CN213801880U - Dish utensil grabbing device - Google Patents
Dish utensil grabbing device Download PDFInfo
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- CN213801880U CN213801880U CN202022811745.XU CN202022811745U CN213801880U CN 213801880 U CN213801880 U CN 213801880U CN 202022811745 U CN202022811745 U CN 202022811745U CN 213801880 U CN213801880 U CN 213801880U
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- clamping jaw
- disc
- gripping
- pull rod
- gripper
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Abstract
The utility model discloses a dish utensil grabbing device, it includes the fixed cover of clamping jaw board, clamping jaw pull rod axle and clamping jaw, the clamping jaw pull rod is located to the fixed cover of clamping jaw off-axial, and the clamping jaw board sets up in pairs, and connects the clamping jaw pull rod axle through the clamping jaw connecting plate, and the clamping jaw pull rod axle is connected with clamping jaw drive arrangement, and clamping jaw drive arrangement drive clamping jaw pull rod axle is flexible, open or closed in order to realize the clamping jaw board that sets up in pairs. The utility model is scientific and reasonable, can adopt gear drive to combine screw thread interact's mode, or the mode of cylinder control through clamping jaw drive arrangement, realize that clamping jaw pull rod axle does forward or backward movement, thereby control clamping jaw board snatchs or loosens to the dish utensil that does not upright, the dish utensil snatchs the back, through the whole upset of manipulator with dish utensil grabbing device, make the dish utensil place upright, the manipulator of one process is accurate to snatch the dish utensil down is convenient for, be favorable to realizing the full automation operation that the dish utensil switches, and the work efficiency is improved, and the fast-speed production demand is satisfied.
Description
Technical Field
The utility model relates to an enameled wire manufacture equipment, more specifically relate to dish utensil grabbing device.
Background
The enameled wire is composed of an internal wire and a coating wrapping the wire, and the wire needs to be wound on the coil through a winding and unwinding device in the production process of the enameled wire. When the winding of the first coil is finished, the full disk needs to be timely and quickly transferred away so as to be replaced by an empty disk in time.
In order to improve the production efficiency, the switching between the full disc and the empty disc is automated, but the grabbing success rate of the empty disc is low. Because the empty trays are scattered on the object placing table, some empty trays can be inclined or toppled, the existing manipulator can only grab the vertical tray, and the inclined or completely toppled tray cannot be grabbed accurately and quickly. At present, the empty tray tool which is inclined or dumped needs to be manually righted, and then the manipulator is used for grabbing, so that full-automatic operation cannot be realized, and the working efficiency is greatly reduced.
SUMMERY OF THE UTILITY MODEL
In order to solve the problem, the utility model provides a dish utensil grabbing device makes the dish utensil of slope or empting overturn to upright, is favorable to realizing the full automatization operation, improves work efficiency.
According to the utility model discloses an aspect provides a dish utensil grabbing device, it includes clamping jaw board, clamping jaw pull rod axle and the fixed cover of clamping jaw, the clamping jaw pull rod axle is located to the fixed cover of clamping jaw, and the clamping jaw board sets up in pairs, and connects the clamping jaw pull rod axle through the clamping jaw connecting plate, and the clamping jaw pull rod axle is connected with clamping jaw drive arrangement, and clamping jaw drive arrangement drive clamping jaw pull rod axle is flexible, opens or is closed in order to realize the clamping jaw board that sets up in pairs. Therefore, when an empty disc is required to be grabbed, the disc grabbing device is located above the empty disc, then the disc grabbing device integrally descends, the clamping jaw plates arranged in pairs are located on two sides of the toppled or inclined disc, the clamping jaw driving device acts on the clamping jaw pull rod shafts to enable the clamping jaw pull rod shafts to retract inwards relative to the clamping jaw fixing sleeve, one ends of the clamping jaw connecting plates are pulled back by the clamping jaw pull rod shafts, the two clamping jaw plates close the grabbing disc inwards, the disc is horizontal, and after the disc grabbing is finished, the disc grabbing device integrally overturns 90 degrees to enable the disc to be placed vertically; when the disc tool needs to be loosened, the clamping jaw driving device acts on the clamping jaw pull rod shaft to enable the clamping jaw pull rod shaft to stretch out relative to the clamping jaw fixing sleeve, the clamping jaw pull rod shaft pushes one end of the clamping jaw connecting plate forward, and the two clamping jaw plates are opened outwards to loosen the disc tool, so that a mechanical arm can conveniently grab the disc tool in the later period, full-automatic operation can be realized, and working efficiency is greatly improved.
In some embodiments, the clamping jaw plates arranged in pairs are movably hinged to the clamping jaw fixing sleeve through a clamping jaw fixing shaft, one end of each clamping jaw connecting plate is hinged to the clamping jaw plate, the other end of each clamping jaw connecting plate is hinged to a clamping jaw pull rod shaft, and the outer wall of the clamping jaw fixing sleeve is provided with a limiting groove. Therefore, the clamping jaw plate is movably hinged to the clamping jaw fixing sleeve through the clamping jaw fixing shaft, the position of the clamping jaw plate is unchanged in the opening or closing process of the clamping jaw plate, the hinging end of the clamping jaw plate and the hinging end of the clamping jaw connecting plate are limited in the limiting groove, and stable opening or closing of the clamping jaw plate can be guaranteed.
In some embodiments, the disc gripping device further comprises a disc gripping seat, the clamping jaw driving device comprises a disc gripping motor, a disc gripping driving gear and a disc gripping gear, the disc gripping motor is mounted on the disc gripping seat, an output shaft of the disc gripping motor is connected to the disc gripping driving gear, the disc gripping driving gear is meshed with the disc gripping gear, the clamping jaw pull rod shaft is in threaded connection with the disc gripping gear, and the disc gripping gear is rotatably mounted on the disc gripping seat. Therefore, the disc grabbing motor drives the disc grabbing driving gear to rotate, the disc grabbing gear is in meshing transmission with the disc grabbing driving gear, the clamping jaw pull rod shaft moves forwards or backwards relative to the disc grabbing gear, when the clamping jaw pull rod shaft moves forwards, the two clamping jaw plates are opened, and when the clamping jaw pull rod shaft moves backwards, the two clamping jaw plates are closed.
In some embodiments, a bearing is arranged between the gripping disk seat and the gripping disk gear, a bearing cover plate is arranged at the bottom of the bearing, gripping disk gear covers are arranged outside the gripping disk driving gear and the gripping disk gear, and the clamping jaw fixing sleeve is arranged on the gripping disk gear cover. Therefore, the bearing is arranged between the disc grabbing seat and the disc grabbing gear, stable rotation of the disc grabbing gear is facilitated, the clamping jaw fixing sleeve and the clamping jaw fixing shaft part are compactly installed, and related transmission parts are all covered and protected, so that the service life of equipment is prolonged.
In some embodiments, the disc gripping device further comprises a gripping disc seat, the clamping jaw driving device comprises an air cylinder, the air cylinder is mounted on the gripping disc seat, and the clamping jaw pull rod shaft is connected with a piston rod of the air cylinder. Therefore, when the air cylinder is used as the clamping jaw driving device, the piston rod of the air cylinder controls the clamping jaw pull rod shaft to move forwards or backwards, when the clamping jaw pull rod shaft moves forwards, the two clamping jaw plates are opened, and when the clamping jaw pull rod shaft moves backwards, the two clamping jaw plates are closed.
In some embodiments, the bottom of the gripping disk seat is connected with a fixture connecting disk, and the fixture connecting disk is provided with a manipulator positioning ring. Therefore, the manipulator positioning ring is used for being connected with a manipulator, the disc gripping device is turned over after gripping the disc, and the lower part of the fixture connecting disc can be used for being connected with other equipment, such as equipment for transferring the disc.
Compared with the prior art, the beneficial effects of the utility model are that: the utility model is scientific and reasonable, moreover, the steam generator is simple in structure, through gear drive combination screw thread mutual rotation's mode, or the mode of cylinder control, realize clamping jaw pull rod axle and do forward or backward movement, thereby control clamping jaw board is closed or open, the realization is to snatching or loosening of the dish utensil that does not upright, the dish utensil snatchs the back, through the manipulator with the whole upset of dish utensil grabbing device, make the dish utensil upright place, this dish utensil grabbing device makes the dish utensil upright, the accurate dish utensil that snatchs of manipulator of one process down of being convenient for, be favorable to realizing the full automation operation that the dish utensil switches, and the work efficiency is improved, and the fast-speed production demand is satisfied.
Drawings
Fig. 1 is a schematic perspective view of an embodiment of a disc gripping device according to the present invention;
FIG. 2 is a schematic perspective view of FIG. 1 from another perspective;
FIG. 3 is a front view of FIG. 1;
FIG. 4 is a side view of FIG. 3;
FIG. 5 is a cross-sectional view A-A of FIG. 4;
fig. 6 is a schematic view of the disc gripping device applied to an associated disc moving apparatus;
FIG. 7 is a schematic structural view of the disk grabber for grabbing the disk;
fig. 8 is a schematic view of another embodiment of the disc gripping device of the present invention.
Detailed Description
The present invention will be further described with reference to the following embodiments.
Example 1
As shown in fig. 1, 2 and 5, an embodiment of the gripping device for a disc set includes a clamping jaw plate 1, a clamping jaw pull rod shaft 2 and a clamping jaw fixing sleeve 3, wherein the clamping jaw pull rod shaft 2 is sleeved with the clamping jaw fixing sleeve 3, and the clamping jaw plate 1 is provided with two clamping jaw plates, which are arranged in pairs. The two clamping jaw plates 1 are connected with a clamping jaw pull rod shaft 2 through a clamping jaw connecting plate 11. Specifically, the paired clamping jaw plates 1 are arranged in a crossed manner and movably hinged to the upper end of the clamping jaw fixing sleeve 3 through clamping jaw fixing shafts 12, one end of a clamping jaw connecting plate 11 is hinged to the clamping jaw plates 1, and the other end of the clamping jaw connecting plate 11 is hinged to the clamping jaw pull rod shaft 2. Limiting grooves 31 are formed in the two sides of the outer wall of the clamping jaw fixing sleeve 3. The tail end of the clamping jaw pull rod shaft 2 is connected with a clamping jaw driving device 4, and the clamping jaw driving device 4 drives the clamping jaw pull rod shaft 2 to stretch out and draw back so as to open or close the clamping jaw plates 1 which are arranged in pairs.
When the empty disc is required to be grabbed, the disc grabbing device is located above the empty disc, then the disc grabbing device integrally descends, the jaw clamping plates 1 which are arranged in pairs are located on two sides of the toppled or inclined disc, the clamping jaw driving device 4 acts on the clamping jaw pull rod shaft 2 to enable the clamping jaw pull rod shaft 2 to retract inwards relative to the clamping jaw fixing sleeve 3, the clamping jaw pull rod shaft 2 pulls back one end of the clamping jaw connecting plate 11, the two jaw clamping plates 1 close the grabbing disc inwards, the disc is horizontal, and after the disc grabbing is finished, the disc grabbing device integrally overturns 90 degrees to enable the disc to be placed vertically. When the disc needs to be loosened, the clamping jaw driving device 4 acts on the clamping jaw pull rod shaft 2 to enable the clamping jaw pull rod shaft 2 to extend out relative to the clamping jaw fixing sleeve 3, the clamping jaw pull rod shaft 2 pushes one end of the clamping jaw connecting plate 11 forward, and the two clamping jaw plates 1 open outwards to loosen the disc. The clamping jaw plate 1 is movably hinged to the clamping jaw fixing sleeve 3 through the clamping jaw fixing shaft 12, the position of the clamping jaw plate 1 is unchanged in the opening or closing process of the clamping jaw plate 1, the hinged end of the clamping jaw plate 1 and the hinged end of the clamping jaw connecting plate 11 are limited in the limiting groove 31, and stable opening or closing of the clamping jaw plate 1 can be guaranteed. After the disc tool is vertically placed, the mechanical arm in the later period can conveniently grab the disc tool, full-automatic operation is facilitated, and the working efficiency is greatly improved.
As shown in fig. 3 to 5, the disk gripper further includes a gripper seat 5. In the present embodiment, the gripper driving device 4 includes a disk gripping motor 41, a disk gripping driving gear 42, and a disk gripping gear 43. The disc grabbing motor 41 is fixedly arranged on the disc grabbing seat 5, an output shaft of the disc grabbing motor 41 penetrates through the top of the disc grabbing seat 5 and is connected with the disc grabbing driving gear 42, the disc grabbing driving gear 42 is meshed with the disc grabbing gear 43, and the clamping jaw pull rod shaft 2 is connected with the center of the disc grabbing gear 43 through threads. The grabbing disc gear 43 is rotatably mounted on the grabbing disc seat 5, bearings 44 are mounted at the upper end and the lower end between the grabbing disc seat 5 and the grabbing disc gear 43, a gasket 442 is mounted between the two bearings 44, and a bearing cover plate 441 is arranged at the bottom of the lower bearing 44. A disc grabbing gear cover 45 is arranged outside the disc grabbing driving gear 42 and the disc grabbing gear 43, and the clamping jaw fixing sleeve 3 is fixedly arranged on the disc grabbing gear cover 45 through screws. The disc grabbing motor 41 drives the disc grabbing driving gear 42 to rotate, the disc grabbing gear 43 is in meshing transmission with the disc grabbing driving gear 42, the clamping jaw pull rod shaft 2 moves forwards or backwards relative to the disc grabbing gear 43, when the clamping jaw pull rod shaft 2 moves forwards, the two clamping jaw plates 1 are opened, and when the clamping jaw pull rod shaft 2 moves backwards, the two clamping jaw plates 1 are closed.
And a bearing 44 is arranged between the gripping disk seat 5 and the gripping disk gear 43, so that the gripping disk gear 43 can rotate smoothly. The clamping jaw fixing sleeve 3 and the clamping jaw fixing shaft 12 are compactly installed, and related transmission parts are covered and protected, so that the service life of the equipment is prolonged.
As shown in fig. 1, a jig connection plate 6 is connected to the bottom of the gripping disk seat 5, and a robot positioning ring 61 is provided on one side of the jig connection plate 6. As shown in fig. 6 and 7, the manipulator positioning ring 61 is used for externally connecting a manipulator, so that the disk gripping device can be turned over after gripping the disk, and the lower part of the fixture connecting disk 6 can be used for connecting other equipment, such as equipment for transferring the disk.
Example 2
As shown in fig. 8, the main difference between the present embodiment 2 and the embodiment 1 is that the jaw driving device 4 for driving the jaw lever shaft 2 is different.
In this embodiment, the clamping jaw driving device 4 adopts the air cylinder 40, the cylinder body of the air cylinder 40 is fixedly installed on the plate grabbing seat 5, and the piston rod 401 of the air cylinder 40 penetrates through the plate grabbing seat 5 and is connected with the clamping jaw pull rod shaft 2. When the air cylinder 40 is used as the clamping jaw driving device 4, the clamping jaw pull rod shaft 2 is controlled to move forwards or backwards through the piston rod 401 of the air cylinder 40. When the gripper pull rod shaft 2 moves forwards, the two gripper plates 1 are opened. When the clamping jaw pull rod shaft 2 moves backwards, the two clamping jaw plates 1 are closed.
The utility model discloses scientific and reasonable, simple structure. The clamping jaw driving device 4 can adopt different structures, and the clamping jaw pull rod shaft 2 can move forwards or backwards in a gear transmission and thread mutual rotation mode or a cylinder control mode, so that the clamping jaw plate 1 is controlled to be closed or opened, and the non-upright disc can be grabbed or loosened. After the disc is grabbed, the disc grabbing device is integrally turned over through the manipulator, so that the disc is vertically placed. This dish utensil grabbing device makes the dish utensil upright, and the manipulator of the next process of being convenient for accurately snatchs the dish utensil is favorable to realizing the full automatization operation that the dish utensil switches, has improved work efficiency, satisfies fast-speed production demand.
The foregoing is only a few embodiments of the present invention, and it should be noted that, for those skilled in the art, other modifications and improvements can be made without departing from the inventive concept of the present invention, and all of them belong to the protection scope of the present invention.
Claims (6)
1. Disc gripping device, its characterized in that, including the fixed cover (3) of clamping jaw board (1), clamping jaw pull rod axle (2) and clamping jaw, the clamping jaw pull rod axle (2) is located outward to the fixed cover (3) cover of clamping jaw, clamping jaw board (1) sets up in pairs, and connects clamping jaw pull rod axle (2) through clamping jaw connecting plate (11), clamping jaw pull rod axle (2) are connected with clamping jaw drive arrangement (4), clamping jaw drive arrangement (4) drive clamping jaw pull rod axle (2) stretch out and draw back, open or closed in order to realize clamping jaw board (1) that sets up in pairs.
2. The disc gripping device according to claim 1, wherein the jaw plates (1) arranged in pairs are movably hinged to the jaw fixing sleeve (3) through a jaw fixing shaft (12), one end of the jaw connecting plate (11) is hinged to the jaw plate (1), the other end of the jaw connecting plate (11) is hinged to the jaw pull rod shaft (2), and the outer wall of the jaw fixing sleeve (3) is provided with a limiting groove (31).
3. The disc gripper gripping device according to claim 2, further comprising a disc gripping seat (5), wherein the gripper driving device (4) comprises a disc gripping motor (41), a disc gripping driving gear (42) and a disc gripping gear (43), the disc gripping motor (41) is mounted on the disc gripping seat (5), an output shaft of the disc gripping motor (41) is connected to the disc gripping driving gear (42), the disc gripping driving gear (42) is meshed with the disc gripping gear (43), the gripper pulling rod shaft (2) is connected with the disc gripping gear (43) through threads, and the disc gripping gear (43) is rotatably mounted on the disc gripping seat (5).
4. The disc gripper gripping device according to claim 3, wherein a bearing (44) is arranged between the disc gripper seat (5) and the disc gripper gear (43), a bearing cover plate (441) is arranged at the bottom of the bearing (44), a disc gripper gear cover (45) is arranged outside the disc gripper driving gear (42) and the disc gripper gear (43), and the clamping jaw fixing sleeve (3) is installed on the disc gripper gear cover (45).
5. The disc gripping device according to claim 2, further comprising a gripping disc seat (5), wherein the clamping jaw driving device (4) comprises a cylinder, the cylinder is mounted on the gripping disc seat (5), and the clamping jaw pull rod shaft (2) is connected with a piston rod of the cylinder.
6. A disc gripper device according to claim 4 or 5, characterized in that a gripper connection disc (6) is connected to the bottom of the gripper seat (5), said gripper connection disc (6) being provided with a manipulator positioning ring (61).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022811745.XU CN213801880U (en) | 2020-11-27 | 2020-11-27 | Dish utensil grabbing device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022811745.XU CN213801880U (en) | 2020-11-27 | 2020-11-27 | Dish utensil grabbing device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN213801880U true CN213801880U (en) | 2021-07-27 |
Family
ID=76940920
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202022811745.XU Active CN213801880U (en) | 2020-11-27 | 2020-11-27 | Dish utensil grabbing device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN213801880U (en) |
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2020
- 2020-11-27 CN CN202022811745.XU patent/CN213801880U/en active Active
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
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| CP01 | Change in the name or title of a patent holder |
Address after: 582 Xitai Road, Xinwu District, Wuxi City, Jiangsu Province Patentee after: Wuxi Juyi Tongchuang Technology Co.,Ltd. Address before: 582 Xitai Road, Xinwu District, Wuxi City, Jiangsu Province Patentee before: WUXI JUYI TONGCHUANG TECHNOLOGY Co.,Ltd. |