CN216548437U

CN216548437U - Grabbing mechanism

Info

Publication number: CN216548437U
Application number: CN202122482794.8U
Authority: CN
Inventors: 肖侯军; 唐涌翔
Original assignee: Huaxingyuanchuang Chengdu Technology Co ltd
Current assignee: Huaxingyuanchuang Chengdu Technology Co ltd
Priority date: 2021-10-14
Filing date: 2021-10-14
Publication date: 2022-05-17
Anticipated expiration: 2031-10-14

Abstract

The utility model provides a grabbing mechanism, which comprises an installation disc, a first clamping plate and a second clamping plate, wherein the installation disc is provided with a first clamping groove; and a plurality of clamping jaws arranged on the mounting plate; the clamping jaws are matched to form a clamping cavity for accommodating and fixing a product; the clamping jaws are movable relative to the mounting plate in a radial direction of the mounting plate to expand or reduce a volume of a clamping cavity, and the clamping jaws are configured to fix a product in the clamping cavity from a side of the product; the grabbing mechanism further comprises a driving mechanism, and a transmission disc is fixedly combined on the output end of the driving mechanism; the driving mechanism is connected and matched with the clamping jaw through a transmission disc; the driving mechanism is configured to drive the transmission disc to rotate so as to drive all the clamping jaws to be synchronously gathered or synchronously separated. The grabbing mechanism can grab products with different types and sizes, and the application range is expanded.

Description

Grabbing mechanism

Technical Field

The utility model relates to the technical field of automation equipment. And more particularly, to a grasping mechanism.

Background

With the continuous development of human society, the demand for air conditioners is wider and wider, and the types of air conditioners are more and more. The task of assembling the air conditioner outdoor unit is increasingly heavy. The air conditioner external unit has one core part, air conditioner compressor. According to knowing the compressor kind and not differing, weight differs, and the heaviest is close to 30KG, the outer machine equipment of traditional air conditioner is carried by the manual work and is gone up unloading. And the existing automatic grabbing clamp needs to be replaced again when the model of the compressor is replaced, so that the time and labor are wasted, and the problems of poor secondary assembly precision and the like exist.

Meanwhile, with the continuous advance of industrial automation, a machining factory also has the conditions of difficult loading and low positioning precision for cylindrical workpieces.

SUMMERY OF THE UTILITY MODEL

In order to solve the problems, the utility model provides a grabbing mechanism which can grab products of different types and sizes and expand the application range.

In order to achieve the purpose, the utility model adopts the following technical scheme:

the utility model provides a grabbing mechanism, comprising: mounting a disc;

and a plurality of clamping jaws arranged on the mounting plate;

the clamping jaws are matched to form a clamping cavity for accommodating and fixing a product; the clamping jaws are movable relative to the mounting plate in a radial direction of the mounting plate to expand or reduce a volume of a clamping cavity, and the clamping jaws are configured to fix a product in the clamping cavity from a side of the product;

the grabbing mechanism further comprises a driving mechanism, and a transmission disc is fixedly combined on the output end of the driving mechanism; the driving mechanism is connected and matched with the clamping jaw through a transmission disc; the driving mechanism is configured to drive the transmission disc to rotate so as to drive all the clamping jaws to be synchronously gathered or synchronously separated.

In addition, preferably, the output end of the driving mechanism is fixedly combined with the central position of the transmission disc and can drive the transmission disc to rotate around the axis of the output end;

the transmission disc is provided with a plurality of arc-shaped guide grooves, the arc-shaped guide grooves are provided with connecting pieces, and the transmission disc is connected with the clamping jaws through the connecting pieces.

In addition, it is preferable that the connecting member includes a bearing located in the arc-shaped guide groove and a seat body fixedly combined with the bearing; the base body is fixedly combined with the clamping jaw.

In addition, preferably, the mounting disc comprises a plurality of sliding rails arranged along the radial direction of the mounting disc; the base is assembled on the slide rail through a slide block, and the base is configured to drive the clamping jaw to move relative to the mounting disc along the radial direction of the mounting disc under the drive of the drive mechanism.

In addition, preferably, the mounting disc is of a Y-shaped structure, the Y-shaped structure comprises three branches, and included angles between adjacent branches are all 120 degrees;

the grabbing mechanism comprises three clamping jaws; the clamping jaws are respectively configured on the branches of the mounting disc through the base body; the seat body is of a U-shaped structure and spans the upper part of the branch; the two side edges of the seat body are fixedly combined with the clamping jaws.

In addition, preferably, the grabbing mechanism further comprises a fixing plate for fixing the driving mechanism, and the fixing plate is fixedly combined with the mounting plate through a fixing piece; the transmission disc is positioned between the fixed plate and the mounting disc.

In addition, it is preferable that the fixing plate includes a connection frame for connecting to an external device.

In addition, preferably, the grabbing mechanism further comprises a limit sensor fixed on the fixing plate in a combined manner.

In addition, preferably, the inner side wall of the clamping jaw comprises anti-slip saw teeth.

Furthermore, it is preferable that the inner side wall surface of the jaw includes a concave surface.

The utility model has the beneficial effects that:

the gripping mechanism provided by the utility model can be used for determining the size of the clamping force by setting the torque of the driving mechanism, so as to avoid clamping the product, can be used for monitoring the torque of the driving mechanism, and ensures the precision of the gripping mechanism when taking and placing the product.

Drawings

The following describes embodiments of the present invention in further detail with reference to the accompanying drawings.

Fig. 1 is a schematic view of the overall structure of the present invention.

Fig. 2 is an assembly view of the present invention.

Detailed Description

Various exemplary embodiments of the present invention will now be described in detail with reference to the accompanying drawings. It should be noted that: the relative arrangement of the components and steps, the numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless specifically stated otherwise.

The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the utility model, its application, or uses.

Techniques and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail, but are intended to be considered a part of the specification where appropriate.

In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.

In order to realize grabbing different types and sizes of products, the application range is expanded. The utility model provides a grabbing mechanism, which is shown in a combined manner in fig. 1 to 2, and specifically comprises: a mounting plate 12; and a plurality of clamping jaws 7 arranged on the mounting plate 12; the clamping jaws 7 are matched to form a clamping cavity for accommodating and fixing a product; the clamping jaw 7 is movable relative to the mounting plate 12 in a radial direction of the mounting plate 12 to expand or reduce the volume of a clamping cavity in which the clamping jaw 7 is configured to secure a product from a side of the product; the grabbing mechanism further comprises a driving mechanism, and a transmission disc 4 is fixedly combined on the output end of the driving mechanism; the driving mechanism is connected and matched with the clamping jaw 7 through the transmission disc 4; the driving mechanism is configured to drive the transmission disc 4 to rotate so as to drive all the clamping jaws 7 to synchronously gather or synchronously separate.

The gripping mechanism provided by the utility model can synchronously gather or synchronously separate the clamping jaws 7 along the radial direction of the mounting disc 12 to clamp or put down products, and convert the rotary power of the driving mechanism into the power of the linear motion of the clamping jaws 7, has a simple structure, saves the working time, greatly improves the production efficiency, does not need to replace a clamp when feeding and discharging different types and sizes of products, and has a wide application range.

In a specific embodiment, the output end of the driving mechanism is fixed at the central position of the transmission disc 4 in a combined manner and can drive the transmission disc 4 to rotate around the axis of the output end; the transmission disc 4 is provided with a plurality of arc-shaped guide grooves 10, the arc-shaped guide grooves 10 are provided with connecting pieces, and the transmission disc 4 is connected with the clamping jaws 7 through the connecting pieces. The driving mechanism may be specifically a driving motor 2 cooperating with a speed reducer 15, it is understood that the speed reducer 15 may be a linear type or an angular type, and the driving motor 2 is preferably a stepping motor, a high-precision servo motor, or the like. The rotating shaft of the driving motor 2 is connected with the transmission disc 4 through a speed reducer 15, and the transmission disc 4 is matched with the clamping jaw 7 through a connecting piece. Wherein the axis of the transmission disc 4 is arranged perpendicular to the mounting disc 12. Arc-shaped guide grooves 10 which are in one-to-one correspondence with the clamping jaws 7 are arranged on the transmission disc 4 along the circumferential direction of the transmission disc 4, and specifically, the connecting piece comprises a bearing 9 positioned in the arc-shaped guide grooves 10 and a seat body 6 fixedly combined with the bearing 9; the base body 6 is fixedly combined with the clamping jaw 7, and the clamping jaw 7 is matched with the transmission disc 4 by assembling the bearings 9 of the connecting piece into the arc-shaped guide grooves 10 one by one. Driving motor 2 rotates through drive driving plate 4 and drives the connecting piece and move in arc guide slot 10, specifically, along with the rotation of driving plate 4, arc guide slot 10 promotes bearing 9 operation, and bearing 9 outwards expands or inwards contracts the operation, and then drives whole clamping jaw 7 and move in opposite directions or leave mutually. The movement of the jaws 7 toward and away from each other is achieved by forward and reverse rotation of the drive motor 2. And the rotation power of the driving motor is converted into the power of the linear motion of the clamping jaw by utilizing the matching among all the mechanisms.

Further, in order to realize smooth gathering or separation of all the clamping jaws 7 and realize product taking and placing, a plurality of sliding rails 11 arranged along the radial direction of the mounting disc 12 are arranged on the mounting disc 12; the base body 6 is assembled on the slide rail 11 through the slide block 13, and the base body 6 is configured to be driven by the driving mechanism to drive the clamping jaws 7 to move relative to the mounting disc 12 along the radial direction of the mounting disc 12, so that the base body has the advantage of providing a guiding effect for linear motion when the clamping jaws 7 are gathered together or separated from each other.

In this embodiment, the mounting plate 12 is a Y-shaped structure, the Y-shaped structure includes three branches, and the included angle between adjacent branches is 120 °; the gripping mechanism comprises three clamping jaws 7; the clamping jaws 7 are respectively arranged on the branches of the mounting disc 12 through the base body 6; the seat body 6 is of a U-shaped structure and spans the upper part of the branch; the two side edges of the seat body 6 are fixedly combined with the clamping jaws 7. The mounting disc 12 adopts the Y type structure that fig. 2 shows, and it is corresponding, clamping jaw 7 sets up to three, and three clamping jaw 7 is perpendicular to mounting disc 12 and is located the below of mounting disc 12, and the inboard of clamping jaw 7 is provided with the sawtooth to increase the friction between clamping jaw 7 and the product, avoid the product slippage. Thereby combine fixedly through the both sides limit portion of pedestal 6 and the top of clamping jaw 7 to form a through-hole between pedestal 6 and clamping jaw 7, the branch of mounting disc 12 runs through the through-hole, it can be understood, all dispose the slide rail 11 the same with the extending direction of branch on each branch, when the central authorities of the synchronous orientation mounting disc 12 of all clamping jaws 7 under driving motor 2's drive move, whole clamping jaws 7 draw in and snatch the product in to the central authorities of mounting disc 12, after the product was transported to the target position, driving motor 2 drove whole clamping jaws 7 again and deviates from the dispersion each other along the extending direction of branch, the completion is transferred to the product. It should be noted that the mounting plate 12 may be provided not only in a Y-shaped configuration but also in other configurations depending on the number of the jaws 7. For example, a cross-shaped structure or a cross-shaped structure may be provided. When the mounting disc 12 is in a cross structure, the four branches are arranged at intervals of 90 degrees, and the clamping jaws 7 are arranged in four; when the mounting disc 12 is of a structure shaped like a Chinese character 'mi', the six branches are arranged at intervals of 60 degrees, and the clamping jaws 7 are arranged in six. When the mounting plate 12 is a circular plate, the number of the clamping jaws 7 can be any number greater than two according to requirements. No matter how many clamping jaws 7 are arranged, the arc-shaped guide grooves 10 on the transmission disc 4 are always arranged corresponding to the clamping jaws 7 one by one.

In a specific embodiment, the grabbing mechanism further comprises a fixing plate 3 for fixing the driving mechanism, and the fixing plate 3 is combined and fixed with the mounting plate 12 through a fixing part 5; the transmission disc 4 is located between the fixed plate 3 and the mounting disc 12. Specifically, the driving motor 2 is fixed on the top wall of the fixing plate 3 through the speed reducer 15, an output shaft of the speed reducer 15 penetrates through the fixing plate 3 to be fixedly combined with the transmission plate 4 located between the fixing plate 3 and the mounting plate 12, a limiting block is arranged at the center of the mounting plate 12, and the limiting block and the fixing piece 5 limit the sliding block 13 on the sliding rail 11 at two ends of the sliding rail 11.

Further, the fixing plate 3 includes a connecting frame 1 for connecting with an external device. Through the arrangement, the grabbing mechanism can be connected with the mechanical arm, and then the grabbing mechanism and the grabbed product are driven to move, so that the product is transported.

In order to monitor the torque of the driving motor 2 on the grabbing mechanism and determine the clamping force, the grabbing mechanism further comprises a limit sensor 8 which is fixedly combined on the fixing plate 3. In addition, the driving motor 2 on the clamping jaw 7 can be set in advance aiming at products with different sizes, so that the position of the clamping jaw 7 when the product is clamped and the position of the clamping jaw 7 when the product is loosened are determined, and the production beat of a production line is reduced.

In a particular embodiment, the inner side walls of the jaws 7 comprise anti-slip serrations 14. Through set up anti-skidding sawtooth 14 on clamping jaw 7, after clamping jaw 7 snatched the product, anti-skidding sawtooth 14 can increase the frictional force between clamping jaw 7 and the product, carries out more stable centre gripping to the product, can effectively avoid the great product of weight to drop in removing the transportation.

In order to avoid the need of replacing the clamping jaw when clamping cylindrical products to feed and discharge, the inner side wall surface of the clamping jaw 7 comprises a concave surface matched with the cylindrical products, so that the contact area between the clamping jaw 7 and the products can be increased, and the clamping jaw 7 can be clamped stably.

It should be understood that the above-mentioned embodiments of the present invention are only examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention, and it will be obvious to those skilled in the art that other variations or modifications may be made on the basis of the above description, and all embodiments may not be exhaustive, and all obvious variations or modifications may be included within the scope of the present invention.

Claims

1. A grasping mechanism, comprising:

mounting a disc;

and a plurality of clamping jaws arranged on the mounting plate;

2. The grasping mechanism according to claim 1, wherein the output end of the driving mechanism is fixed at the center of the transmission disc and drives the transmission disc to rotate around the axis of the output end;

3. The grasping mechanism according to claim 2, wherein the connecting member includes a bearing disposed in the arc-shaped guide groove and a seat body fixedly coupled to the bearing; the base body is fixedly combined with the clamping jaw.

4. The grasping mechanism according to claim 3, wherein the mounting plate includes a plurality of slide rails disposed along a radial direction of the mounting plate; the base is assembled on the slide rail through a slide block, and the base is configured to drive the clamping jaw to move along the radial direction of the mounting disc relative to the mounting disc under the drive of the drive mechanism.

5. The grasping mechanism according to claim 4, wherein the mounting plate is a Y-shaped structure, the Y-shaped structure includes three branches, and the included angle between adjacent branches is 120 °;

6. The grasping mechanism according to claim 1, further comprising a fixing plate for fixing the driving mechanism, wherein the fixing plate is fixed to the mounting plate by a fixing member; the transmission disc is positioned between the fixed plate and the mounting disc.

7. The grasping mechanism according to claim 6, wherein the fixing plate includes a connecting bracket thereon for connecting with an external device.

8. The grasping mechanism according to claim 6, further comprising a position limit sensor coupled to the fixed plate.

9. The grasping mechanism according to claim 1, wherein the inner side walls of the jaws include anti-slip serrations thereon.

10. The grasping mechanism according to claim 1, wherein the inner sidewall surface of the jaw includes a concave surface.