CN214358934U - Opening and closing mechanism and material grabbing manipulator - Google Patents
Opening and closing mechanism and material grabbing manipulator Download PDFInfo
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- CN214358934U CN214358934U CN202120193148.7U CN202120193148U CN214358934U CN 214358934 U CN214358934 U CN 214358934U CN 202120193148 U CN202120193148 U CN 202120193148U CN 214358934 U CN214358934 U CN 214358934U
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Abstract
The utility model relates to a material is grabbed and is put equipment technical field, a mechanism and material that opens and shuts are snatched manipulator is disclosed, at least including the driving piece that opens and shuts, first drive belt, the second drive belt and the first removal connecting piece of arranging in proper order, fixed connector, second removal connecting piece and third removal connecting piece, the driving piece that opens and shuts can the simultaneous control first drive belt and the transmission of second drive belt, fixed connector keeps motionless, first drive belt control first removal connecting piece and the removal connecting piece of two are removed the connecting piece and are removed towards opposite direction, second drive belt control third removal connecting piece removes with the second removal connecting piece equidirectional, the removal distance that the third removed the connecting piece is greater than the removal distance that the second removed the connecting piece, realize the mechanism of a driving source and adjust the interval between four connecting pieces simultaneously. When the opening and closing mechanism is applied to the material grabbing mechanical arm, the space between the four grabbing mechanisms can be adjusted simultaneously, so that the material grabbing mechanism is suitable for material trays of different specifications, and the operation is simple.
Description
Technical Field
The utility model relates to a material is grabbed and is put equipment technical field, especially relates to an opening and shutting mechanism and material snatch manipulator.
Background
At present, the material grabbing and placing process is very common in the production and movement of various small regular materials such as IC chips, tablets, hardware and the like; in the production and processing process of various small regular materials, the small regular materials are required to be accurately grabbed from one position to another position, for example, a semiconductor chip is required to be grabbed from a matrix type material disc with one specification and accurately placed into a matrix type material disc with another specification; in the process of producing and packaging tablets, for example, the tablets are often required to be grabbed from a material disc of one specification and placed into a material disc groove of another specification for packaging; the same applies to the production and packaging of small hardware. Therefore, in the production and processing process of various small regular materials, a large amount of grabbing and releasing and carrying work is needed, and the grabbing and releasing and carrying work is realized manually in the past, and various grabbing and releasing devices are widely adopted to realize the grabbing and releasing work.
Because various materials have big small dimension, consequently need compatible different specification's charging tray during the use, when grabbing to put the device and apply to the charging tray of different intervals, then need adjust the interval of suction nozzle part horizontal direction, promptly grab the manipulator and need open and shut in the X direction promptly. The common grabbing manipulator adopts a plurality of groups of guide rail opening and closing mechanisms or guide wheel opening and closing mechanisms to complete the change of the distance in the X direction, but the mode has the defects of more used parts, complex structure, high assembly difficulty, high manufacturing cost, difficult maintenance and the like.
SUMMERY OF THE UTILITY MODEL
The to-be-solved technical problem of the utility model is: the utility model provides a mechanism and material snatch manipulator open and shut that can four connecting pieces intervals of simultaneous adjustment.
In order to solve the technical problem, the utility model provides an opening and closing mechanism, which comprises an opening and closing driving piece, a first driving wheel, a second driving wheel, a first driving belt, a second driving belt, a first driven wheel, a second driven wheel, a fixed connecting piece, a first movable connecting piece, a second movable connecting piece and a third movable connecting piece, wherein the first driving wheel and the second driving wheel are both connected with the power output end of the opening and closing driving piece, the outer diameter of the first driving wheel is smaller than that of the second driving wheel, the first driving belt is in transmission connection between the first driving wheel and the first driven wheel, the second driving belt is in transmission connection between the second driving wheel and the second driven wheel, the first movable connecting piece, the fixed connecting piece, the second movable connecting piece and the third movable connecting piece are arranged in sequence, the first movable connecting piece is connected with the lower transmission section of the first transmission belt, the second movable connecting piece is connected with the upper transmission section of the first transmission belt, and the third movable connecting piece is connected with the upper transmission section of the second transmission belt.
Preferably, the ratio of the outer diameter of the first drive wheel to the outer diameter of the second drive wheel is 1: 2.
Preferably, the ratio of the distance between the first movable connecting piece and the fixed connecting piece, the distance between the second movable connecting piece and the fixed connecting piece and the distance between the third movable connecting piece and the fixed connecting piece is 1:1:2, so that the first movable connecting piece, the second movable connecting piece and the third movable connecting piece perform opening and closing movements at the same distance.
Preferably, the first driven wheel has an outer diameter equal to an outer diameter of the first driving wheel, the second driven wheel has an outer diameter equal to an outer diameter of the second driving wheel, and the first driven wheel and the second driven wheel are disposed in a staggered manner.
Preferably, the device further comprises a pressing block, the first movable connecting piece and the second movable connecting piece are respectively connected with the first transmission belt through the pressing block, and the third movable connecting piece is connected with the second transmission belt through the pressing block.
Preferably, the electric vehicle further comprises a bottom plate, the first driving wheel, the second driving wheel, the first driven wheel and the second driven wheel are all mounted on the bottom plate, and the fixed connecting piece is arranged on the bottom plate.
As a preferred scheme, the device further comprises a slide rail and a slide block connected with the slide rail in a sliding manner, the slide rail is arranged on the bottom plate, and the slide block is arranged on each of the first movable connecting piece, the second movable connecting piece and the third movable connecting piece.
Based on same purpose, the utility model also provides a material snatchs manipulator, including snatching the mechanism and like foretell mechanism that opens and shuts, fixed connection spare first remove the connecting piece the second remove the connecting piece with the third removes the connecting piece and all is equipped with snatch the mechanism.
Preferably, the grabbing mechanism comprises two symmetrically arranged suction nozzle assemblies, and the suction nozzle assemblies are positioned on the left side and the right side of the opening and closing mechanism.
As a preferred scheme, the suction nozzle assembly comprises a fixed seat, a lifting driving piece, a mounting plate, a lifting driving wheel, a lifting driven wheel, a lifting transmission belt, a lifting block, a guide rod, a shaft sleeve and a suction nozzle head, wherein the mounting plate is fixed on the fixed seat, the lifting driving piece is arranged on the mounting plate, the lifting driving wheel is connected with a power output end of the lifting driving piece, the lifting driven wheel is arranged on the fixed seat, the lifting transmission belt is in transmission connection with the lifting driving wheel and the lifting driven wheel, one end of the guide rod is connected with the lifting transmission belt through the lifting block, the other end of the guide rod is connected with the suction nozzle head, and the middle part of the guide rod is penetrated in the shaft sleeve.
The utility model provides a mechanism and material snatch manipulator open and shut compares with prior art, its beneficial effect lies in:
the utility model discloses in the driving piece that opens and shuts can simultaneous control first drive belt with the second drive belt carries out the transmission, fixed connection spare keeps motionless, first removal connecting piece with the second removes the connecting piece and removes toward opposite direction, the third remove the connecting piece with the second removes the connecting piece and removes toward the equidirectional. When the opening and closing driving piece rotates forwards, the first movable connecting piece, the second movable connecting piece and the third movable connecting piece are driven to approach towards the direction of the fixed connecting piece, the distance between the first movable connecting piece and the fixed connecting piece and the distance between the second movable connecting piece and the fixed connecting piece are reduced, and because the outer diameter of the first driving wheel is smaller than the outer diameter of the second driving wheel, the moving distance of the third movable connecting piece is larger than that of the second movable connecting piece, the distance between the third movable connecting piece and the second movable connecting piece can be reduced. When the opening and closing driving piece rotates reversely, the distance between the first movable connecting piece and the fixed connecting piece, the distance between the second movable connecting piece and the fixed connecting piece, and the distance between the third movable connecting piece and the second movable connecting piece are enlarged. The mechanism for realizing one driving source can simultaneously adjust the space between the four connecting pieces, and the whole structure adopts few parts and is simple in structure, and the manufacturing cost can be greatly reduced.
Furthermore, when the opening and closing mechanism is applied to the material grabbing mechanical arm, the distance between the four grabbing mechanisms can be adjusted simultaneously, so that the material grabbing mechanical arm is suitable for material trays of different specifications, and the material grabbing mechanical arm is simple and compact in structure and easy to operate.
Drawings
Fig. 1 is a schematic structural diagram of a material grabbing manipulator applying an opening and closing mechanism according to a preferred embodiment of the present invention.
Fig. 2 is a schematic side view of the opening and closing mechanism according to the preferred embodiment of the present invention.
Fig. 3 is a front view schematically illustrating the opening and closing mechanism according to the preferred embodiment of the present invention.
Fig. 4 is a schematic view of a nozzle assembly according to a preferred embodiment of the present invention.
Fig. 5 is a schematic structural view of a nozzle head according to a preferred embodiment of the present invention.
In the figure: 100. an opening and closing mechanism; 101. a switching drive member; 102. a first drive wheel; 103. a second drive wheel; 104. a first drive belt; 105. a second belt; 106. a first driven wheel; 107. a second driven wheel; 108. fixing the connecting piece; 109. a first mobile link; 110. a second mobile link; 111. a third mobile link; 112. briquetting; 113. a base plate; 114. a bearing seat; 115. a slide rail; 116. a slider;
200. a suction nozzle assembly; 201. a fixed seat; 202. a lifting drive member; 203. mounting a plate; 204. a lifting driving wheel; 205. lifting the driven wheel; 206. lifting the transmission belt; 207. a lifting block; 208. a guide bar; 209. a shaft sleeve; 210. a mouthpiece opening; 211. mounting blocks; 212. connecting blocks; 213. an elastic member; 214. a guide seat; 215. a screw; 216. a guide bar; 217. and (4) guiding a sleeve.
Detailed Description
The following detailed description of the embodiments of the present invention is provided with reference to the accompanying drawings and examples. The following examples are intended to illustrate the invention, but are not intended to limit the scope of the invention.
In the description of the present invention, it should be noted that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "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 simplification of the description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
In the description of the present invention, it should be understood that the terms "connected," "connected," and "fixed" used in the present invention should be interpreted broadly, for example, as a fixed connection, a detachable connection, or an integral body; the connection can be mechanical connection or welding connection; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.
As shown in fig. 1 to 3, the present invention provides an opening and closing mechanism, which includes an opening and closing driving member 101, a first driving wheel 102, a second driving wheel 103, a first driving belt 104, a second driving belt 105, a first driven wheel 106, a second driven wheel 107, a fixed connecting member 108, a first movable connecting member 109, a second movable connecting member 110, and a third movable connecting member 111, wherein the first driving wheel 102 and the second driving wheel 103 are both connected to a power output end of the opening and closing driving member 101, an outer diameter of the first driving wheel 102 is smaller than an outer diameter of the second driving wheel 103, the first driving belt 104 is connected between the first driving wheel 102 and the first driven wheel 106 in a transmission manner, the second driving belt 105 is connected between the second driving wheel 103 and the second driven wheel 107 in a transmission manner, and the first movable connecting member 109, the fixed connecting member 108, the second movable connecting member 111, and the second driving wheel 103 are connected between the second driving wheel 103 and the second driven wheel 107 in a transmission manner, The second movable connecting piece 110 and the third movable connecting piece 111 are sequentially arranged, the first movable connecting piece 109 is connected with the lower transmission section of the first transmission belt 104, the second movable connecting piece 110 is connected with the upper transmission section of the first transmission belt 104, and the third movable connecting piece 111 is connected with the upper transmission section of the second transmission belt 105.
Based on the above-mentioned technical features, the opening and closing driving member 101 can control the first transmission belt 104 and the second transmission belt 105 to transmit simultaneously, the fixed connecting member 108 remains stationary, the first movable connecting member 109 and the second movable connecting member 110 move in opposite directions, and the third movable connecting member 111 and the second movable connecting member 110 move in the same direction. When the opening and closing driving member 101 rotates forward, the first movable connecting member 109, the second movable connecting member 110 and the third movable connecting member 111 are driven to approach toward the fixed connecting member 108, and the distance between the first movable connecting member 109 and the fixed connecting member 108 and the distance between the second movable connecting member 110 and the fixed connecting member 108 are reduced, because the outer diameter of the first driving wheel 102 is smaller than the outer diameter of the second driving wheel 103, the moving distance of the third movable connecting member 111 is greater than the moving distance of the second movable connecting member 110, and therefore the distance between the third movable connecting member 111 and the second movable connecting member 110 can be reduced. When the opening and closing driving member 101 rotates reversely, the distance between the first movable connecting member 109 and the fixed connecting member 108, the distance between the second movable connecting member 110 and the fixed connecting member 108, and the distance between the third movable connecting member 111 and the second movable connecting member 110 are enlarged. The mechanism for realizing one driving source can simultaneously adjust the space between the four connecting pieces, and the whole structure adopts few parts and is simple in structure, and the manufacturing cost can be greatly reduced.
In this embodiment, the ratio of the outer diameter of the first driving wheel 102 to the outer diameter of the second driving wheel 103 is 1:2, that is, the ratio of the moving distance of the first moving connecting piece 109 to the moving distance of the second moving connecting piece 110 to the moving distance of the third moving connecting piece 111 is 1:1: 2. Further, the ratio of the distances between the first movable connecting piece 109, the second movable connecting piece 110, and the third movable connecting piece 111 and the fixed connecting piece 108 is 1:1:2, that is, the distances between two adjacent connecting pieces are equal, so that the first movable connecting piece 109, the second movable connecting piece 110, and the third movable connecting piece 111 perform opening and closing movements at equal intervals. Setting the initial distance between two adjacent connectors to be X, the moving distance between the first moving connector 109 and the second moving connector 110 to be a, and the moving distance between the third moving connector 111 to be 2 a. After the distance is adjusted, the distance between the first movable connecting piece 109 and the fixed connecting piece 108 is X-a, the distance between the second movable connecting piece 110 and the fixed connecting piece 108 is X-a, and the distance between the third movable connecting piece 111 and the second movable connecting piece 110 is (X-2a) + a ═ X-a, and when the ratio of the outer diameters of the first driving wheel 102 and the second driving wheel 103 and the ratio of the distances between two adjacent connecting pieces are matched with each other, the distances between two adjacent connecting pieces can be kept equal to each other, and the opening and closing movement with the same distance can be realized. The first transmission belt 104 and the second transmission belt 105 are in a parallel state, the moving distance is a small distance to move back and forth, the first transmission belt 104 and the second transmission belt 105 do not need to rotate for a whole circle, and the crossing condition among all the connecting pieces cannot occur.
In this embodiment, the axis of the first driving wheel 102 and the axis of the second driving wheel 103 are located on the same straight line, the axis of the second driving wheel 103 is connected to the power output end of the opening/closing driving member 101, and the first driving wheel 102 and the second driving wheel 103 are controlled to rotate in the same direction, so that the structure stability is good.
In this embodiment, as shown in fig. 2, the outer diameter of the first driven wheel 106 is equal to the outer diameter of the first driving wheel 102, so that the upper transmission section and the lower transmission section of the first transmission belt 104 are in a horizontal parallel state, and the outer diameter of the second driven wheel 107 is equal to the outer diameter of the second driving wheel 103, so that the upper transmission section and the lower transmission section of the second transmission belt 105 are in a horizontal parallel state, thereby ensuring the stability of the overall transmission. The first driven pulley 106 and the second driven pulley 107 are disposed in a staggered manner so as to adjust the tension of the first transmission belt 104 and the tension of the second transmission belt 105, respectively.
In this embodiment, as shown in fig. 3, the opening and closing mechanism 100 further includes a pressing block 112, the first movable connecting member 109 and the second movable connecting member 110 are respectively and fixedly connected to the first transmission belt 104 through the pressing block 112, and the third movable connecting member 111 is fixedly connected to the second transmission belt 105 through the pressing block 112, so as to improve the connection stability and ensure the opening and closing precision of the overall structure.
In this embodiment, the opening and closing mechanism 100 further includes a bottom plate 113, the first driving wheel 102 and the second driving wheel 103 are fixed on the bottom plate 113 through a mounting bracket, the first driven wheel 106 and the second driven wheel 107 are mounted on the bottom plate 113 through a bearing seat 114, and the fixed connecting piece 108 is disposed on a side of the bottom plate 113 to achieve a fixed mounting effect on each component. The base plate 113 serves as a mounting base plate 113 for the robot, and the robot is fixed to the device via the base plate 113.
In this embodiment, the opening and closing mechanism 100 further includes a slide rail 115 and a slider 116 slidably connected to the slide rail 115, the slide rail 115 is disposed on the bottom plate 113, and the first movable connecting member 109, the second movable connecting member 110 and the third movable connecting member 111 are all provided with the slider 116, so as to guide the first movable connecting member 109, the second movable connecting member 110 and the third movable connecting member 111 to move, improve the stability of the opening and closing movement, and avoid the influence of the swing on the opening and closing precision. The number of the slide rails 115 is two, and each slide rail 115 is provided with three slide blocks 116.
The same purpose, as shown in fig. 1, is to provide a material grabbing manipulator, including grabbing the mechanism and opening and closing the mechanism 100 as above, the fixed connection 108 the first movable connection 109 the second movable connection 110 and the third movable connection 111 are all equipped with the grabbing mechanism.
Based on the material grabbing manipulator with the technical characteristics, when the opening and closing mechanism 100 is applied to the material grabbing manipulator, the distance between the four groups of grabbing mechanisms can be adjusted simultaneously so as to be suitable for material trays with different specifications, and the material grabbing manipulator is simple and compact in structure and easy to operate.
In this embodiment, the grabbing mechanism comprises two symmetrically arranged suction nozzle assemblies 200, the suction nozzle assemblies 200 are located on the left side and the right side of the opening and closing mechanism 100, 8 suction nozzle assemblies 200 grab 8 materials at the same time, and the material grabbing efficiency is further improved.
In this embodiment, as shown in fig. 4, the suction nozzle assembly 200 includes a fixed base 201, a lifting driving member 202, a mounting plate 203, a lifting driving wheel 204, a lifting driven wheel 205, a lifting transmission belt 206, a lifting block 207, a guiding rod 208, a shaft sleeve 209, and a suction nozzle head, the fixed base 201 is mounted on the fixed connecting member 108 or the first moving connecting member 109 or the second moving connecting member 110 or the third moving connecting member 111, the mounting plate 203 is fixed on the fixed base 201, the lifting driving member 202 is disposed on the mounting plate 203, the lifting driving wheel 204 is connected to a power output end of the lifting driving member 202, the lifting driven wheel 205 is disposed on the fixed base 201, the lifting transmission belt 206 is in transmission connection between the lifting driving wheel 204 and the lifting driven wheel 205, one end of the guiding rod 208 is connected to the lifting transmission belt 206 through the lifting block 207, the other end of the guide rod 208 is connected with the suction nozzle head, and the middle part of the guide rod 208 is arranged in the shaft sleeve 209 in a penetrating way.
The fixing base 201 has an installation effect on the whole suction nozzle assembly 200, that is, serves as an installation basis for components on the suction nozzle assembly 200, the lifting driving member 202 can provide driving force to drive the lifting driving belt 206 to transmit between the lifting driving wheel 204 and the lifting driven wheel 205, and converts the rotating power of the motor into linear motion of the lifting block 207, so that the lifting block 207 is driven to move up and down, the suction nozzle head is driven to move up and down by the guide rod 208 to realize material grabbing, and the guide rod 208 moves up and down along the shaft sleeve 209 to play a stable guide effect on the material taking and placing process. Therefore, the 8 suction nozzle assemblies 200 on the opening and closing mechanism 100 can independently perform lifting movement, and the function of taking and placing materials is realized.
In this embodiment, as shown in fig. 5, the nozzle head includes a nozzle opening 210, a mounting block 211, a connecting block 212, an elastic member 213, a guide seat 214, a screw 215, and at least two guide rods 216, the nozzle opening 210 is disposed on the mounting block 211, the mounting block 211 is fixed to the bottom end of the connecting block 212, the guide seat 214 is connected to the guide rods 208, the guide seat 214 is provided with guide sleeves 217 whose number is equal to that of the guide rods 216, one end of the guide rod 216 is fixedly connected to the connecting block 212, and the other end of the guide rod 216 extends upward to be slidably connected to the guide sleeves 217, so that the guide rods 216 are slidably guided in the guide sleeves 217. The screw 215 passes through the guide holder 214, so that the bottom end of the screw 215 extends downwards and is connected with the connecting block 212, the elastic member 213 abuts between the top end of the screw 215 and the guide holder 214, when the nozzle 210 is pressed down to contact with materials in the process of taking and placing the materials, because the screw 215 is not fixedly connected with the guide holder 214, the guide rods 216 are guided in a sliding manner together in the guide sleeve 217, and the connecting block 212 can move towards the guide holder 214 and play a role of buffering under the elastic force of the elastic member 213.
The work process that the material snatchs manipulator does: (1) the manipulator calculates the material suction distance to be adjusted according to the material trays of different specifications, the opening and closing driving piece 101 is used for controlling the first transmission belt 104 and the second transmission belt 105 to transmit, the first movable connecting piece 109, the second movable connecting piece 110 and the third movable connecting piece 111 are driven to perform equidistant opening and closing movement, and when the movement reaches a preset distance, the opening and closing driving piece 101 stops running; (2) when the material needs to be sucked, the lifting driving member 202 on each nozzle assembly 200 drives the nozzle opening 210 to move vertically, and the material sucking/putting-down action is performed.
To sum up, the embodiment of the utility model provides a mechanism 100 and material snatch manipulator open and shut has following advantage: (1) the mechanism for realizing one driving source can simultaneously adjust the space between the four connecting pieces, and the whole structure adopts few parts; (2) the opening and closing movement of the connecting pieces at equal intervals can be realized; (3) the opening and closing precision of each connecting piece is ensured by utilizing the matching mode of the sliding rail 115 and the sliding block 116; (4) be provided with 8 suction nozzle assemblies 200 altogether, every suction nozzle assembly 200 can go up and down alone and absorb the material, and the material snatchs efficiently.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, a plurality of modifications and replacements can be made without departing from the technical principle of the present invention, and these modifications and replacements should also be regarded as the protection scope of the present invention.
Claims (10)
1. An opening and closing mechanism is characterized by comprising an opening and closing driving piece, a first driving wheel, a second driving wheel, a first transmission belt, a second transmission belt, a first driven wheel, a second driven wheel, a fixed connecting piece, a first movable connecting piece, a second movable connecting piece and a third movable connecting piece, wherein the first driving wheel and the second driving wheel are both connected with a power output end of the opening and closing driving piece, the outer diameter of the first driving wheel is smaller than that of the second driving wheel, the first transmission belt is in transmission connection between the first driving wheel and the first driven wheel, the second transmission belt is in transmission connection between the second driving wheel and the second driven wheel, the first movable connecting piece, the fixed connecting piece, the second movable connecting piece and the third movable connecting piece are sequentially arranged, and the first movable connecting piece is connected with a lower transmission section of the first transmission belt, the second movable connecting piece is connected with the upper transmission section of the first transmission belt, and the third movable connecting piece is connected with the upper transmission section of the second transmission belt.
2. The mechanism of claim 1, wherein a ratio of an outer diameter of the first drive wheel to an outer diameter of the second drive wheel is 1: 2.
3. The opening and closing mechanism according to claim 2, wherein the ratio of the distance between the first movable connecting piece and the fixed connecting piece, the distance between the second movable connecting piece and the fixed connecting piece and the distance between the third movable connecting piece and the fixed connecting piece is 1:1:2, so that the first movable connecting piece, the second movable connecting piece and the third movable connecting piece perform opening and closing movements at equal intervals.
4. The opening and closing mechanism according to claim 1, wherein the first driven wheel has an outer diameter equal to that of the first driving wheel, the second driven wheel has an outer diameter equal to that of the second driving wheel, and the first driven wheel and the second driven wheel are disposed in a staggered manner.
5. The opening and closing mechanism according to claim 1, further comprising a pressing block, wherein the first moving connecting member and the second moving connecting member are respectively connected with the first transmission belt through the pressing block, and the third moving connecting member is connected with the second transmission belt through the pressing block.
6. The opening and closing mechanism according to any one of claims 1 to 5, further comprising a base plate, wherein the first driving wheel, the second driving wheel, the first driven wheel and the second driven wheel are all mounted on the base plate, and the fixed connecting member is arranged on the base plate.
7. The opening and closing mechanism according to claim 6, further comprising a slide rail and a slider slidably connected to the slide rail, wherein the slide rail is disposed on the bottom plate, and the first movable connecting member, the second movable connecting member and the third movable connecting member are each provided with the slider.
8. A material grabbing manipulator, comprising a grabbing mechanism and an opening and closing mechanism according to any one of claims 1 to 7, wherein the grabbing mechanism is arranged on each of the fixed connecting piece, the first movable connecting piece, the second movable connecting piece and the third movable connecting piece.
9. The material handling robot of claim 8, wherein the gripping mechanism comprises two symmetrically disposed nozzle assemblies, the nozzle assemblies being located on left and right sides of the opening and closing mechanism.
10. The material grabbing manipulator as claimed in claim 9, wherein the suction nozzle assembly includes a fixed base, a lifting driving member, a mounting plate, a lifting driving wheel, a lifting driven wheel, a lifting transmission belt, a lifting block, a guide rod, a shaft sleeve and a suction nozzle head, the mounting plate is fixed on the fixed base, the lifting driving member is disposed on the mounting plate, the lifting driving wheel is connected to a power output end of the lifting driving member, the lifting driven wheel is disposed on the fixed base, the lifting transmission belt is connected between the lifting driving wheel and the lifting driven wheel in a transmission manner, one end of the guide rod is connected to the lifting transmission belt through the lifting block, the other end of the guide rod is connected to the suction nozzle head, and a middle portion of the guide rod is inserted into the shaft sleeve.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120193148.7U CN214358934U (en) | 2021-01-22 | 2021-01-22 | Opening and closing mechanism and material grabbing manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120193148.7U CN214358934U (en) | 2021-01-22 | 2021-01-22 | Opening and closing mechanism and material grabbing manipulator |
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| Publication Number | Publication Date |
|---|---|
| CN214358934U true CN214358934U (en) | 2021-10-08 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202120193148.7U Active CN214358934U (en) | 2021-01-22 | 2021-01-22 | Opening and closing mechanism and material grabbing manipulator |
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| CN (1) | CN214358934U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115535617A (en) * | 2022-08-04 | 2022-12-30 | 珠海市运泰利自动化设备有限公司 | A pick-and-place device with adjustable spacing |
-
2021
- 2021-01-22 CN CN202120193148.7U patent/CN214358934U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115535617A (en) * | 2022-08-04 | 2022-12-30 | 珠海市运泰利自动化设备有限公司 | A pick-and-place device with adjustable spacing |
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