CN212123335U

CN212123335U - Multi freedom grabbing device

Info

Publication number: CN212123335U
Application number: CN202020110229.1U
Authority: CN
Inventors: 布国亮; 库大山; 刘畅; 张巾格
Original assignee: Xi'an Jiaye Aviation Science And Technology Co ltd
Current assignee: Xi'an Jiaye Aviation Science And Technology Co ltd
Priority date: 2020-01-18
Filing date: 2020-01-18
Publication date: 2020-12-11
Anticipated expiration: 2030-01-18

Abstract

The utility model provides a multi-degree-of-freedom gripping device, which comprises a first hook, a second hook, a cross beam, a first motor, a rotary support and a second motor; the first hook and the second hook are arranged at the lower end of the cross beam, the first motor is arranged on the side surface of the cross beam, and the first hook and the second hook can move axially along the cross beam under the control of the first motor; the upper end of the cross beam is fixed at the lower end of the rotary support, the second motor is arranged at the upper end of the rotary support, and the rotary support can rotate under the control of the second motor. The multi-degree-of-freedom gripping device provided by the utility model has high degree of freedom, more flexible work and wider working range; the multi-degree-of-freedom grabbing device is good in universality, is suitable for being applied to an automatic system, is matched with the existing control device and other devices for use, can reduce the waste of special mechanisms and unnecessary time, saves the cost and improves the economic benefit.

Description

Multi freedom grabbing device

Technical Field

The utility model relates to the field of machinary, concretely relates to multi freedom grabbing device.

Background

The traditional gripping device has the advantages of simple structure, poor universality and limited working range, and particularly, the working stroke of the gripping device is difficult to reach the underarm part; in addition, the grabbing end of the grabbing device can only grab but not hang, and the grabbing part needs to be replaced for a large load or the force cannot be used; moreover, the traditional grabbing mechanism is time-consuming and labor-consuming when combined to move and assembled and disassembled for many times, so that unnecessary labor time is increased, and the energy consumption is high. Therefore, it is necessary to design a new grasping apparatus.

SUMMERY OF THE UTILITY MODEL

In order to solve the technical problem, an object of the present invention is to provide a multi-degree-of-freedom gripping device, which comprises a first hook, a second hook, a cross beam, a first motor, a rotating support and a second motor;

the first hook and the second hook are arranged at the lower end of the cross beam, the first motor is arranged on the side surface of the cross beam, and the first hook and the second hook can move axially along the cross beam under the control of the first motor;

the upper end of the cross beam is fixed at the lower end of the rotary support, the second motor is arranged at the upper end of the rotary support, and the rotary support can rotate under the control of the second motor.

In some embodiments, the device further comprises a first connecting rod, a second connecting rod, an electric push rod and a first rotating shaft;

the two ends of the first connecting rod and the second connecting rod are respectively connected with the rotating support and the first rotating shaft, and the first connecting rod, the second connecting rod, the rotating support and the first rotating shaft form a parallel four-connecting-rod structure;

two ends of the electric push rod are respectively fixed on the first connecting rod and the first rotating shaft, and the electric push rod is used for providing power for the first connecting rod and further driving the rotary support to perform pitching motion;

the first rotating shaft is fixed on an external device, and the whole multi-degree-of-freedom grabbing device can rotate around the first rotating shaft.

In some embodiments, the rotating support, the first connecting rod, the second connecting rod, the electric push rod and the first rotating shaft are connected together by a plurality of pin shafts.

In some embodiments, the rotating support comprises a coupler, a second rotating shaft, a locking gasket, a locking nut, a bearing and a gland;

the upper end of the coupler is fixedly connected with a power output shaft of the second motor;

the lower end of the coupler is fixedly connected with the upper end of the second rotating shaft;

the lower end of the second rotating shaft is fixedly connected with the cross beam;

the bearing sleeve is arranged on the second rotating shaft, and the locking gasket, the locking nut and the gland are used for fixing the bearing.

Compared with the prior art, the utility model has the advantages that: the multi-degree-of-freedom gripping device provided by the utility model has high degree of freedom, more flexible work and wider working range; the multi-degree-of-freedom grabbing device is good in universality, is suitable for being applied to an automatic system, is matched with the existing control device and other devices for use, can reduce the waste of special mechanisms and unnecessary time, saves the cost and improves the economic benefit.

Drawings

Other objects and advantages of the present invention will become apparent from the following description of the invention, which is made with reference to the accompanying drawings, and can help to provide a thorough understanding of the present invention.

Fig. 1 is a schematic view of a multi-degree-of-freedom gripping device provided by the present invention;

FIG. 2 is a side view of FIG. 1;

fig. 3 is a schematic view of a section a-a in fig. 2.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below. It is to be understood that the embodiments described are only some of the embodiments of the present invention, and not all of them. All other embodiments, which can be obtained by a person skilled in the art without any inventive work based on the described embodiments of the present invention, belong to the protection scope of the present invention.

Unless defined otherwise, technical or scientific terms used herein shall have the ordinary meaning as understood by those of ordinary skill in the art to which the invention belongs.

Referring to fig. 1, the multi-degree-of-freedom gripping device provided by the present invention includes a first hook 1, a second hook 2, a beam 3, a first motor 4, a rotary support 5 and a second motor 6; the first hook 1 and the second hook 2 are both arranged at the lower end of the cross beam 3, the first motor 4 is arranged on the side surface of the cross beam 3, and the first hook 1 and the second hook 2 can move axially along the cross beam 3 under the control of the first motor 4; the upper end of crossbeam 3 is fixed in the lower extreme of rotating support 5, and second motor 6 sets up in the upper end of rotating support 5, and rotating support 5 can rotate under the control of second motor 6.

For the multi-degree-of-freedom grabbing device provided by the utility model, the distance between the first hook 1 and the second hook 2 can be adjusted through the first hook 1, the second hook 2, the cross beam 3 and the first motor 4, so as to adapt to the load requirements of different sizes; this is the first degree of freedom of the device. When the hook is used, the load can be hung through the first hook 1 and the second hook 2, and the load can be clamped between the first hook 1 and the second hook 2. The second motor 6 provides rotating power for the cross beam 3, so that the cross beam 3, the first hook 1 and the second hook 2 can integrally rotate around the rotating support 5, and the rotating range covers 360 degrees, so that the grabbing range is increased; this is the second degree of freedom of the device.

Preferably, the multi-degree-of-freedom grabbing device further comprises a first connecting rod 7, a second connecting rod 8, an electric push rod 9 and a first rotating shaft 10; the two ends of the first connecting rod 7 and the second connecting rod 8 are respectively connected with the rotating support 5 and the first rotating shaft 10, and the first connecting rod 7, the second connecting rod 8, the rotating support 5 and the first rotating shaft 10 jointly form a parallel four-connecting-rod structure; two ends of an electric push rod 9 are respectively fixed on the first connecting rod 7 and the first rotating shaft 10, and the electric push rod 9 is used for providing power for the first connecting rod 7 so as to drive the rotating support 5 to perform pitching motion; this is the third degree of freedom of the device; due to the existence of the parallel four-bar linkage structure, the parallelism between the rotary support 5 and the first rotating shaft 10 can be always maintained during the pitching motion.

Moreover, the first rotating shaft 10 is fixed on an external device, and the whole multi-degree-of-freedom grabbing device can rotate around the first rotating shaft 10; this is the fourth degree of freedom of the device; at this time, the first rotating shaft 10 provides support for the multi-degree-of-freedom gripping device and the load as a whole.

Further, as shown in fig. 2, the rotating support 5, the first link 7, the second link 8, the electric push rod 9 and the first rotating shaft 10 are connected together by a plurality of pins. The device specifically comprises a first pin 11 between the first connecting rod 7 and the first rotating shaft 10, a second pin 12 between the second connecting rod 8 and the first rotating shaft 10, a third pin 13 between the first connecting rod 7 and the electric push rod 9, a fourth pin 14 between the first connecting rod 7 and the rotating support 5, and a fifth pin 15 between the second connecting rod 8 and the rotating support 5.

Further, as shown in fig. 3, the rotating support 5 may include a coupling 16, a second rotating shaft 17, a locking washer 18, a locking nut 19, a bearing 20, and a gland 21; the upper end of the coupler 16 is fixedly connected with a power output shaft of the second motor 6; the lower end of the coupler 16 is fixedly connected with the upper end of the second rotating shaft 17; the lower end of the second rotating shaft 17 is fixedly connected with the cross beam 3; the bearing 20 is sleeved on the second rotating shaft 17, and the locking gasket 18, the locking nut 19 and the gland 21 are used for fixing the bearing 20. By providing the bearing 20 and the corresponding fixing structure, the reliability and flexibility of the rotation of the cross beam 3 can be improved.

In summary, the multi-degree-of-freedom gripping device provided by the utility model has high degree of freedom, more flexible work and wider working range; the multi-degree-of-freedom grabbing device is good in universality, is suitable for being applied to an automatic system, is matched with the existing control device and other devices for use, can reduce the waste of special mechanisms and unnecessary time, saves the cost and improves the economic benefit.

The above-mentioned embodiments, further detailed description of the objects, technical solutions and advantages of the present invention, it should be understood that the above-mentioned embodiments are only specific embodiments of the present invention, and are not intended to limit the present invention, and any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the scope of the present invention.

Claims

1. A multi-degree-of-freedom grabbing device is characterized by comprising a first hook (1), a second hook (2), a cross beam (3), a first motor (4), a rotating support (5) and a second motor (6);

the first hook (1) and the second hook (2) are arranged at the lower end of the cross beam (3), the first motor (4) is arranged on the side face of the cross beam (3), and the first hook (1) and the second hook (2) can axially move along the cross beam (3) under the control of the first motor (4);

the upper end of the cross beam (3) is fixed at the lower end of the rotary support (5), the second motor (6) is arranged at the upper end of the rotary support (5), and the rotary support (5) can rotate under the control of the second motor (6).

2. The multi-degree-of-freedom grasping device according to claim 1, characterized by further comprising a first connecting rod (7), a second connecting rod (8), an electric push rod (9) and a first rotating shaft (10);

the two ends of the first connecting rod (7) and the second connecting rod (8) are respectively connected with the rotating support (5) and the first rotating shaft (10), and the first connecting rod (7), the second connecting rod (8), the rotating support (5) and the first rotating shaft (10) jointly form a parallel four-connecting-rod structure;

two ends of the electric push rod (9) are respectively fixed on the first connecting rod (7) and the first rotating shaft (10), and the electric push rod (9) is used for providing power for the first connecting rod (7) so as to drive the rotary support (5) to perform pitching motion;

the first rotating shaft (10) is fixed on an external device, and the whole multi-degree-of-freedom grabbing device can rotate around the first rotating shaft (10).

3. The multi-degree-of-freedom grasping device according to claim 2, wherein the rotating support (5), the first connecting rod (7), the second connecting rod (8), the electric push rod (9) and the first rotating shaft (10) are connected together by a plurality of pin shafts.

4. The multi-degree-of-freedom grabbing device according to claim 1, wherein the rotating support (5) comprises a coupler (16), a second rotating shaft (17), a locking gasket (18), a locking nut (19), a bearing (20) and a gland (21);

the upper end of the coupler (16) is fixedly connected with a power output shaft of the second motor (6);

the lower end of the coupler (16) is fixedly connected with the upper end of the second rotating shaft (17);

the lower end of the second rotating shaft (17) is fixedly connected with the cross beam (3);

the bearing (20) is sleeved on the second rotating shaft (17), and the locking gasket (18), the locking nut (19) and the gland (21) are used for fixing the bearing (20).