing swing arm 25243 and the third link 25242 is longer than the length of the connection between the second reversing swing arm 25243 and the second link 25241, the second reversing swing arm 25243 is used to reduce the movement amplitude of the second swing arm 2523; when the length of the connection between the second reversing swing arm 25243 and the third link 25242 is equal to the length of the connection between the second reversing swing arm 25243 and the second link 25241, the second reversing swing arm 25243 is only used to convert the movement direction of the second link 25241 to be opposite to the movement direction of the third link 25242, and the movement amplitude is maintained.

It is understood that the position of the bearing seat 25244 on the second reversing swing arm 25243 can be adjusted by those skilled in the art according to actual conditions to adapt to more application scenarios.

Considering that the gripping member 260 follows the mounting block 241 to move in the second direction under the driving of the second cam assembly 252, the pulling member 230 should also move synchronously to apply a force in the second direction to the gripping member 260 in real time. And in actual use, there may be a certain height difference between the mounting block 241 and the mounting plate 231. Therefore, one end of the driving connecting plate 232 in this embodiment is erected on the mounting plate 231 and movably connected to the mounting plate 231, the other end can be connected to the mounting block 241, and the mounting plate 231 is slidably disposed on the first bracket 210 along the second direction.

Specifically, the second bracket 210 in this embodiment may be provided with a second sliding rail 212 and a second sliding block 211 which are matched with each other along the second direction, and the mounting plate 231 is fixedly connected to the second sliding block 211, so as to realize that the mounting plate 231 is slidably connected to the first bracket 220 along the second direction.

Of course, in other embodiments, in order to achieve the sliding connection between the mounting plate 231 and the second bracket 210 and the sliding connection between the mounting block 241 and the first bracket 220, other transmission manners may also be used, which is not described herein.

In addition, the stopper 2441 of the guide assembly 240 in this embodiment is also provided with a limit groove 2441 opened in the second direction. Thus, as the mounting block 241 is driven by the second cam assembly 252 to move the grasping element 260 in the second direction, the take-up assembly 230 can also follow the mounting block 241 in the second direction.

Specifically, the second cam assembly 252 drives the mounting block 241 in the second direction; because the stop 244 is arranged at one end of the guide post 243 penetrating through the mounting block 241, the stop 244 also moves along the second direction synchronously; and the driving connecting plate 232 is respectively connected with the mounting plate 231 and the stopper 244, so that the mounting plate 231 can be driven by the driving connecting plate 232, and the first elastic member 233 arranged on the mounting plate 231 is driven to move synchronously. Since the first reversing swing arm 25142 in the first cam assembly 251 is fixedly disposed on the first bracket 220, the limit groove 2441 provides a space for relative movement between the stop 244 and the first reversing swing arm 25142 when the stop 244 moves in the second direction.

Therefore, the grabbing mechanism 200 in the embodiment can drive the grabbing component 260 to move in the first direction and the second direction respectively by providing the first cam component 251 and the second cam component 252 respectively, so as to improve the applicable scenes of the grabbing mechanism 200.

Optionally, the second cam assembly 252 in this embodiment further includes a second elastic element 2525, and the second elastic element 2525 is connected to the swinging end of the second swing arm 2523, and is configured to apply a force to the second swing arm 2523 to approach the second cam 2522 in the second direction, so that after the second cam 2522 is driven, the second swing arm 2523 is timely reset and abuts against the second cam 2522.

The grasping mechanism 200 in this embodiment can compensate for the movement gap generated in the first direction by the driving assembly 250 and the guiding assembly 240 when the grasping member 260 moves in the first direction by providing the first elastic member 233 in the first direction; by providing the second elastic member 2525 in the second direction, it is possible to compensate for a movement gap generated in the second direction by the driving assembly 250 and the guide assembly 240 when the grasping member 260 moves in the second direction. Therefore, the grabbing mechanism 200 in the embodiment can improve the stability during operation, and is beneficial to positioning the grabbing piece 260.

In summary, the present application provides a grabbing mechanism, which includes a tensioning assembly disposed on the second bracket and connected to the grabbing member to apply a force to the grabbing member along the second direction and toward the second bracket. According to the clamping mechanism, the tensioning assembly is arranged at the execution tail end of the clamping mechanism, and can move synchronously along with the installation block in the operation process of the clamping mechanism, so that the movement gap between the guide assembly and the driving assembly is eliminated in real time, and the stability of the clamping mechanism in operation can be improved; further, the mechanism of snatching in this application has set up first cam pack and second cam pack respectively, can realize snatching the motion of piece in first direction and second direction, and simple structure easily realizes.

The above description is only for the purpose of illustrating embodiments of the present application and is not intended to limit the scope of the present application, and all modifications of equivalent structures and equivalent processes, which are made by the contents of the specification and the drawings of the present application or are directly or indirectly applied to other related technical fields, are also included in the scope of the present application.

Claims (10)

1. A grasping mechanism, comprising:

a first bracket;

the second bracket is arranged opposite to the first bracket;

grasping the part;

the guide assembly is arranged on the first support and connected with the grabbing piece, and the guide assembly is used for driving the grabbing piece to move along a first direction;

the driving assembly is connected with the guide assembly and used for driving the guide assembly so as to drive the grabbing piece to move; and

the tensioning assembly is arranged on the second support and connected with the grabbing piece, and is used for applying acting force to the grabbing piece along the first direction and towards the second support so as to eliminate a movement gap between the guide assembly and the driving assembly when the grabbing piece moves.

2. The grasping mechanism according to claim 1, wherein the tensioning assembly includes:

the mounting plate is arranged on the second bracket; and

the first elastic piece is arranged on the mounting plate along the first direction, one end of the first elastic piece is connected with the mounting plate, and the other end of the first elastic piece is connected with the guide assembly or the grabbing piece.

3. The grasping mechanism according to claim 2, wherein the tensioning assembly further comprises:

and one end of the driving connecting plate is connected with the guide assembly, and the other end of the driving connecting plate is movably connected with the mounting plate.

4. The grasping mechanism according to claim 3, wherein the tensioning assembly further comprises:

the follower mounting plate is arranged on the mounting plate; and

at least one pair of cam followers arranged oppositely and arranged on the follower mounting plate;

one end, close to the mounting plate, of the driving connecting plate is inserted between the two cam followers, so that the driving connecting plate is movably connected with the mounting plate.

5. The grasping mechanism according to claim 3, wherein the guide assembly includes:

the mounting block is arranged on the first bracket;

the guide post penetrates through the mounting block along the first direction, and one end of the guide post is connected with the grabbing piece;

the stop block is arranged at the other end of the guide pillar and is connected with the driving assembly; the guide post is used for driving the grabbing piece to move along the first direction under the driving of the driving assembly;

the stop block is connected with one end, far away from the mounting plate, of the driving connecting plate.

6. The grasping mechanism according to claim 5, wherein the drive assembly includes a first cam assembly coupled to the stop for driving the stop to move the grasping element in the first direction.

7. The capture mechanism of claim 6, wherein the first cam assembly comprises:

a first driving member for driving the first driving member,

the first cam is connected with the first driving piece and driven by the first driving piece to rotate;

one end of the first swing arm is fixedly arranged, and a first driven bearing matched with the first cam is arranged on the first swing arm so as to swing around the fixed end of the first swing arm under the rotation of the first cam; and

the first connecting rod assembly is respectively connected with the stop block and the first swing arm;

when the first swing arm swings, the first link assembly drives the stop block to move along the first direction, so that the grabbing piece connected with the guide pillar can move along the first direction.

8. The grasping mechanism according to claim 7, wherein the mounting block is slidably disposed on the first bracket in a second direction, and the drive assembly further includes a second cam assembly coupled to the mounting block for driving the mounting block and the grasping element coupled to the guide post in the second direction.

9. The capture mechanism of claim 8, wherein the mounting plate is slidably disposed on the second bracket in the second direction such that the tensioning assembly can follow the mounting block in the second direction as the second cam assembly drives the mounting block in motion.

10. The capture mechanism of claim 8, wherein the second cam assembly comprises:

a second driving member for driving the second driving member,

the second cam is connected with the second driving piece and driven by the second driving piece to rotate;

one end of the second swing arm is fixedly arranged, and a second driven bearing matched with the second cam is arranged on the first swing arm so as to swing around the fixed end of the second swing arm under the rotation of the second cam; and

the second connecting rod assembly is respectively connected with the mounting block and the second swing arm;

when the second swing arm swings, the second connecting rod assembly drives the mounting block to move along the second direction, so that the grabbing piece on the mounting block can move along the second direction.

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