CN213918321U

CN213918321U - Adjustable simple and easy machine tongs of grabbing

Info

Publication number: CN213918321U
Application number: CN202022886965.9U
Authority: CN
Inventors: 纵书棋; 王鑫
Original assignee: Anhui University of Science and Technology
Current assignee: Anhui University of Science and Technology
Priority date: 2020-12-05
Filing date: 2020-12-05
Publication date: 2021-08-10
Anticipated expiration: 2030-12-05

Abstract

The utility model discloses an adjustable simple and easy machine tongs of using of snatching, include the bed frame, snatch mechanism and power unit, snatch the front side that the mechanism set up at the bed frame top, power unit sets up the rear side at the bed frame top, it includes solid fixed splint, movable clamp plate and pneumatic push rod to snatch the mechanism, gu fixed splint's rear side fixedly connected with L type fixed plate, the front side of L type fixed plate is fixed with pneumatic push rod, pneumatic push rod's output and the rear side fixed connection of first slider. The utility model discloses a lead screw and the cooperation of snatching the mechanism have realized removing about the tongs, through setting up pneumatic putter, have realized the back-and-forth movement of activity splint, through be provided with the second guide rail on solid fixed splint, have increased the flexibility and the stability that activity splint removed, through set up the antislip strip on activity splint, make the express delivery be difficult to slide to the realization can be according to parcel size regulation tongs and can be accurate snatch the express delivery.

Description

Adjustable simple and easy machine tongs of grabbing

Technical Field

The utility model relates to a snatch and use machine tongs field, concretely relates to adjustable simple and easy snatch and use machine tongs field.

Background

In recent years, with the heat of online shopping, the workload of the express delivery industry is also dramatically increased. The express delivery person not only consumes manpower, materials and financial resources at the bare-handed transport express delivery of during operation, the potential safety hazard still appears easily, and speed also can not be guaranteed, consequently, the robot tongs is got in the middle of by wide application express delivery snatchs, and simultaneously in recommending intellectuality, automatic factory, factory building and warehouse construction, the machine tongs is also replacing manpower transport gradually, therefore the machine tongs has possessed good market and practical prospect.

Along with the research of development of automation and artificial intelligence on express grippers, the research is gradually appeared in teaching and production research of researchers, students and enterprises, the existing robot arm is mostly used in high-precision production workshops, the requirement is high during production, the cost is high, the precision requirement is high, the robot arm has poor using effect on large and medium objects, the robot arm cannot move at any time and can only do repeated movement at a fixed position, a conveyor belt, a forklift and a worker are adopted to grab and carry in a mixed mode in most workshops and warehouses, the phenomenon of low automation and working efficiency is caused to commonly exist, and therefore the problem is solved by the simple grabbing robot gripper which is simple and convenient in structure, low in production cost, applicable to large and large production lines, warehouses or express delivery stations and not prone to damage.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide an adjustable simple and easy robot tongs of taking of grabbing possesses simple structure, and manufacturing cost is lower, the assembly is simple and convenient, the flexible operation is convenient, application scope is wide, it is firm to snatch, snatch the advantage that the volume can be adjusted etc, solved current robot tongs production accuracy height, with high costs, the structure is complicated with the assembly, be difficult to realize the popularization of full scope, snatch the effect good inadequately to great object to and fork truck and manual fit down the lower problem of work efficiency.

In order to achieve the above object, the utility model provides a following technical scheme: the clamping device comprises a base frame, a grabbing mechanism and a power mechanism, wherein the grabbing mechanism is arranged on the front side of the top of the base frame, the power mechanism is arranged on the rear side of the top of the base frame, and a flange plate is fixedly connected to the bottom of the base frame;

the power mechanism comprises a motor and a speed reducer, the motor is fixedly connected to the middle of the rear side of the base frame, the output end of the motor is connected with the input end of the speed reducer, the output end of the speed reducer is movably connected with a lead screw, and two ends of the lead screw are respectively movably connected to the left side and the right side of the base frame through bearing seats;

the fixed clamping plates are provided with two groups, first guide rails are arranged on the opposite sides of the fixed clamping plates, first sliding blocks are movably assembled on the surfaces of the first guide rails, the movable clamping plates are fixedly connected to the opposite sides of the first sliding blocks, an L-shaped fixed plate is fixedly connected to the rear sides of the fixed clamping plates, ball nuts are fixedly connected to the rear sides of the L-shaped fixed plate through bolts and movably engaged with the surfaces of lead screws, a pneumatic push rod is fixed to the front side of the L-shaped fixed plate, and the output end of the pneumatic push rod is fixedly connected with the rear side of the first sliding block;

the top fixedly connected with second guide rail of bed frame, the surperficial activity card of second guide rail is equipped with the second slider, the bottom fixed connection of second slider top and L type fixed plate, the fixed antislip strip that is provided with in the relative one side of activity splint, the tooth is grabbed to the bottom fixedly connected with of activity splint.

Preferably, bed frame, L type fixed plate, movable clamp plate, grabbing tooth, solid fixed splint, first guide rail, second guide rail, first slider and second slider all adopt the aluminum alloy ex-trusions of light, the antislip strip adopts anti-skidding rubber, the bed frame is connected with external equipment through the ring flange, pneumatic push rod is provided with four groups and symmetrical installation, L type fixed plate, movable clamp plate, grabbing tooth, solid fixed splint, first slider, first guide rail and second slider, second guide rail all are provided with two sets ofly, and the symmetrical installation, ball nut is provided with two sets ofly, and the ball nut of the left and right sides adopts relative reverse installation, the front side of reduction gear passes through strengthening rib and bed frame top fixed connection.

Compared with the prior art, the beneficial effects of the utility model are as follows:

1. the utility model discloses a cooperation of lead screw and ball nut, realized turning into rotary motion and remove the removal, through the lead screw with snatch the cooperation of mechanism, the removal of express delivery tongs has been realized, the size of express delivery can be snatched in the adjustment simultaneously, cooperation through motor and reduction gear, the controllability to tongs moving speed has been realized, cooperation through second guide rail and second slider, the trajectory control who removes about the grabbing device has been realized, the stability of snatching the mechanism has been increased simultaneously, through be provided with the ring flange on grabbing device, the mobility of the device has been realized, can install on any one robotic arm, and is flexible and convenient.

2. The utility model discloses a set up pneumatic push rod, realized movable splint's back-and-forth movement, the size that makes the express delivery press from both sides get can be adjusted, through be provided with first guide rail on solid fixed splint, has increased the flexibility and the stability that movable splint removed, through set up the antislip strip on movable splint, has increased the friction between express delivery tongs and the parcel, makes the express delivery be difficult to slide, through set up the grapple on movable splint, has increased and has got the stability when pressing from both sides the express delivery.

Drawings

FIG. 1 is a first schematic structural diagram of the present invention;

fig. 2 is a schematic structural diagram of the present invention.

In the figure: the automatic grabbing device comprises a base frame 1, a grabbing mechanism 2, a power mechanism 3, a flange plate 4, a motor 5, a speed reducer 6, a lead screw 7, a bearing seat 8, a fixed clamping plate 9, a movable clamping plate 10, a pneumatic push rod 11, a 12L-shaped fixed plate, a ball nut 13, a first sliding block 14, a first guide rail 15, a second sliding block 16, a second guide rail 17, an anti-slip strip 18 and grabbing teeth 19.

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 embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

In addition, the descriptions related to "first", "second", etc. in the present invention are only for description purposes, not specifically referring to the order or sequence, and are not intended to limit the present invention, but only to distinguish the components or operations described in the same technical terms, and are not to be construed as indicating or implying any relative importance or implicit indication of the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions in the embodiments may be combined with each other, but it must be based on the realization of those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should not be considered to exist, and is not within the protection scope of the present invention.

Referring to fig. 1-2, an adjustable simple grabbing machine gripper comprises a base frame 1, a grabbing mechanism 2 and a power mechanism 3, wherein the grabbing mechanism 2 is arranged on the front side of the top of the base frame 1, the power mechanism 3 is arranged on the rear side of the top of the base frame 1, and a flange plate 4 is fixedly connected to the bottom of the base frame 1, so that the device is movable, can be mounted on any mechanical arm, and is flexible and convenient;

the power mechanism 3 comprises a motor 5 and a speed reducer 6, so that the controllability of the moving speed of the gripper is realized, the motor 5 is fixedly connected to the middle of the rear side of the base frame 1, the output end of the motor 5 is connected with the input end of the speed reducer 6, the output end of the speed reducer 6 is movably connected with a lead screw 7, so that the rotary motion is converted into the left and right movement of the gripper, meanwhile, the size of the gripped express is adjusted, and two ends of the lead screw 7 are respectively and movably connected to the left side and the right side of the base frame 1 through a bearing seat 8;

the solid fixed splint 9 is provided with two sets ofly, the one side that the solid fixed splint 9 is relative all is provided with first guide rail 15, the flexibility and the stability that the solid movable splint 10 removed have been increased, the surface activity of first guide rail 15 is equipped with first slider 14, solid movable splint 10 fixed connection is in the relative one side of first slider 14, the rear side fixedly connected with L type fixed plate 12 of solid fixed splint 9, bolt fixedly connected with ball nut 13 is passed through to the rear side of L type fixed plate 12, ball nut 13 activity meshes in the surface of lead screw 7, the front side of L type fixed plate 12 is fixed with pneumatic putter 11, the back-and-forth movement of solid movable splint 10 has been realized, the size that the express delivery was got can be adjusted, pneumatic putter 11's output and first slider 14 rear side fixed connection.

The top fixedly connected with second guide rail 17 of bed frame 1 has realized the trajectory control that grabbing device removed about, has increased the stability of grabbing the mechanism simultaneously, and the surface activity card of second guide rail 17 is equipped with second slider 16, the bottom fixed connection of second slider 16 top and L type fixed plate 12. The fixed antislip strip 18 that is provided with in one side that movable clamp plate 10 is relative has increased the friction between express delivery tongs and the parcel, makes the express delivery be difficult to slide, and tooth 19 is grabbed to the bottom fixedly connected with of movable clamp plate 10, has increased and has got the stability when pressing from both sides the express delivery.

The base frame 1, L type fixed plate 12, the activity splint 10, grab tooth 19, the solid fixed splint 9, first guide rail 15, the second guide rail 17, first slider 14 and second slider 16 all adopt light aluminum alloy ex-trusions, antislip strip 18 adopts skid-resistant rubber, base frame 1 is connected with external equipment through ring flange 4, pneumatic push rod 11 is provided with four groups and the symmetry installation, L type fixed plate 12, the activity splint 10, grab tooth 19, the solid fixed splint 9, first slider 14, first guide rail 15 and second slider 16, second guide rail 17 all is provided with two sets ofly, and the symmetry installation, ball nut 13 is provided with two sets ofly, and the ball nut 13 of the left and right sides adopts relative reverse installation, the front side of reduction gear 6 passes through strengthening rib and base frame 1 top fixed connection.

When the robot gripper is used, the robot gripper is fixedly arranged on an external mechanical arm through a flange plate 4, when an object needs to be gripped, the mechanical arm moves the robot gripper to the position above the object to be gripped, then the motor 5 which is electrified rotates, the motor 5 drives the speed reducer 6 to move, the speed reducer 6 drives the screw rod 7 to rotate at a constant speed, the ball nuts 13 which are oppositely arranged on the left side and the right side of the surface of the screw rod 7 start to move reversely, so that the gripping mechanisms 2 on the left side and the right side are driven to move oppositely, the robot gripper is opened, after the size of the opened robot gripper is matched with the size of the object to be gripped, the motor 5 is locked in a power-off state, then the pneumatic push rod 11 works, the first slide block 14 is driven to move along the first guide rail 15, the movable clamp plate 10 is enabled to approach the object to be gripped, after the, the motor 5 has got the electricity reversal afterwards, lead screw 7 drives the ball nut 13 relative motion of both sides, it treats the clamp tightly of snatching the object to realize movable splint 10, it can be effectual will treat that snatch the object and fix promptly to grab tooth 19 this moment, and the stability effect that the tongs snatched has further been increased on antislip strip 18 high friction coefficient's surface, after robot arm drives the tongs and moves the place that the object need be placed, the above step of contra-operation again, realize the place of snatching the object, whole process of snatching is quick simple and convenient, it is firm to snatch, robot tongs simple structure, the assembly is simple and convenient, can snatch many volumes size and the object of multiple volume size, the intelligent transport of mill, warehouse and logistics distribution center has been realized with lower cost.

In summary, the following steps: this adjustable simple and easy robot tongs of grabbing usefulness passes through bed frame 1, snatch mechanism 2, power unit 3, ring flange 4, motor 5, reduction gear 6, lead screw 7, bearing frame 8, fixed splint 9, movable splint 10, pneumatic push rod 11, L type fixed plate 12, ball nut 13, first slider 14, first guide rail 15, second slider 16, second guide rail 17, antislip strip 18, grab tooth 19's cooperation, it is high to have solved current robot tongs production precision, and is with high costs, the structure is complicated with the assembly, be difficult to realize the popularization of full scope, it is not good enough to snatch the effect to great object, and the lower problem of work efficiency under fork truck and the manual cooperation.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. The utility model provides a machine tongs is used to simple and easy grabbing with adjustable, includes bed frame (1), snatchs mechanism (2) and power unit (3), its characterized in that: the grabbing mechanism (2) is arranged on the front side of the top of the base frame (1), the power mechanism (3) is arranged on the rear side of the top of the base frame (1), and a flange plate (4) is fixedly connected to the bottom of the base frame (1);

the power mechanism (3) comprises a motor (5) and a speed reducer (6), the motor (5) is fixedly connected to the middle of the rear side of the base frame (1), the output end of the motor (5) is connected with the input end of the speed reducer (6), the output end of the speed reducer (6) is movably connected with a lead screw (7), and two ends of the lead screw (7) are respectively and movably connected to the left side and the right side of the base frame (1) through a bearing seat (8);

the two groups of fixed clamping plates (9) are arranged, first guide rails (15) are arranged on one opposite sides of the fixed clamping plates (9), first sliding blocks (14) are movably assembled on the surfaces of the first guide rails (15), the movable clamping plates (10) are fixedly connected to one opposite sides of the first sliding blocks (14), an L-shaped fixing plate (12) is fixedly connected to the rear side of the fixed clamping plates (9), ball nuts (13) are fixedly connected to the rear side of the L-shaped fixing plate (12) through bolts, the ball nuts (13) are movably meshed with the surfaces of the lead screws (7), pneumatic push rods (11) are fixed to the front side of the L-shaped fixing plate (12), and the output ends of the pneumatic push rods (11) are fixedly connected with the rear sides of the first sliding blocks (14);

the top fixedly connected with second guide rail (17) of bed frame (1), the surface activity card of second guide rail (17) is equipped with second slider (16), the bottom fixed connection of second slider (16) top and L type fixed plate (12), the fixed antislip strip (18) that is provided with in the relative one side of activity splint (10), the bottom fixedly connected with of activity splint (10) grabs tooth (19).

2. The adjustable simple grabbing machine gripper according to claim 1, wherein: the base frame (1), the L-shaped fixed plate (12), the movable clamping plate (10), the grabbing teeth (19), the fixed clamping plate (9), the first guide rail (15), the second guide rail (17), the first sliding block (14) and the second sliding block (16) are all made of light aluminum alloy sections, the anti-skid strips (18) are made of anti-skid rubber, the base frame (1) is connected with external equipment through a flange plate (4), the pneumatic push rods (11) are symmetrically arranged in four groups, the L-shaped fixing plate (12), the movable clamping plate (10), the grabbing teeth (19), the fixed clamping plate (9), the first sliding block (14), the first guide rail (15), the second sliding block (16) and the second guide rail (17) are respectively provided with two groups, and are symmetrically installed, two groups of ball nuts (13) are arranged, the ball nuts (13) on the left side and the right side are oppositely installed, the front side of the speed reducer (6) is fixedly connected with the top of the base frame (1) through a reinforcing rib.