CN212024066U

CN212024066U - Mechanical manufacturing grabbing device

Info

Publication number: CN212024066U
Application number: CN202020608803.6U
Authority: CN
Inventors: 张瑞锋
Original assignee: Xian Kedagaoxin University
Current assignee: Xian Kedagaoxin University
Priority date: 2020-04-21
Filing date: 2020-04-21
Publication date: 2020-11-27
Anticipated expiration: 2030-04-21

Abstract

The utility model provides a machine-building grabbing device, including the claw frame, the motor support is installed on the top of claw frame, the internally mounted of motor support has the motor of snatching, the erection column is installed through the fastener in the top of motor support, the transmission shaft that snatchs the motor runs through to the inside of claw frame. The utility model discloses a set up the bar-shaped piece, the arc limit piece, the cylinder, the tray, the friction area, the piece pastes, when the centre gripping snatchs, utilize the rotation in friction area, it shifts up to drive square workpiece through frictional force, the cylinder starts simultaneously, promote the logical chamber of tray removal department, because the top of tray is the plane, play the bearing effect to square workpiece, avoid when the clamping-force of claw piece is not enough, square workpiece takes place the landing, when centre gripping cylindrical workpiece, can pull out the tray, and rotate 180, make the inclined plane up, the pressure spring is with the tray shrink to leading to in the chamber simultaneously, when cylindrical workpiece landing like this, utilize the support that the inclined plane can be fine, the stability of centre gripping work piece has been improved greatly.

Description

Mechanical manufacturing grabbing device

Technical Field

The utility model relates to a gripper field especially relates to a machine-building grabbing device.

Background

A mechanical manufacturing gripping device is a mechanism which grips a workpiece through a mechanical claw and realizes transfer.

The existing mechanical gripping device has many defects in use, and when a common mechanical claw is used for gripping, when the gripping force is insufficient, the common mechanical claw easily slides off, so that a workpiece is broken, and the gripping effect is greatly reduced.

Therefore, there is a need to provide a mechanical gripper device to solve the above technical problems.

SUMMERY OF THE UTILITY MODEL

The utility model provides a mechanical manufacturing grabbing device has solved when the clamping-force is not enough, leads to the landing very easily, causes the work piece to break, greatly reduced snatch the problem of effect.

In order to solve the technical problem, the utility model provides a gripping device for mechanical manufacturing, which comprises a claw frame, wherein a motor support is arranged at the top end of the claw frame, a gripping motor is arranged inside the motor support, a mounting column is arranged at the top end of the motor support through a fastener, a transmission shaft of the gripping motor penetrates into the claw frame, a chuck is arranged on the transmission shaft of the gripping motor, a spiral groove is arranged on the bottom surface of the chuck, claw blocks are arranged at the bottom end of the chuck, the four claw blocks are respectively arranged at the bottom end of the chuck in an annular array manner, the claw blocks penetrate to the bottom end of the claw frame, each claw block comprises a bar-shaped block, an arc edge block, a cylinder, a support block, a friction belt, a rotating motor, a moving block, a patch block, a driven wheel and a driving wheel, the moving block is welded at the top end of the bar-shaped block, and the, the arc limit piece is provided with two, and two arc limit pieces bond respectively on the both sides of bar piece, the inside of bar piece is the cavity structure, the action wheel rotates the upper end of connection in the bar piece is inside, rotate the lower extreme of connection in the bar piece from the driving wheel, the friction band overlaps respectively and is established at the action wheel and from the driving wheel, the piece setting is between from driving wheel and action wheel, and the inner wall welded connection of piece and bar piece, the rotation motor is installed on the action wheel, logical chamber has been seted up to the bottom of bar piece, the tray alternates in the inside that leads to the chamber, the back at the bar piece is fixed to the cylinder, the cross-section of tray is the right trapezoid structure.

Preferably, one side that the cylinder is close to the piston rod runs through to the inside of leading to the chamber, and the cover is equipped with the pressure spring on the cylinder, the back of tray passes through the pressure spring and leads to the inner wall elastic connection in chamber, the tray rotates with the pressure spring to be connected.

Preferably, the edge of the claw frame is provided with an inserting plate at a position corresponding to the claw block, the inserting plate is of an L-shaped structure, and the inserting plate is fixedly connected with the claw frame through an inner hexagon bolt.

Preferably, the guide rods are arranged in the claw frame and correspond to the claw blocks, the guide rods are of a V-shaped structure, eight guide rods are arranged and divided into four groups, the eight guide rods are respectively arranged on the inner wall of the claw frame in a corresponding annular mode in pairs, and the moving block is connected with the guide rods in a sliding mode.

Preferably, the edge of the arc edge block is of an outer convex arc structure, and the arc edge block is made of hard rubber.

Preferably, the central position key-type of snatching motor drive shaft is located and is had the tray, the pot head of tray is equipped with footstep bearing, the indent step has been seted up on the top of claw frame, the bottom gomphosis of indent step and footstep bearing is connected.

Preferably, the sticking block is welded on the inner wall of the strip-shaped block, and the distance between the sticking block and the outer side of the strip-shaped block is smaller than the thickness value of the friction belt.

Compared with the prior art, the utility model provides a pair of machine-building grabbing device has following beneficial effect:

the utility model provides a machine-building grabbing device, through setting up the bar-shaped piece, arc limit piece, the cylinder, the tray, the friction area, the paster piece, when the centre gripping snatchs, utilize the rotation in friction area, it shifts up to drive square workpiece through frictional force, the cylinder starts simultaneously, promote the logical chamber of tray removal department, because the top of tray is the plane, play the supporting role to the square workpiece, avoid when the clamping-force of claw piece is not enough, the slip takes place for square workpiece, when the cylindrical work piece of centre gripping, can pull out the tray, and rotate 180, make the inclined plane up, the pressure spring is with the tray shrink to leading to in the chamber simultaneously, when the cylindrical work piece landing like this, utilize the support that the inclined plane can be fine, the stability of centre gripping work piece has been improved greatly.

The utility model provides a machine-building grabbing device adopts the guide bar of V-arrangement, when the claw piece is when sliding, has improved the stationarity of claw piece greatly, and the one end and the claw frame inner wall welded fastening of V-arrangement guide bar simultaneously, the directional picture peg position department of the other end, and have certain interval with the picture peg, conveniently dismantle the picture peg to slide the claw piece along the guide bar, make claw piece and guide bar break away from, be convenient for maintain or change the claw piece.

The utility model provides a mechanical manufacturing grabbing device utilizes the arc limit piece of bar piece both sides, through the existence on arc limit, when the chuck rotates, four claw pieces are close to each other, and the border department of four claw pieces can draw close each other, carries out the centre gripping to the work piece that this kind of width of board class, pipe class is thin, has improved the device's application scope greatly.

Drawings

FIG. 1 is a diagram illustrating the physical effects of the present invention;

FIG. 2 is a diagram showing the splitting effect of the present invention;

FIG. 3 is a bottom solid effect diagram of the claw frame of the present invention;

FIG. 4 is a diagram illustrating the physical effect of the claw block of the present invention;

FIG. 5 is a schematic view of the claw block structure of the present invention;

FIG. 6 is a schematic view of the claw frame structure of the present invention;

FIG. 7 is a schematic view of the chuck structure of the present invention;

fig. 8 is a schematic view of the plate grabbing effect of the present invention.

Reference numbers in the figures: 1. the device comprises a claw frame, 2, claw blocks, 201, strip blocks, 202, arc edge blocks, 203, cylinders, 204, support blocks, 205, friction belts, 206, a rotating motor, 207, moving blocks, 208, sticking blocks, 209, driven wheels, 210, driving wheels, 3, motor supports, 4, a grabbing motor, 5, mounting columns, 6, inserting plates, 7, hexagon socket head bolts, 8, concave steps, 9, thrust bearings, 10, pressure springs, 11, trays, 12, chucks, 13 and guide rods.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the technical scheme in the utility model, all other embodiments that ordinary skilled person in the art obtained under the prerequisite of not making the creative work all belong to the scope of the utility model protection.

In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention.

Please refer to fig. 1, fig. 2, fig. 3, fig. 4, fig. 5, fig. 6, fig. 7 and fig. 8 in combination, wherein fig. 1 is a diagram illustrating the physical effect of the present invention; FIG. 2 is a diagram showing the splitting effect of the present invention; FIG. 3 is a bottom solid effect diagram of the claw frame of the present invention; FIG. 4 is a diagram illustrating the physical effect of the claw block of the present invention; FIG. 5 is a schematic view of the claw block structure of the present invention; FIG. 6 is a schematic view of the claw frame structure of the present invention; FIG. 7 is a schematic view of the chuck structure of the present invention; fig. 8 is a schematic view of the plate grabbing effect of the present invention. A gripping device for machine manufacturing comprises a claw frame 1, a motor support 3 is installed at the top end of the claw frame 1, a gripping motor 4 is installed inside the motor support 3, an installation column 5 is installed at the top end of the motor support 3 through a fastening piece, a transmission shaft of the gripping motor 4 penetrates into the claw frame 1, a chuck 12 is installed on the transmission shaft of the gripping motor 4, a spiral groove is formed in the bottom surface of the chuck 12 and is an Archimedes spiral groove, claw blocks 2 are installed at the bottom end of the chuck 12, the four claw blocks 2 are respectively arranged at the bottom end of the chuck 12 in an annular array mode, the claw blocks 2 penetrate to the bottom end of the claw frame 1, each claw block 2 comprises a strip-shaped block 201, an arc edge block 202, an air cylinder 203, a supporting block 204, a friction belt 205, a rotating motor 206, a moving block 207, a sticking block 208, a driven wheel 209 and a driving wheel 210, the moving block 207 is, the moving block 207 is meshed with a spiral groove on the chuck 12, two arc edge blocks 202 are arranged, the two arc edge blocks 202 are respectively adhered to two sides of the strip-shaped block 201, the strip-shaped block 201 is internally of a cavity structure, the driving wheel 210 is rotatably connected to the upper end inside the strip-shaped block 201, the driven wheel 209 is rotatably connected to the lower end inside the strip-shaped block 201, the friction belt 205 is respectively sleeved on the driving wheel 210 and the driven wheel 209 and rotates through the matching of the driving wheel 210 and the driven wheel 209, so that the friction belt 205 can drive a clamped workpiece to move upwards, the sticking block 208 is arranged between the driven wheel 209 and the driving wheel 210 and is welded with the inner wall of the strip-shaped block 201, the rotating motor 206 is arranged on the driving wheel 210, a through cavity is formed in the bottom end of the strip-shaped block 201, the support block 204 is inserted into the through cavity, the air cylinder 203 is fixed, the supporting block 204 can support the workpiece, so that the workpiece is prevented from continuously sliding off when the clamping force is insufficient, and the workpiece is prevented from falling and being damaged.

Further, one side of the cylinder 203 close to the piston rod runs through to the inside of leading to the chamber, and the cover is equipped with the pressure spring 10 on the cylinder 203, the back of tray 204 passes through pressure spring 10 and leads to the inner wall elastic connection in chamber, tray 204 rotates with pressure spring 10 to be connected, when centre gripping square workpiece, because the top of tray 204 is the plane, play the supporting role to square workpiece, avoid when the clamping-force of claw piece 2 is not enough, square workpiece takes place the landing, when centre gripping cylindrical workpiece, can pull out tray 204, and rotate 180, make the slope face up, the pressure spring 10 contracts tray 204 to leading to in the chamber simultaneously, when cylindrical workpiece landing like this, utilize the inclined plane to form the contained angle, can be fine hold it, the stability of centre gripping workpiece has been improved greatly.

Furthermore, the insertion plate 6 is installed at the position, corresponding to the claw block 2, of the edge of the claw frame 1, the insertion plate 6 is of an L-shaped structure, the insertion plate 6 is fixedly connected with the claw frame 1 through the hexagon socket head cap screw 7, the insertion plate 6 can be detached through the hexagon socket head cap screw 7, the claw block 2 is convenient to take down, and the claw block 2 is convenient to maintain or replace.

Further, the guide rods 13 are installed in the corresponding positions of the inside of the claw frame 1 and the claw pieces 2, the guide rods 13 are of a V-shaped structure, eight guide rods 13 are divided into four groups, the eight guide rods 13 are respectively arranged on the inner wall of the claw frame 1 in a pairwise corresponding annular mode, the moving block 207 is connected with the guide rods 13 in a sliding mode, the claw pieces 2 can slide on the guide rods 13, the stability of the claw pieces 2 is greatly improved, vibration is reduced, one end of each V-shaped guide rod 13 is fixedly welded to the inner wall of the claw frame 1, the other end of each V-shaped guide rod points to the position of the inserting plate 6 and has a certain interval with the inserting plate 6, the claw pieces 2 can slide along the guide rods 13, the claw pieces 2 are separated from the guide rods 13, and the claw pieces 2 can be taken down conveniently.

Further, the border department of arc limit piece 202 is evagination arc structure, and arc limit piece 202 is the stereoplasm rubber material, through the existence on arc limit, when chuck 12 rotated, four claw piece 2 meshed linear motion on chuck 12 to be constantly close to, and the border department of four claw piece 2 can be drawn close to each other, conveniently carry out the centre gripping to the thin work piece of this kind of width of board class, pipe class, improved the device's application scope greatly.

Further, the central position key-type of snatching the transmission shaft of motor 4 is put and is had tray 11, and the pot head of tray 11 is equipped with footstep bearing 9, and indent step 8 has been seted up on the top of claw frame 1, and indent step 8 is connected with footstep bearing 9's bottom gomphosis, utilizes the existence of tray 11 to play the supporting role to chuck 12.

Further, the sticking blocks 208 are welded on the inner wall of the strip-shaped block 201, the distance between the sticking blocks 208 and the outer side of the strip-shaped block 201 is smaller than the thickness value of the friction belt 205, the sticking blocks 208 are utilized to enable a workpiece to be well extruded to avoid the workpiece from falling, and when the gaps between the sticking blocks 208 are used for deformation of the friction belt 205, space is reserved for deformation compensation.

The utility model provides a pair of mechanical manufacturing grabbing device's theory of operation as follows:

firstly, the mounting column is mounted on a multi-axis mechanical arm, when clamping is carried out, the grabbing motor 4 is started, at the moment, the tray 11 rotates on the thrust bearing 9, the chuck 12 also rotates, the claw blocks 2 under the spiral groove of the chuck 12 are meshed and do linear motion, four claw blocks 2 are close to each other, because the shapes of workpieces are different, some claw blocks are square bodies and some claw blocks are rectangular bodies, a pair of claw blocks 2 firstly contact and clamp the workpiece, after clamping, the rotating motor 206 is started to drive the driving wheel 210 to rotate, the driving wheel 210 drives the driven wheel 209 to rotate through the friction belt 205, the friction belt 205 is extruded through the contact with the workpiece, the workpiece is enabled to move upwards by utilizing friction force and rotating force, meanwhile, the air cylinder 203 is started to push the claw block 204 to expose out of a through cavity, thereby supporting effect is achieved on the workpiece, the sliding of the workpiece is avoided when the clamping force is insufficient, when, because the top of tray 204 is the plane, play the supporting role to the square work piece, avoid when the clamping-force of claw piece 2 is not enough, the square work piece takes place the landing, when the cylindrical work piece of centre gripping, can pull out tray 204, and rotate 180, make the slope face up, pressure spring 10 contracts tray 204 to logical chamber in simultaneously, when the cylindrical work piece landing like this, utilize the inclined plane to form the contained angle, can be fine hold it, the stability of centre gripping work piece has greatly been improved, when centre gripping plate, can pass through the existence on arc limit piece 202 arc limit, when chuck 12 rotates, four claw pieces 2 mesh linear motion on chuck 12, and constantly be close to, and the border department of four claw pieces 2 can draw close together each other, conveniently to the board class, the thinner work piece of width of pipe class carries out the centre gripping, the application scope of the device has greatly been improved, whole workflow finishes.

The above only is the embodiment of the present invention, not limiting the scope of the present invention, all the equivalent structures or equivalent processes of the present invention are used in the specification and the attached drawings, or directly or indirectly applied to other related technical fields, and the same principle is included in the protection scope of the present invention.

Claims

1. A machine-building grabbing device, includes claw frame (1), its characterized in that: motor support (3) are installed on the top of claw frame (1), the internally mounted of motor support (3) snatchs motor (4), erection column (5) are installed through the fastener in the top of motor support (3), the transmission shaft that snatchs motor (4) runs through to the inside of claw frame (1), and snatch and install chuck (12) on the transmission shaft of motor (4), the helicla flute has been seted up on the bottom surface of chuck (12), claw piece (2) are installed to the bottom of chuck (12), claw piece (2) are provided with four, and four claw piece (2) are annular array respectively in the bottom of chuck (12), claw piece (2) run through to the bottom of claw frame (1), claw piece (2) are including strip-shaped piece (201), arc limit piece (202), cylinder (203), tray piece (204), friction band (205), rotation motor (206), The automatic feeding device comprises a moving block (207), a sticking block (208), a driven wheel (209) and a driving wheel (210), wherein the moving block (207) is welded at the top end of the strip-shaped block (201), the moving block (207) is meshed with a spiral groove on a chuck (12) and connected, two arc-shaped side blocks (202) are arranged, the two arc-shaped side blocks (202) are respectively stuck on two sides of the strip-shaped block (201), the inside of the strip-shaped block (201) is of a cavity structure, the driving wheel (210) is rotatably connected to the upper end inside the strip-shaped block (201), the driven wheel (209) is rotatably connected to the lower end inside the strip-shaped block (201), a friction belt (205) is respectively sleeved on the driving wheel (210) and the driven wheel (209), the sticking block (208) is arranged between the driven wheel (209) and the driving wheel (210), the sticking block (208) is welded and connected with the inner wall of the strip-shaped block (201), the bottom of bar-shaped piece (201) has seted up logical chamber, tray (204) alternate in the inside that leads to the chamber, cylinder (203) are fixed at the back of bar-shaped piece (201), the cross-section of tray (204) is right trapezoid structure.

2. The mechanical manufacturing grabbing device of claim 1, wherein one side of the cylinder (203) close to the piston rod penetrates into the through cavity, a compression spring (10) is sleeved on the cylinder (203), the back surface of the support block (204) is elastically connected with the inner wall of the through cavity through the compression spring (10), and the support block (204) is rotatably connected with the compression spring (10).

3. The mechanical manufacturing grabbing device of claim 1, wherein an inserting plate (6) is installed at a position, corresponding to the claw block (2), of the edge of the claw frame (1), the inserting plate (6) is of an L-shaped structure, and the inserting plate (6) is fixedly connected with the claw frame (1) through an inner hexagonal bolt (7).

4. The mechanical manufacturing grabbing device of claim 1, wherein guide rods (13) are installed inside the claw frame (1) at positions corresponding to the claw blocks (2), the guide rods (13) are of a V-shaped structure, eight guide rods (13) are arranged, the guide rods (13) are divided into four groups, the eight guide rods (13) are circularly arranged on the inner wall of the claw frame (1) in a pairwise corresponding mode, and the moving block (207) is slidably connected with the guide rods (13).

5. The machine-made gripping device of claim 1, wherein the arc blocks (202) are of convex arc structure at the edges, and the arc blocks (202) are made of hard rubber.

6. The mechanical manufacturing grabbing device of claim 1, wherein a tray (11) is keyed at the central position of a transmission shaft of the grabbing motor (4), a thrust bearing (9) is sleeved on the upper end of the tray (11), a concave step (8) is formed at the top end of the claw frame (1), and the concave step (8) is connected with the bottom end of the thrust bearing (9) in an embedded mode.

7. The machine-made gripping device of claim 1, wherein the pad (208) is welded to the inner wall of the bar (201), and the distance between the pad (208) and the outer side of the bar (201) is smaller than the thickness of the friction band (205).