CN214643705U - Mechanical gripper assembly and carrying device - Google Patents
Mechanical gripper assembly and carrying device Download PDFInfo
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- CN214643705U CN214643705U CN202022526574.6U CN202022526574U CN214643705U CN 214643705 U CN214643705 U CN 214643705U CN 202022526574 U CN202022526574 U CN 202022526574U CN 214643705 U CN214643705 U CN 214643705U
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- rotating shaft
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Abstract
The utility model relates to a mechanical transport technical field discloses a mechanical tongs subassembly and handling device, and this mechanical tongs subassembly includes: a carrier; the rotating mechanism is arranged on the bearing frame and comprises a rotating part, and the rotating part is rotatably arranged on the bearing frame around an axis; the mechanical gripper comprises a plurality of clamping claws circumferentially distributed around the axis, and each clamping claw is connected with the rotating part and can move towards the direction close to or far away from the axis; when the mechanical gripper is positioned at the first station, the clamping claws are close to the axis to gather together, and a clamping space is formed among the clamping claws. The gripper jaws of the mechanical gripper assembly are automatically gathered or dispersed to grab or release the articles, so that the articles can be mechanically conveyed, the accuracy is high, the working efficiency is higher, the labor is saved, and the articles are positioned in the clamping space surrounded by the gripper jaws when being grabbed, the grabbing reliability is high, and the articles are prevented from being damaged.
Description
Technical Field
The utility model relates to a mechanical transport technical field, in particular to machinery tongs subassembly and handling device.
Background
At present, when vegetables and fruits are subjected to heat shrinkage packaging in a vegetable and fruit bin and are boxed after the heat shrinkage packaging, the vegetables and fruits need to be carried and boxed; for example, need say before the processing on the product carries the conveyer belt, perhaps with the conveyer belt on the product transport after the processing in the basket, this process is mostly accomplished by the manual work at present, wastes time and energy, and efficiency is very low, and when the production volume reaches the certain degree, workman intensity of labour is too big, also can the reduction production personnel production enthusiasm of very big degree to also can appear raw materials collision easily, scotch or snatch the insecure condition that causes the fall and decrease.
SUMMERY OF THE UTILITY MODEL
The utility model discloses a mechanical tongs subassembly and handling device, above-mentioned mechanical tongs subassembly has the rotation angle that mechanical tongs was adjusted to the portion of rotating, realizes accurate snatching, and the gripper jaw of mechanical tongs is automatic to be gathered together or the dispersion is in order to snatch or loose putting to article, can realize mechanized transport article, and work efficiency is higher, uses manpower sparingly, and article lie in the centre gripping space that a plurality of gripper jaws enclose when snatching in, snatch the good reliability, avoid article to hurt.
In order to achieve the above purpose, the utility model provides the following technical scheme:
a mechanical gripper assembly comprising:
a carrier;
the rotating mechanism is mounted on the bearing frame and comprises a rotating part, and the rotating part is rotatably mounted on the bearing frame around an axis;
the first driving device is used for driving the rotating part to rotate;
the mechanical gripper comprises a plurality of clamping claws distributed around the circumference of the axis, and each clamping claw is connected with the rotating part and can move towards the direction close to or far away from the axis; when the mechanical gripper is positioned at a first station, the clamping claws are close to the axis to gather together, and a clamping space is formed among the clamping claws; when the mechanical gripper is in the second station, each gripper jaw is spaced away from the axis;
and the second driving device is used for driving each clamping claw to switch between the first station and the second station.
In the mechanical gripper assembly, the rotating mechanism is mounted on the bearing frame, the rotating mechanism comprises a rotating part, the rotating part can be rotatably mounted on the bearing frame around an axis, the first driving device is in transmission connection with the rotating part and can drive the rotating part to rotate around the axis, the mechanical gripper is mounted on the rotating part and can rotate along with the rotation of the rotating part, the angle of the mechanical gripper around the axis can be adjusted through the rotating part, the angle of a relative object can be conveniently adjusted in the gripping process, and accurate gripping is facilitated, wherein the mechanical gripper comprises a plurality of clamping claws circumferentially distributed around the axis, the number of the clamping claws can be 3, 4 or 5, or other numbers, the embodiment is not limited, and the mechanical gripper can grip the object and the plurality of clamping claws can be uniformly distributed on the periphery of the axis; each clamping claw is connected with the rotating part and can move towards the direction close to or far away from the axis; when the mechanical gripper is positioned at the first station, each clamping claw is close to the axis to gather together, a clamping space is defined among the clamping claws for containing a clamped article, and the plurality of clamping claws can surround and clamp the article; when the mechanical gripper is positioned at the second station, each clamping jaw is far away from the axis to realize the dispersion of the plurality of clamping jaws, namely, the free ends of the plurality of clamping jaws form a larger opening, and the mechanical gripper is opened to enable an object to enter the surrounded inner space of the plurality of clamping jaws so as to be convenient for gripping the object; the second driving device is in transmission connection with each clamping jaw and can drive each clamping jaw to move so as to realize the grabbing or releasing of the mechanical gripper to the object.
Therefore, the mechanical gripper assembly is provided with the rotating part to adjust the rotating angle of the mechanical gripper, accurate gripping is achieved, the clamping claws of the mechanical gripper are automatically gathered or dispersed to grip or release articles, mechanical article handling can be achieved, working efficiency is high, manpower is saved, and the articles are located in a clamping space surrounded by the clamping claws when being gripped, so that the gripping reliability is high, and the articles are prevented from being damaged.
Optionally, the mechanical gripper further comprises a bracket fixedly connected with the rotating part, and the bracket comprises a connecting part corresponding to the plurality of clamping claws one by one;
each clamping jaw comprises a first connecting rod and a second connecting rod which are arranged side by side and a clamping part connected with the first connecting rod and the second connecting rod, and the second connecting rod is positioned on one side of the first connecting rod, which is deviated from the axis; the first end of the first connecting rod is hinged with the corresponding connecting part through a first rotating shaft, the second end of the first connecting rod is hinged with the connecting part through a second rotating shaft, the first end of the second connecting rod is hinged with the connecting part through a third rotating shaft, the first rotating shaft and the third rotating shaft are arranged in parallel, the second end of the second connecting rod is hinged with the clamping part through a fourth rotating shaft, the second rotating shaft and the fourth rotating shaft are arranged in parallel, and the size between the first rotating shaft and the second rotating shaft in the extension direction of the first connecting rod is smaller than the size between the third rotating shaft and the fourth rotating shaft in the extension direction of the second connecting rod;
the second driving device is in transmission connection with each first connecting rod so as to enable the first connecting rods to move around the first rotating shaft.
Optionally, the second driving device comprises a support rod, a driving block and a power device, wherein the central axis of the support rod is arranged along the axis and is mounted on the rotating part, the driving block is mounted on the support rod in a position-adjustable manner along the extending direction of the support rod, and the power device is used for driving the driving block to act; the driving block is connected with the first connecting rods of the clamping claws through a plurality of connecting rods which correspond to the clamping claws one by one, so that the first connecting rods move around the first rotating shaft.
Optionally, the first end of the connecting rod is hinged to the first connecting rod through a fifth rotating shaft.
Optionally, the support rod includes a screw rod, the driving block includes a nut structure matched with the screw rod and a connecting block installed in the nut structure and used for connecting the connecting rod, and the second driving device is in transmission connection with the screw rod to drive the screw rod to rotate around its central axis.
Optionally, one side of the clamping portion facing the axis forms an arc-shaped concave structure.
Optionally, the surface of the end of the free end of the grip portion facing the axis forms a roughened surface.
Optionally, the rotating mechanism includes a deep groove ball bearing, a central axis of the deep groove ball bearing is arranged along the axis, an outer ring of the deep groove ball bearing is fixedly mounted on the bearing frame, the rotating portion is fixedly mounted on an inner ring of the deep groove ball bearing, and the mechanical gripper is located on one side of the deep groove ball bearing along an extending direction of the axis.
Optionally, the first driving device comprises a power assembly, and the power assembly is in transmission connection with the rotating part through a transmission belt assembly to drive the rotating part to rotate.
Based on the same inventive concept, the utility model also provides a handling device, including any one kind of mechanical tongs subassembly and with the mechanical arm that mechanical tongs subassembly is connected and is used for driving the mechanical tongs subassembly removes that technical scheme provided like this.
Drawings
Fig. 1 is a schematic structural diagram of a mechanical gripper assembly according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a mechanical gripper assembly according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a mechanical gripper assembly according to an embodiment of the present invention;
fig. 4 is a schematic view of a local mechanism of a mechanical gripper assembly according to an embodiment of the present invention.
Icon: 1-a bearing frame; 2-a rotation mechanism; 3-a first drive; 4, mechanical gripping; 5-a second drive; 21-a rotating part; 22-deep groove ball bearing; 31-a power assembly; 41-a gripper jaw; 42-a scaffold; 51-a support bar; 52-a drive block; 53-a power plant; 54-a connecting rod; 411-a first link; 412-a second link; 413-a clamping part; 421-connecting part.
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.
Referring to fig. 1, 2 and 3, wherein the mechanism of the turning mechanism is shown for ease of viewing, fig. 3 is a schematic view of the mechanical gripper assembly with a portion of the carrier removed. The embodiment of the utility model provides a mechanical tongs subassembly, include: a carrier 1; a rotating mechanism 2, which is mounted on the carrier 1, and the rotating mechanism 2 includes a rotating part 21, and the rotating part 21 is rotatably mounted on the carrier 1 around an axis; a first driving device 3 for driving the rotation portion 21 to rotate; the mechanical hand grip 4 comprises a plurality of clamping claws 41 which are distributed in the circumferential direction around the axis, and each clamping claw 41 is connected with the rotating part and can move towards the direction close to or far away from the axis; when the mechanical gripper 4 is located at the first station, the clamping claws 41 are close to the axis to gather, and a clamping space is formed among the clamping claws 41; when the mechanical gripper 4 is in the second station, the gripping claws 41 are distanced from the axis to be dispersed; and a second driving device 5 for driving each gripper claw 41 to switch between the first station and the second station.
In the mechanical gripper assembly, the rotating mechanism 2 is mounted on the bearing frame 1, the rotating mechanism 2 comprises a rotating part, the rotating part can be rotatably mounted on the bearing frame 1 around an axis, the first driving device 3 is in transmission connection with the rotating part and can drive the rotating part to rotate around the axis, the mechanical gripper 4 is mounted on the rotating part, the mechanical gripper 4 can rotate along with the rotation of the rotating part, the angle of the mechanical hand grip 4 around the axis can be adjusted through the rotating part, the angle of the relative object can be conveniently adjusted in the gripping process, the precise gripping is facilitated, wherein the mechanical gripper 4 comprises a plurality of gripping claws 41 arranged distributed circumferentially around the axis, wherein 3, 4 or 5 gripping claws 41 may be arranged, or other numbers, the embodiment is not limited as long as the object can be grabbed, and the plurality of clamping claws 41 can be uniformly distributed on the periphery of the axis; wherein, each clamping claw 41 is connected with the rotating part and can move towards the direction close to or far away from the axis; when the mechanical gripper 4 is located at the first station, each clamping jaw 41 is close to the axis to gather together, and a clamping space is defined between the clamping jaws 41 for accommodating the clamped object, and the plurality of clamping jaws 41 can surround and clamp the object; when the mechanical gripper 4 is located at the second station, each gripper jaw 41 is far away from the axis to realize the dispersion of the plurality of gripper jaws 41, that is, the free ends of the plurality of gripper jaws 41 form a larger opening, and the mechanical gripper 4 is opened to enable an object to enter the surrounding inner space of the plurality of gripper jaws 41, so that the object can be gripped conveniently; the second driving device 5 is in transmission connection with each clamping jaw 41 and can drive each clamping jaw 41 to act so as to realize the grabbing or releasing of the article by the mechanical gripper 4.
Therefore, the mechanical gripper assembly is provided with the rotating part to adjust the rotating angle of the mechanical gripper, accurate gripping is achieved, the clamping claws of the mechanical gripper are automatically gathered or dispersed to grip or release articles, mechanical article handling can be achieved, working efficiency is high, manpower is saved, and the articles are located in a clamping space surrounded by the clamping claws when being gripped, so that the gripping reliability is high, and the articles are prevented from being damaged.
In the above mechanical gripper assembly, referring to fig. 2, as shown in fig. 3, the mechanical gripper 4 further includes a bracket 42 fixedly connected to the rotating portion 21, and the bracket 42 includes a connecting portion 421 corresponding to the plurality of gripping claws 41; each gripper jaw 41 comprises two first and second links 411, 412 arranged side by side, and a gripper 413 connected to the first and second links 411, 412, the second link 412 being located on the side of the first link 411 facing away from the axis; a first end of the first connecting rod 411 is hinged to the corresponding connecting portion 421 through a first rotating shaft, a second end of the first connecting rod 411 is hinged to the connecting portion 421 through a second rotating shaft, a first end of the second connecting rod 412 is hinged to the connecting portion 421 through a third rotating shaft, the first rotating shaft and the third rotating shaft are arranged in parallel, a second end of the second connecting rod 412 is hinged to the clamping portion 413 through a fourth rotating shaft, and the second rotating shaft and the fourth rotating shaft are arranged in parallel, wherein the dimension between the first rotating shaft and the second rotating shaft along the extending direction of the first connecting rod 411 is smaller than the dimension between the third rotating shaft and the fourth rotating shaft along the extending direction of the second connecting rod 412; the second driving means 5 is drivingly connected to each first link 411 to move the first link 411 about the first rotation axis. The connecting portion 421, the first link 411, the second link 412 and the clamping portion 413 form a four-bar linkage, in the four-bar linkage, the connecting portion 421 corresponds to a fixed frame, the first link 411 and the second link 412 are respectively a rocker, wherein the first link 411 is in transmission connection with the second driving device 5, the second driving device 5 can drive the first link 411 to move, that is, the first link 411 corresponds to an active rocker, the first link 411 rotates around a first rotating shaft, so as to drive the clamping portion 413 and the second link 412 to move, wherein the length of the first link 411 is smaller than that of the second link 412, the second end of the first link 411 inclines towards a direction away from the axis, the second end of the second link 412 inclines towards a direction away from the axis, the first link 411 rotates around the first rotating shaft, the second end of the first link 411 moves towards a direction towards or away from the axis, according to the transmission principle of the four-bar linkage structure, the clamping part 413 moves towards or away from the axis along with the rotation of the first link 411, meanwhile, the clamping part 413 rotates to a certain degree, and when the clamping part 413 moves towards the axis, the free end of the clamping part 413 rotates towards the axis in the self-rotating motion, so that the free ends of the clamping parts 413 can better support the grabbed object; the articles are supported by the free end of the clamping part 413 instead of the friction force of the periphery in the clamping space, so that the articles are effectively prevented from being extruded and damaged.
Referring to fig. 1 and 2, in the mechanical gripper assembly, as shown in fig. 4, the second driving device 5 includes a supporting rod 51 having a central axis disposed along an axis and mounted on the rotating portion, a driving block 52 mounted on the supporting rod 51 in a position adjustable along an extending direction of the supporting rod 51, and a power device 53 for driving the driving block 52 to move, wherein the power device 53 may include a stepping motor and a transmission assembly in transmission connection with the stepping motor, and the transmission assembly is in transmission connection with the driving block 52; the driving block 52 is connected to the first link 411 of the gripping claw 41 through a plurality of connecting rods 54 corresponding one-to-one to the gripping claw 41 to move the first link 411 about the first rotation axis. One end of connecting rod 54 is articulated with drive block 52, the other end is articulated with the middle part of first connecting rod 411, drive block 52 removes along the extending direction of bracing piece 51, can stimulate first connecting rod 411 around the motion of first pivot through connecting rod 54, the structure is simple and reliable, and can be through the control to the first connecting rod 411 of the mobile control of drive block 52, through the position locking to drive block 52, can realize the position locking of first connecting rod 411, thereby realize 4 auto-locks of mechanical tongs, when mechanical tongs 4 snatched article, can control the centre gripping space size of mechanical tongs 4, avoid contacting with article too much, and avoid producing the extrusion to the article clamping-force is too big, the risk of damaging article in the production process has been reduced to a great extent.
The connecting rod 54 is hinged to the first connecting rod 411 through a fifth rotating shaft, so that the connecting mode is simple and the reliability is high.
Specifically, in the above mechanical gripper assembly, the support rod 51 includes a screw rod, the driving block 52 includes a nut structure matched with the screw rod and a connecting block installed on the nut structure and used for connecting the connecting rod 54, the second driving device 5 is in transmission connection with the screw rod to drive the screw rod to rotate around its central axis, the transmission mode of the screw rod nut mechanism is simple and reliable, and the self-locking function of the mechanical gripper 4 can be better realized.
One side of the clamping part 413 facing the axis forms an arc-shaped concave structure in the mechanical gripper assembly, so that the mechanical gripper assembly can better match with an object and is convenient to grip the object.
Specifically, the surface of the end of the free end of the gripping portion 413 facing the axis is roughened to facilitate gripping of an article. More specifically, the surface of the end part of the free end of the clamping part 413 facing the axis is provided with the flexible pad, and the surface of the flexible pad facing the axis forms a rough surface, so that the flexible pad can effectively protect the article when being in contact with the article, and the article is prevented from being damaged in the clamping process.
In the above mechanical gripper assembly, referring to fig. 2, as shown in fig. 3, the rotating mechanism 2 includes a deep groove ball bearing 22, a central axis of the deep groove ball bearing 22 is arranged along an axis, an outer ring of the deep groove ball bearing 22 is fixedly mounted on the bearing frame 1, a rotating portion 21 is fixedly mounted on an inner ring of the deep groove ball bearing 22, and the mechanical gripper 4 is located on one side of the deep groove ball bearing along an extending direction of the axis.
Specifically, referring to fig. 1, as shown in fig. 4, the first driving device 3 includes a power assembly 31, the power assembly 31 is in transmission connection with the rotating portion through a transmission belt assembly to drive the rotating portion to rotate, wherein the power assembly 31 may be a stepping motor.
Based on the same inventive concept, the utility model also provides a handling device, including any one kind of mechanical tongs subassembly and the arm that is connected with mechanical tongs subassembly and is used for driving mechanical tongs subassembly to remove that above-mentioned technical scheme provided.
It will be apparent to those skilled in the art that various changes and modifications may be made to the embodiments of the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (10)
1. A mechanical gripper assembly, comprising:
a carrier;
the rotating mechanism is mounted on the bearing frame and comprises a rotating part, and the rotating part is rotatably mounted on the bearing frame around an axis;
the first driving device is used for driving the rotating part to rotate;
the mechanical gripper comprises a plurality of clamping claws distributed around the circumference of the axis, and each clamping claw is connected with the rotating part and can move towards the direction close to or far away from the axis; when the mechanical gripper is positioned at a first station, the clamping claws are close to the axis to gather together, and a clamping space is formed among the clamping claws; when the mechanical gripper is in the second station, each gripper jaw is spaced away from the axis;
and the second driving device is used for driving each clamping claw to switch between the first station and the second station.
2. The mechanical gripper assembly of claim 1 further comprising a bracket fixedly attached to said rotating portion, said bracket including attachment portions in one-to-one correspondence with said plurality of gripping jaws;
each clamping jaw comprises a first connecting rod and a second connecting rod which are arranged side by side and a clamping part connected with the first connecting rod and the second connecting rod, and the second connecting rod is positioned on one side of the first connecting rod, which is deviated from the axis; the first end of the first connecting rod is hinged with the corresponding connecting part through a first rotating shaft, the second end of the first connecting rod is hinged with the connecting part through a second rotating shaft, the first end of the second connecting rod is hinged with the connecting part through a third rotating shaft, the first rotating shaft and the third rotating shaft are arranged in parallel, the second end of the second connecting rod is hinged with the clamping part through a fourth rotating shaft, the second rotating shaft and the fourth rotating shaft are arranged in parallel, and the size between the first rotating shaft and the second rotating shaft in the extension direction of the first connecting rod is smaller than the size between the third rotating shaft and the fourth rotating shaft in the extension direction of the second connecting rod;
the second driving device is in transmission connection with each first connecting rod so as to enable the first connecting rods to move around the first rotating shaft.
3. The mechanical gripper assembly of claim 2, wherein the second driving means includes a support rod having a central axis disposed along the axis and mounted to the rotating portion, a driving block mounted to the support rod in a position adjustable along an extending direction of the support rod, and a power device for driving the driving block; the driving block is connected with the first connecting rods of the clamping claws through a plurality of connecting rods which correspond to the clamping claws one by one, so that the first connecting rods move around the first rotating shaft.
4. The mechanical gripper assembly of claim 3, wherein the first end of the connecting rod is hinged to the first connecting rod by a fifth pivot.
5. The mechanical gripper assembly of claim 3, wherein the support bar includes a lead screw, the driving block includes a nut structure engaged with the lead screw, and a connecting block mounted to the nut structure and adapted to connect to the connecting rod, and the second driving device is drivingly connected to the lead screw for driving the lead screw to rotate about its central axis.
6. The mechanical gripper assembly of claim 2, wherein a side of the gripping portion facing the axis forms an arcuate depression.
7. The mechanical gripper assembly of claim 2 wherein the surface of the free end of the gripping portion facing the axis is roughened.
8. The mechanical gripper assembly of any one of claims 1-7, wherein the rotating mechanism comprises a deep groove ball bearing, a central axis of the deep groove ball bearing is arranged along the axis, an outer ring of the deep groove ball bearing is fixedly mounted with the bearing frame, the rotating portion is fixedly mounted to an inner ring of the deep groove ball bearing, and the mechanical gripper is located on one side of the deep groove ball bearing along an extending direction of the axis.
9. The mechanical gripper assembly of claim 8, wherein the first driving means includes a power assembly drivingly connected to the rotating portion via a belt assembly to drive the rotating portion to rotate.
10. A handling apparatus comprising the mechanical gripper assembly of any one of claims 1-9 and a robotic arm coupled to the mechanical gripper assembly for actuating movement of the mechanical gripper assembly.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022526574.6U CN214643705U (en) | 2020-11-04 | 2020-11-04 | Mechanical gripper assembly and carrying device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022526574.6U CN214643705U (en) | 2020-11-04 | 2020-11-04 | Mechanical gripper assembly and carrying device |
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| Publication Number | Publication Date |
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| CN214643705U true CN214643705U (en) | 2021-11-09 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202022526574.6U Active CN214643705U (en) | 2020-11-04 | 2020-11-04 | Mechanical gripper assembly and carrying device |
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| CN (1) | CN214643705U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117645147A (en) * | 2024-01-29 | 2024-03-05 | 杭州新天元织造有限公司 | Functional colored spun yarn fabric barrel grabbing and conveying mechanism and method |
-
2020
- 2020-11-04 CN CN202022526574.6U patent/CN214643705U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117645147A (en) * | 2024-01-29 | 2024-03-05 | 杭州新天元织造有限公司 | Functional colored spun yarn fabric barrel grabbing and conveying mechanism and method |
| CN117645147B (en) * | 2024-01-29 | 2024-04-23 | 杭州新天元织造有限公司 | Functional colored spun yarn fabric barrel grabbing and conveying mechanism and method |
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