CN213411286U

CN213411286U - Self-adaptive grabbing mechanism

Info

Publication number: CN213411286U
Application number: CN202022333474.1U
Authority: CN
Inventors: 曹正欣; 石鑫; 姬志恒; 陈飞峰; 荀晓媛
Original assignee: Headman Shanghai Automation Technology Co ltd
Current assignee: Headman Shanghai Automation Technology Co ltd
Priority date: 2020-10-19
Filing date: 2020-10-19
Publication date: 2021-06-11
Anticipated expiration: 2030-10-19

Abstract

The utility model provides a self-adaptation snatchs mechanism belongs to mechanical technical field. The self-adaptive grabbing mechanism solves the problems that joint bearings in the existing self-adaptive grabbing mechanism are firm in connection and cannot be compatible with convenience in disassembly and assembly. This mechanism is snatched in self-adaptation, which comprises a fixing plate, mounting panel and center post, be equipped with joint bearing between center post and the mounting panel, be fixed with the locating piece on the mounting panel, be equipped with the mounting hole on the locating piece, joint bearing's outer lane is installed in the mounting hole, be equipped with the convex shoulder on the hole wall of mounting hole, the lower extreme of locating piece passes through fastening bolt fixedly connected with locating plate, the upper and lower both ends of joint bearing outer lane are supported respectively and are leaned on convex shoulder and locating plate, joint bearing's inner circle suit is on the lower extreme of center post, be equipped with on the lateral surface of center post lower extreme and keep off the shoulder, the lower extreme of. This self-adaptation snatchs mechanism has joint bearing firm in connection and advantages such as easy dismounting.

Description

Self-adaptive grabbing mechanism

Technical Field

The utility model belongs to the technical field of machinery, a self-adaptation snatchs mechanism is related to.

Background

In order to improve the machining efficiency of the machine tool, a feeding device is usually configured on the machine tool and used for assisting in loading and unloading, the feeding device comprises a grabbing mechanism and a moving mechanism, the grabbing mechanism is connected to the moving mechanism, the grabbing mechanism is used for grabbing workpieces, and the moving mechanism is used for driving the grabbing mechanism to move.

Chinese patent document discloses a self-adaptive air-suction robot end grabbing mechanism [ application number: CN 201721834255.3; the notice number is: CN 207616604U ]: comprises an upper end of an actuator with adjustable height and a lower end of the actuator connected with the upper end of the actuator, wherein the lower end of the actuator is provided with at least one actuating mechanism. The actuating mechanism comprises a guide shaft, a cylinder mounting plate, a sucker fixing plate, a connecting flange, suckers, a cylinder and a press rod, wherein one end of the guide shaft is connected to the cylinder mounting plate, the other end of the guide shaft is connected to the sucker fixing plate through a spherical bearing, the guide shaft rotates in the sucker fixing plate, the connecting flange is arranged on the sucker fixing plate, the suckers are at least two and are respectively mounted on the lower portion of the sucker fixing plate, the cylinder is connected to the cylinder mounting plate, the press rod is connected to a piston of the cylinder, and the press. The guide pins used for limiting are arranged on two sides of the cylinder mounting plate, and the number of the cylinders is four, and the four cylinders are respectively located on the periphery of the cylinder mounting plate.

During the use, do not ventilate earlier in the cylinder, the sucking disc is close to the work piece, and the sucking disc fixed plate makes the sucking disc paste and lean on the work piece surface according to work piece appearance self-adaptation rotation, then the cylinder ventilates and makes the depression bar support and lean on the sucking disc fixed plate, makes the position of sucking disc fixed plate keep, then the sucking disc is breathed in and just can be fixed the work piece to the sucking disc. In the above mechanism, the spherical bearing is one of the key components, and the most common fixing methods are interference fit fixing and elastic collar fixing when the spherical bearing is installed. The interference fit is firm in fixed connection, but needs heating when being assembled, and is not easy to detach and replace after being assembled and fixed. When the elastic retainer ring is fixed, the assembly and disassembly are convenient, but the elastic retainer ring has elasticity, so that the elastic retainer ring is easy to disengage when receiving large force, and the spherical bearing is insecure in connection structure.

Disclosure of Invention

The utility model aims at the above-mentioned problem that prior art exists, provide a self-adaptation and snatch mechanism, the technical problem of solution makes the self-adaptation snatch joint bearing firm in connection and easy dismounting in the mechanism.

The purpose of the utility model can be realized by the following technical proposal:

a self-adaptive grabbing mechanism comprises a fixed plate and a mounting plate, wherein a central column positioned below the fixed plate is fixed at the center of the fixed plate, the mounting plate is positioned below the fixed plate, the lower end of the central column is arranged in the mounting plate in a penetrating manner, a joint bearing is arranged between the central column and the mounting plate, a plurality of air cylinders are fixed on the fixed plate around the central column, a pressure rod is arranged and fixed on a piston rod of each air cylinder downwards, the self-adaptive grabbing mechanism is characterized in that a positioning block is fixedly connected onto the mounting plate, a mounting hole is formed in the positioning block, an outer ring of the joint bearing is arranged in the mounting hole, a convex shoulder is arranged on the hole wall surface of the mounting hole and positioned above an outer ring of the joint bearing, the upper end surface of the outer ring of the joint bearing is abutted against the convex shoulder, a positioning plate, the inner ring of the joint bearing is sleeved on the lower end of the central column, a blocking shoulder is arranged on the outer side face of the lower end of the central column and above the inner ring of the joint bearing, the upper end face of the inner ring of the joint bearing is abutted against the blocking shoulder, the lower end of the central column is fixedly connected with a gasket through a fixing bolt, the gasket is arranged below the inner ring of the joint bearing, and the lower end face of the inner ring of the joint bearing is abutted against the gasket.

When the joint bearing is installed, the positioning block can be fixedly connected to the installation plate firstly, the lower end of the center column is inserted into the installation hole, then the joint bearing is sleeved on the lower end of the center column, the outer ring of the joint bearing enters the installation hole, the upper end face of the outer ring of the joint bearing is abutted against the convex shoulder of the installation hole, the upper end face of the inner ring of the joint bearing is abutted against the blocking shoulder, the gasket is installed on the center column through the fixing bolt, the lower end face of the inner ring of the joint bearing is abutted against the gasket, the positioning plate is fixed on the lower end face of the positioning block through the fastening bolt, and the lower end face of the outer ring of the joint bearing is abutted against the positioning plate. After the installation, the outer ring of the joint bearing is radially positioned through the hole wall of the installation hole, the outer ring of the joint bearing is axially fixed through the convex shoulder and the positioning plate, the inner ring of the joint bearing is radially positioned through the outer side of the lower end of the central column, and the outer ring of the joint bearing is axially fixed through the shoulder and the gasket, so that the joint bearing is firmly connected in the self-adaptive grabbing mechanism. When the joint bearing needs to be disassembled and replaced, the fixing bolt and the fastening bolt are disassembled, and then the joint bearing is taken down by the central column, so that the disassembling operation is very convenient. Therefore, the joint bearing is firmly connected and convenient to disassemble and assemble in the self-adaptive grabbing mechanism.

In the self-adaptive grabbing mechanism, the upper end face of the positioning block is attached to and fixed on the lower surface of the mounting plate, the mounting plate is provided with the positioning hole, the upper end face of the positioning block is provided with the positioning boss which is arranged corresponding to the positioning hole, and the positioning boss is inserted into the positioning hole. The positioning hole and the positioning boss are matched to have a positioning effect, so that the positioning and the installation of the positioning block on the mounting plate are facilitated.

In the above adaptive grabbing mechanism, the positioning plate has a through hole corresponding to the mounting hole. The through hole has the effect of dodging, avoids other movable parts such as locating plate and center post to produce the interference, makes joint bearing's inner circle and outer lane activity smooth and easy, makes self-adaptation snatch the mechanism and use stably smooth and easy. Meanwhile, the through hole can also enable the gasket and the fixing bolt to be conveniently detached from the central column.

In the self-adaptive grabbing mechanism, four lugs uniformly arranged along the circumferential direction are arranged on the outer side surface of the positioning plate, the upper surfaces of all the lugs are attached to the lower end surface of the positioning block, fixing holes are formed in two oppositely arranged lugs, and the fastening bolt penetrates through the fixing holes and then is in threaded connection with the positioning block. The positioning plate is stable in structure and convenient to disassemble and assemble, and accordingly the joint bearing is firm in connection and convenient to disassemble and assemble.

In the self-adaptive grabbing mechanism, the upper surface of the mounting plate is fixedly connected with an adjusting disc in a detachable mode, and the pressing rod can abut against the upper surface of the adjusting disc. The setting can be dismantled to the adjustment disk, makes things convenient for the change of adjustment disk.

In the adaptive grabbing mechanism, the upper surface of the fixing plate is fixedly connected with a mounting seat, and the upper end of the mounting seat is provided with a flange plate. The self-adaptive grabbing mechanism can be conveniently installed on the moving mechanism through the flange plate on the installation seat, and therefore the moving of the self-adaptive grabbing mechanism is achieved.

In foretell self-adaptation snatchs mechanism, the self-adaptation snatchs mechanism still includes the connecting plate, the connecting plate is located the below of mounting panel, and has the space between connecting plate and the mounting panel, be connected with the separation post between connecting plate and the mounting panel, be fixed with the hand claw on the connecting plate.

The gap is arranged between the connecting plate and the mounting plate, so that the interference of the connecting plate on the rotation of the central column can be avoided, and the self-adaptive grabbing mechanism is stable and smooth in use. The separation columns are used for positioning connection, so that the existence of gaps is ensured. The gripper on the connecting plate can grab the workpiece.

In the adaptive grabbing mechanism, positioning rods are respectively fixed on two sides of the central column on the fixing plate, positioning holes are formed in the mounting plate and correspond to the positioning rods one to one, and the positioning rods are inserted into the corresponding positioning holes. The positioning rod has a positioning effect, can prevent the mounting plate from rotating, and enables the self-adaptive grabbing mechanism to be stable in use.

Compared with the prior art, the utility model has the advantages of it is following:

the joint bearing is fixed on the mounting plate through the positioning block, the positioning plate and the fastening bolt, and is fixed on the central column through the gasket and the fixing bolt, so that the joint bearing is firm in connection and convenient to assemble and disassemble. The unique structure of the positioning plate enables the positioning plate to be stable in structure and convenient to disassemble and assemble. The positioning block and the mounting plate are positioned and mounted through the positioning boss and the positioning hole, and the assembly is convenient. The fixing plate is provided with the mounting seat, so that the self-adaptive grabbing mechanism is convenient to connect with the moving mechanism. The connecting plate and the separating column are arranged, so that the connection of the paw is facilitated.

Drawings

FIG. 1 is a perspective view of the present adaptive grasping mechanism;

FIG. 2 is a front view of the adaptive gripping mechanism with the gripper, the connecting plate and the separating column hidden;

FIG. 3 is a cross-sectional view of the present adaptive gripping mechanism at the knuckle bearing;

fig. 4 is a split perspective view of the adjusting plate, the mounting plate, the joint bearing, the positioning block and the positioning plate in the self-adaptive grabbing mechanism.

In the figure, 1, fixing plate; 2. mounting a plate; 2a, a positioning opening; 2b, positioning holes; 3. a connecting plate; 4. a central column; 4a, a shoulder; 5. a knuckle bearing; 6. positioning a rod; 7. positioning blocks; 7a, positioning a boss; 7b, mounting holes; 7c, a shoulder; 8. positioning a plate; 8a, a lug; 8b, fixing holes; 8c, through holes; 9. fastening a bolt; 10. fixing the bolt; 11. a gasket; 12. a mounting seat; 12a, a flange plate; 13. a cylinder; 14. a pressure lever; 15. adjusting the disc; 16. a void; 17. separating the columns; 18. and (5) a paw.

Detailed Description

The following are specific embodiments of the present invention and the accompanying drawings are used to further describe the technical solution of the present invention, but the present invention is not limited to these embodiments.

Example one

As shown in fig. 1-4, a self-adaptive grabbing mechanism comprises a fixing plate 1, a mounting plate 2 and a connecting plate 3, wherein the mounting plate 2 is located below the fixing plate 1, a central column 4 located below the fixing plate 1 is fixed at the center of the fixing plate 1, the lower end of the central column 4 is arranged in the mounting plate 2 in a penetrating manner, and a joint bearing 5 is arranged between the central column 4 and the mounting plate 2.

Locating rods 6 are respectively fixed on two sides of the central column 4 on the fixing plate 1, locating ports 2a which are arranged in one-to-one correspondence with the locating rods 6 are arranged on the mounting plate 2, and the locating rods 6 are inserted into the corresponding locating ports 2 a. A mounting seat 12 is fixedly connected to the upper surface of the fixing plate 1, and a flange 12a is provided at the upper end of the mounting seat 12. The adaptive gripping mechanism can be fixed to the moving mechanism by the flange 12 a. A plurality of cylinders 13 are fixed on the fixing plate 1 around the central column 4, four cylinders 13 are provided in the embodiment, and the four cylinders 13 are uniformly arranged along the circumferential direction, and three or five cylinders 13 can be provided. The upper surface of mounting panel 2 is gone up detachable fixedly connected with adjustment disc 15, and adjustment disc 15 passes through construction bolt fixed connection on mounting panel 2. The four mounting bolts are uniformly arranged along the circumferential direction and are in threaded connection with the mounting plate 2 after penetrating through the adjusting plate 15. A piston rod of the cylinder 13 is disposed downward and fixed with a pressing rod 14, and the pressing rod 14 abuts on the upper surface of the adjusting plate 15. When the length of the pressing rod 14 is long enough, the adjusting plate 15 may not be provided, and the lower end of the pressing rod 14 directly abuts on the upper surface of the mounting plate 2.

Connecting plate 3 is located the below of mounting panel 2, and connecting plate 3 and mounting panel 2 parallel arrangement. A gap 16 is formed between the connecting plate 3 and the mounting plate 2, a separation column 17 is connected between the connecting plate 3 and the mounting plate 2, and a paw 18 is fixed on the connecting plate 3. Four separating columns 17 are arranged at four corners of the mounting plate 2, and the claws 18 are fixedly connected to the lower surface of the connecting plate 3.

The lower surface of the mounting plate 2 is fixedly connected with a positioning block 7, the upper end face of the positioning block 7 is attached to and leaned against the lower surface of the mounting plate 2 and is fixed, and the positioning block 7 and the mounting plate 2 are fixed through a connecting bolt. The connecting bolts penetrate through the positioning blocks 7 and then are in threaded connection with the mounting plate 2, and the four connecting bolts are distributed in sequence along the circumferential direction. The mounting plate 2 is provided with a positioning hole 2b, the upper end surface of the positioning block 7 is provided with a positioning boss 7a corresponding to the positioning hole 2b, and the positioning boss 7a is inserted into the positioning hole 2 b. The positioning block 7 is provided with a mounting hole 7b, the outer ring of the joint bearing 5 is mounted in the mounting hole 7b, a convex shoulder 7c is arranged on the wall surface of the mounting hole 7b and above the outer ring of the joint bearing 5, the upper end surface of the outer ring of the joint bearing 5 abuts against the convex shoulder 7c, a positioning plate 8 is fixedly connected to the lower end surface of the positioning block 7 through a fastening bolt 9, and the lower end surface of the outer ring of the joint bearing 5 abuts against the positioning plate 8. Four lugs 8a uniformly arranged along the circumferential direction are arranged on the outer side surface of the positioning plate 8, the upper surfaces of all the lugs 8a are attached to the lower end surface of the positioning block 7, fixing holes 8b are formed in two oppositely arranged lugs 8a, and the fastening bolt 9 penetrates through the fixing holes 8b and then is in threaded connection with the positioning block 7. The inner ring of the joint bearing 5 is sleeved at the lower end of the central column 4, a retaining shoulder 4a is arranged on the outer side face of the lower end of the central column 4 and above the inner ring of the joint bearing 5, the upper end face of the inner ring of the joint bearing 5 abuts against the retaining shoulder 4a, the lower end of the central column 4 is fixedly connected with a gasket 11 through a fixing bolt 10, the gasket 11 is located below the inner ring of the joint bearing 5, and the lower end face of the inner ring of the joint bearing 5 abuts against the gasket 11. The fixing bolt 10 penetrates through the gasket 11 and then is in threaded connection with the central column 4, a gap is formed between the gasket 11 and the lower end face of the central column 4, and the inner ring of the joint bearing 5 is clamped and fixed between the gasket 11 and the blocking shoulder 4 a. The positioning plate 8 is provided with a through hole 8c corresponding to the mounting hole 7b, the aperture of the through hole 8c is smaller than that of the mounting hole 7b, and the lower end of the center post 4 or the lower end of the inner ring of the knuckle bearing 5 penetrates through the through hole 8 c.

When the knuckle bearing 5 is installed, the positioning block 7 can be fixedly connected to the installation plate 2, the lower end of the center post 4 is inserted into the positioning hole 2b and the installation hole 7b, then the knuckle bearing 5 is sleeved on the lower end of the center post 4, the outer ring of the knuckle bearing 5 enters the installation hole 7b, the upper end face of the outer ring of the knuckle bearing 5 abuts against the shoulder 7c of the installation hole 7b, the upper end face of the inner ring of the knuckle bearing 5 abuts against the shoulder 4a, then the gasket 11 is installed on the center post 4 through the fixing bolt 10, the lower end face of the inner ring of the knuckle bearing 5 abuts against the gasket 11, the positioning plate 8 is fixed on the lower end face of the positioning block 7 through the fastening bolt 9, the lower end face of the outer ring of the knuckle bearing 5 abuts against the positioning plate 8, therefore, the knuckle bearing 5 is installed, and the installation operation. After the installation, the outer ring of the joint bearing 5 is radially positioned through the hole wall of the installation hole 7b, the outer ring of the joint bearing 5 is axially fixed through the convex shoulder 7c and the positioning plate 8, the inner ring of the joint bearing 5 is radially positioned through the outer side of the lower end of the central column 4, and the outer ring of the joint bearing 5 is axially fixed through the retaining shoulder 4a and the gasket 11, so that the joint bearing 5 is firmly connected in the self-adaptive grabbing mechanism. When the joint bearing 5 needs to be disassembled and replaced, the fixing bolt 10 and the fastening bolt 9 are disassembled, and then the joint bearing 5 is taken out of the mounting hole 7b, so that the disassembling operation is very convenient. Therefore, the joint bearing 5 is firmly connected and convenient to disassemble and assemble in the self-adaptive grabbing mechanism.

The specific embodiments described herein are merely illustrative of the spirit of the invention. Various modifications, additions and substitutions for the specific embodiments described herein may be made by those skilled in the art without departing from the spirit of the invention or exceeding the scope of the invention as defined in the accompanying claims.

Claims

1. The utility model provides a mechanism is snatched in self-adaptation, includes fixed plate (1) and mounting panel (2), the center department of fixed plate (1) is fixed with center post (4) that are located fixed plate (1) below, mounting panel (2) are located the below of fixed plate (1), the lower extreme of center post (4) is worn to establish in mounting panel (2) and is provided with joint bearing (5) between center post (4) and mounting panel (2), be fixed with several cylinder (13) round center post (4) on fixed plate (1), the piston rod of cylinder (13) sets up and is fixed with depression bar (14) down, its characterized in that, fixedly connected with locating piece (7) on mounting panel (2), be provided with mounting hole (7b) on locating piece (7), the outer lane of joint bearing (5) is installed in mounting hole (7b), the top that lies in joint bearing (5) outer lane on the hole wall face of mounting hole (7b) is provided with convex shoulder (7c) ) The upper end surface of the outer ring of the joint bearing (5) is abutted against the convex shoulder (7c), the lower end surface of the positioning block (7) is fixedly connected with a positioning plate (8) through a fastening bolt (9), the lower end surface of the outer ring of the joint bearing (5) is abutted against the positioning plate (8), the inner ring of the joint bearing (5) is sleeved on the lower end of the central column (4), a retaining shoulder (4a) is arranged on the outer side surface of the lower end of the central column (4) and above the inner ring of the joint bearing (5), the upper end surface of the inner ring of the joint bearing (5) is abutted against the retaining shoulder (4a), the lower end of the central column (4) is fixedly connected with a gasket (11) through a fixing bolt (10), the gasket (11) is positioned below the inner ring of the joint bearing (5), and the lower end surface of the inner ring of the joint bearing (5) is abutted against the gasket (11).

2. The adaptive grabbing mechanism according to claim 1, wherein an upper end surface of the positioning block (7) abuts against and is fixed to a lower surface of the mounting plate (2), the mounting plate (2) is provided with a positioning hole (2b), a positioning boss (7a) corresponding to the positioning hole (2b) is arranged on the upper end surface of the positioning block (7), and the positioning boss (7a) is inserted into the positioning hole (2 b).

3. The adaptive grabbing mechanism according to claim 1, wherein the positioning plate (8) has a through hole (8c) corresponding to the mounting hole (7 b).

4. The self-adaptive grabbing mechanism according to any one of claims 1 to 3, wherein four lugs (8a) uniformly arranged along the circumferential direction are arranged on the outer side surface of the positioning plate (8), the upper surfaces of all the lugs (8a) are attached to the lower end surface of the positioning block (7), fixing holes (8b) are formed in two oppositely arranged lugs (8a), and the fastening bolt (9) penetrates through the fixing holes (8b) and then is in threaded connection with the positioning block (7).

5. The adaptive gripping mechanism according to any one of claims 1 to 3, wherein an adjusting disc (15) is detachably and fixedly connected to the upper surface of the mounting plate (2), and the pressure lever (14) can abut against the upper surface of the adjusting disc (15).

6. The adaptive grabbing mechanism according to any one of claims 1 to 3, wherein a mounting seat (12) is fixedly connected to the upper surface of the fixing plate (1), and a flange (12a) is arranged at the upper end of the mounting seat (12).

7. The adaptive grabbing mechanism according to any one of claims 1 to 3, wherein the adaptive grabbing mechanism further comprises a connecting plate (3), the connecting plate (3) is located below the mounting plate (2), a gap (16) is formed between the connecting plate (3) and the mounting plate (2), a separation column (17) is connected between the connecting plate (3) and the mounting plate (2), and a gripper (18) is fixed on the connecting plate (3).

8. The adaptive grabbing mechanism as claimed in any one of claims 1 to 3, wherein positioning rods (6) are respectively fixed on two sides of the central column (4) on the fixing plate (1), the mounting plate (2) has positioning holes (2a) corresponding to the positioning rods (6), and the positioning rods (6) are inserted into the corresponding positioning holes (2 a).