CN218619026U - Bidirectional grabbing mechanism - Google Patents
Bidirectional grabbing mechanism Download PDFInfo
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- CN218619026U CN218619026U CN202122328613.6U CN202122328613U CN218619026U CN 218619026 U CN218619026 U CN 218619026U CN 202122328613 U CN202122328613 U CN 202122328613U CN 218619026 U CN218619026 U CN 218619026U
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Abstract
The utility model discloses a two-way mechanism that snatchs, include: fixing a bracket; the grabbing and releasing component comprises a first grabbing hand, a mounting bracket and a second grabbing hand, wherein two opposite ends of the mounting bracket are respectively connected with the first grabbing hand and the second grabbing hand; wherein the mounting bracket is movably coupled to the fixed bracket, the mounting bracket configured to move between a first position and a second position; when the mounting bracket is at the first position, the first grabbing hand grabs an article, and the second grabbing hand grabs an article; when the mounting bracket is at the second position, the first grabbing hand places an object, and the second grabbing hand places an object. The utility model discloses technical scheme current snatchs equipment snatch less technical problem of scope.
Description
Technical Field
The utility model relates to a grabbing device technical field, in particular to two-way mechanism that snatchs.
Background
Grabbing is a common production method in modern production, and the general process is to transfer an object according to a set path after the object is grabbed. The grasping apparatus will generally include a grasping mechanism and a drive mechanism. The driving mechanism drives the grabbing mechanism to move between the grabbing position and the placing position.
However, the existing grasping apparatuses have a small grasping range.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing a two-way mechanism that snatchs aims at solving among the prior art and snatchs the less technical problem of scope.
In order to achieve the above object, the utility model provides a two-way mechanism that snatchs, include: fixing a bracket; the grabbing and releasing assembly comprises a first grabbing hand, a mounting bracket and a second grabbing hand, wherein two opposite ends of the mounting bracket are respectively connected with the first grabbing hand and the second grabbing hand; wherein the mounting bracket is movably coupled to the fixed bracket, the mounting bracket configured to move between a first position and a second position; when the mounting bracket is at the first position, the first grabbing hand grabs an object, and the second grabbing hand grabs an object; when the mounting bracket is at the second position, the first grabbing hand places an object, and the second grabbing hand places an object.
Optionally, a first rack is arranged on one side of the mounting bracket; a second rack is arranged on one side of the fixed support, and the first rack and the second rack are oppositely arranged; the bidirectional grabbing mechanism further comprises: a power assembly including a gear, a gear mounting structure, and a drive mechanism; the gear is rotationally connected with the gear mounting structure and meshed with the first rack and the second rack; the drive mechanism is coupled to the gear mounting structure for driving the gear mounting structure to move parallel to a direction defined by the first position and the second position.
Optionally, the power assembly further comprises a gear shaft, and the gear is sleeved on the gear shaft; the gear mounting structure includes: the sliding block plate is connected with the driving mechanism and is provided with a gear mounting hole, and the gear penetrates through the gear mounting hole and is meshed with the first gear rack and the second gear rack respectively; and the gear shaft mounting plate is connected with the sliding block plate, and the gear shaft mounting plate is rotatably connected with the gear shaft.
Optionally, the bidirectional grabbing mechanism further comprises a first buffer and a second buffer, two opposite ends of the fixing bracket are respectively connected with the first buffer and the second buffer, and when the mounting bracket is in the first position, one side of the gear shaft mounting plate facing the first grabbing hand abuts against the first buffer; when the mounting bracket is at the second position, one side of the gear shaft mounting plate facing the second grabbing hand is abutted against the second buffer.
Optionally, the drive mechanism comprises: one end of the synchronous belt, which is far away from the end of the synchronous belt, which is connected with the slider plate, extends to the idler wheel and is sleeved on the idler wheel; and the synchronous wheel is positioned on one side of the fixed support, which deviates from the second rack, and one end, which is far away from the synchronous belt and is connected with the gear mounting structure, of the synchronous belt passes through the idle wheel and then continues to extend to the synchronous wheel and is meshed with the synchronous belt.
Optionally, the bidirectional grasping mechanism further includes: the adjusting support is provided with a rotating shaft, and the idler pulley is sleeved on the rotating shaft; the adjusting support is connected with the fixed support in a sliding mode, and the sliding direction of the adjusting support is parallel to the moving direction of the gear mounting structure.
Optionally, the drive mechanism further comprises: a drive shaft connected with the synchronizing wheel for driving the synchronizing wheel; the driving piece is connected with the fixed support, and the driving piece is connected with the driving shaft so as to drive the driving shaft to rotate.
Optionally, the bidirectional grasping mechanism further includes: the side, departing from the mounting bracket, of the fixing bracket is connected with the main body mounting bracket and used for fixing the fixing bracket; the main part mounting bracket be equipped with first through-hole and with the installation cavity of first through-hole intercommunication, the drive shaft passes through first through-hole stretches into in the installation cavity, with the synchronizing wheel is connected.
Optionally, the bidirectional grasping mechanism further includes: the driving piece mounting panel, the driving piece mounting panel with the main part mounting bracket deviates from one side of installation cavity is connected, the driving piece with the driving piece mounting panel is connected, the driving piece mounting panel seted up with first through-hole just right second through-hole, the drive shaft deviates from the one end of synchronizing wheel passes through the second through-hole with the driving piece is connected.
Optionally, the first and second gripping hands are each a pneumatic gripper.
In the technical scheme of the embodiment of the utility model, two ends of the mounting bracket are both connected with a grabbing hand (one end is a first grabbing hand, and the other end is a second grabbing hand); the mounting bracket is movably connected with the fixed bracket, when the mounting bracket is at a first position, the first grabbing hand grabs an object, and the second grabbing hand grabs the object; when the mounting bracket is at the second position, the first grabbing hand places the object, and the second grabbing hand places the object. The technical scheme of the utility model, in the in-process that the installing support removed to the second position from the first position, the first next article that snatchs the hand removes to the second snatchs the position of holding in hand, and the second snatchs the hand and removes the last article that the first snatchs the hand and snatchs to the target location and place, the technical scheme of the utility model, article can snatch the hand through first snatching hand and second and realize at the double motion of installing support single stroke, improve the moving range that snatchs the mechanism, snatch and place and go on simultaneously, can promote and snatch efficiency.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the prior art descriptions will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.
Fig. 1 is a schematic structural view of an embodiment of the bidirectional gripping mechanism of the present invention;
fig. 2 is a schematic structural view of another embodiment of the bidirectional gripping mechanism of the present invention;
fig. 3 is a schematic structural view of another embodiment of the bidirectional grabbing mechanism of the present invention;
fig. 4 is a schematic structural view of another embodiment of the bidirectional gripping mechanism of the present invention;
fig. 5 is a schematic structural diagram of the explosion of the bidirectional grabbing mechanism of the present invention.
The reference numbers illustrate:
the objects, features and advantages of the present invention will be further described with reference to the accompanying drawings.
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 efforts belong to the protection scope of the present invention.
It should be noted that all the directional indicators (such as upper, lower, left, right, front, and rear … …) in the embodiments of the present invention are only used to explain the relative position relationship between the components, the motion situation, etc. in a specific posture (as shown in the drawings), and if the specific posture is changed, the directional indicator is changed accordingly.
In the present application, unless expressly stated or limited otherwise, the terms "connected" and "fixed" are to be construed broadly, e.g., "fixed" may be fixedly connected or detachably connected, or integrally formed; can be mechanically or electrically connected; 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.
In addition, if there is a description relating to "first", "second", etc. in the embodiments of the present invention, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying relative importance or implicitly indicating 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 meaning of "and/or" appearing throughout includes three juxtapositions, exemplified by "A and/or B" including either A or B or both A and B. 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.
In the prior art, the process of grabbing the mechanism is generally as follows: the gripper is driven by the actuator to move from one position to another to change the physical position of the article. The existing grabbing mechanism has short moving distance of a workpiece, and if movement in a large range is required to be realized, the grabbing mechanism needs to be arranged large enough, so that the occupied space is large.
The embodiment of the utility model provides a two-way grabbing mechanism, which can realize the purpose of single-stroke double movement, realize grabbing, and can collect articles while simultaneously placing the articles; two-way movement, unilateral collection of carrying out article, the another side carries out placing of article, goes on simultaneously for deposit efficiency.
Specifically, the utility model provides a two-way mechanism that snatchs, it is shown in figures 1 to 5, include:
a fixing bracket 200;
the grabbing and releasing assembly comprises a first grabbing hand A, a mounting bracket 100 and a second grabbing hand B, wherein two opposite ends of the mounting bracket 100 are respectively connected with the first grabbing hand A and the second grabbing hand B;
wherein the mounting bracket 100 is movably coupled to the fixed bracket 200, the mounting bracket configured to move between a first position and a second position; when the mounting bracket 100 is at the first position, the first grabbing hand A grabs an article, and the second grabbing hand B grabs an article; when the mounting bracket is located at the second position, the first grabbing hand A places an article, and the second grabbing hand B places an article.
In the technical solution of the embodiment of the present invention, both ends of the mounting bracket 100 are connected with a grabbing component (one end is a first grabbing hand a, and the other end is a second grabbing hand B); the mounting bracket 100 is movably connected to the stationary member, and the mounting bracket 100 is configured to move between a first position where the first grasping hand A grasps the object and a second position where the object is placed, and the second grasping hand is grasping when the mounting bracket is in the first position. In the technical solution of the embodiment of the present invention, two ends of the mounting bracket 100 are both connected with a grabbing hand (one end is a first grabbing hand a, and the other end is a second grabbing hand B); the mounting bracket 100 is movably connected with the fixed bracket 200, when the mounting bracket 100 is at the first position, the first grabbing hand A grabs an object, and the second grabbing hand B grabs the object; when the mounting bracket 100 is at the second position, the first grabbing hand a places the object, and the second grabbing hand B places the object. The technical scheme of the utility model, in the in-process that removes to the second position at installing support 100 from the first position, the first next article that snatchs A remove to the second snatchs the position that hand B grabbed, and the second snatchs hand B and removes the last article that first snatchs hand A snatchs to the target location and places, the technical scheme of the utility model in, article can snatch hand B through first snatchs hand A and second and realize at the double motion of installing support single stroke, improve the range of movement that snatchs the mechanism, snatch and place and go on simultaneously, can promote and snatch efficiency.
The technical scheme of the utility model among, article can snatch hand B through first snatching hand A and second and realize at the double motion of 100 single strokes of installing support, improve the displacement range who snatchs the mechanism, snatch and place and go on simultaneously, can promote and snatch efficiency.
In the specific implementation process, the fixing support 200 is fixed, the mounting support 100 moves relative to the fixing support 200, so that the mounting support 100 can move along the fixing support 200, and the power of the mounting support 100 can come from a hydraulic or pneumatic electric telescopic device; or the power of the mounting bracket 100 may also originate from the power assembly 300 referred to in this embodiment.
As an alternative embodiment of the above embodiment, one side of the mounting bracket 100 is provided with a first rack 100a; a second rack 200a is arranged on one side of the fixed bracket 200, and the first rack 100a and the second rack 200a are oppositely arranged; the bidirectional grabbing mechanism further comprises: a power assembly 300, the power assembly 300 including a gear 300a, a gear mounting structure 300b, and a drive mechanism; the gear 300a is rotatably connected to the gear mounting structure 300b, and the gear 300a is engaged with both the first rack 100a and the second rack 200a; the drive mechanism is coupled to the gear mounting structure 300b and is configured to drive the gear mounting structure 300b to move in a direction parallel to the direction defined by the first position and the second position.
In a specific implementation process, the fixing bracket 200 and the mounting bracket 100 are arranged at intervals, a first rack 100a is arranged on one side of the mounting bracket 100 facing the fixing bracket 200, and a second rack 200a is arranged on one side of the fixing bracket 200 facing the mounting bracket 100; and the first rack 100a and the second rack 200a are provided with a gear 300a, when the gear 300a rolls on the fixedly arranged second rack 200a, the mounting bracket 100 moves through the meshing of the gear 300a and the first rack 100a, and then the first grabbing hand a and the second grabbing hand B are driven to move.
In a specific implementation process, the gear 300a is a transmission element of the power assembly 300, the power assembly 300 further includes a gear mounting structure 300b and a driving mechanism, the gear 300a is rotatably connected to the gear mounting structure 300b, the driving mechanism is a source of power generation, and is connected to the gear mounting structure 300b for driving the gear mounting structure 300b to move, so that the gear 300a rolls on the second rack 200a, and the gear 300a is engaged with the first rack 100a to drive the mounting bracket 100 to move. The direction of movement of the gear mounting structure 300b is parallel to the direction defined by the first position and the second position. Generally, the mounting bracket 100 is a linear structure, and thus, the first position and the second position define a linear direction (which is a horizontal direction in a conventional case), and the gear mounting structure 300b is also a linear direction in order to ensure the stability of the movement direction of the mounting bracket 100. Because gear 300a rack drive's stationarity, among the technical scheme of this embodiment, first snatch hand A and second snatch hand B and remove the in-process, shake the volume less, can reduce the damage of article.
Generally, the driving mechanism can be divided into three parts according to the relative motion state of the driving mechanism and the fixed bracket 200, wherein the first part is the gear mounting structure 300b and is a direct part moving relative to the fixed bracket 200; the second part is an indirect component that drives the gear mounting structure 300b to rotate relative to the stationary bracket 200, such as a drive shaft and an idler gear 300d; the third part is a component fixed relative to the fixed bracket 200, such as the driving member 300f.
As an optional implementation manner of the above embodiment, the power assembly 300 further includes a gear shaft 300g, and the gear 300a is sleeved on the gear shaft 300g; the gear mounting structure 300b includes: a slider plate 300b-1, the slider plate 300b-1 being connected to the driving mechanism and being configured with a gear 300a mounting hole, the gear 300a passing through the gear 300a mounting hole and being engaged with the first gear 300a and the second gear 300a, respectively; and a gear shaft mounting plate 300b-2, the gear shaft mounting plate 300b-2 is connected with the slider plate 300b-1, and the gear shaft mounting plate 300b-2 is rotatably connected with the gear shaft 300 g. Generally, the slider plate 300b-1 is disposed in the space between the mounting bracket 100 and the fixing bracket 200, the slider plate 300b-1 is provided with a mounting hole for the gear 300a, the gear 300a is disposed in the mounting hole for the gear 300a, and the engagement teeth on both sides of the gear 300a in the radial direction are located outside the mounting hole for the gear 300a to engage with the first rack 100a and the second rack 200a, respectively. The gear shaft mounting plate 300b-2 is used for mounting a gear shaft 300g, and the gear shaft 300g is fixedly connected with the gear 300a and generally connected by common keys; the gear shaft 300g is rotatably mounted to the mounting plate of the gear 300a through a bearing. The gear 300a mounting plate is fixedly connected to the slider plate 300b-1, and generally, the gear shaft mounting plate 300b-2 and the slider plate 300b-1 may be welded, riveted, screwed, or integrally connected.
Further, since both ends of the gear shaft 300g need to be supported, the gear 300a mounting plates are two spaced apart, and the slider plate 300b-1 is disposed between the two gear 300a mounting plates. In addition, the gear 300a mounting plate is coupled to the fixed bracket 200 by a first moving coupling structure, so that the slider plate 300b-1 moves smoothly, and the engagement between the gear 300a and the first and second racks 100a and 200a is stabilized. For example, a sliding groove (or a sliding rail) is formed on a side wall of the mounting plate of the gear 300a facing the fixing bracket 200, and a sliding rail (a sliding groove) is formed on a side wall of the mounting plate of the fixing bracket 200 facing the mounting plate of the gear 300a (the side on which the second rack 200a is mounted), and the sliding groove and the sliding rail cooperate to form the first connecting structure. In addition, the gear 300a mounting plate and the mounting bracket 100 are connected by a second moving connection structure such that the moving direction of the mounting bracket 100 does not deviate from the predetermined direction, a sliding groove (or a sliding rail) is configured at a side of the gear 300a mounting plate facing the mounting bracket 100, a sliding rail (a sliding groove) is configured at a side of the mounting bracket 100 facing the gear 300a mounting plate, and the sliding groove and the sliding rail cooperate to form a second connection structure.
As an alternative to the above embodiment, the drive mechanism comprises: one end of the synchronous belt 300c is connected to the slider plate 300b-1 and the idler 300d, the idler 300d is connected to the fixed bracket 200, and one end of the synchronous belt 300c, which is far away from the synchronous belt 300c and connected to the slider plate 300b-1, extends to the idler 300d and is sleeved on the idler 300d; and a synchronous wheel 300e, the synchronous wheel 300e is located at a side of the fixing bracket 200 departing from the second rack 200a, and one end of the synchronous belt 300c, which is far away from the synchronous belt 300c and connected with the gear mounting structure 300b, continues to extend to the synchronous wheel 300e after passing through the idle wheel 300d, and is meshed with the synchronous belt 300 c. In this embodiment, the synchronous pulley 300e drives the sliding plate to move by driving the synchronous belt 300c, and further drives the gear 300a to roll on the second rack 200 a. Generally, the timing wheel 300e is disposed on a side of the fixing bracket 200 facing away from the second rack 200a, and the slider plate 300b-1 is disposed between the fixing bracket 200 and the mounting bracket 100, so that the timing belt 300c is wound around the idle pulley 300d by disposing the idle pulley 300d, and the driving power of the timing wheel 300e is transmitted to the slider plate 300b-1 through the timing belt 300c by changing the driving direction. The transmission structure of the timing pulley 300e and the timing belt 300c has smoothness.
In general, two idler pulleys 300d are provided at both ends of the fixing bracket 200. The timing belt 300c extends from one end connected to the slider plate 300b-1 toward the idle pulley 300d, is reversed by the idle pulley 300d, extends toward the timing wheel 300e, is engaged with the timing wheel 300e, extends toward the other idle pulley 300d, is reversed by the other idle pulley 300d, extends toward the other end of the slider plate, and is connected to the other end of the slider plate. By the forward rotation and the reverse rotation of the timing wheel 300e, the cyclic movement of the mounting bracket 100 can be realized.
As an optional implementation manner of the foregoing embodiment, the bidirectional grabbing mechanism further includes a first buffer C and a second buffer D, and two opposite ends of the fixing bracket 200 are respectively connected to the first buffer C and the second buffer D. Specifically, the damper is a vibration damping member, and is intended to perform a damping operation when the mounting bracket 100 is moved to the first position or the second position, so as to prevent an article from falling off due to an excessive speed. The first damper and the second damper may be a hydraulic damper, a spring damper, or a urethane damper, and preferably a spring damper. The side of the gear shaft mounting plate 300b-2 facing the first gripper hand a abuts against the first bumper C while the mounting bracket 100 is in the first position; at the time of mounting the bracket 100, the side of the gear shaft mounting plate 300B-2 facing the second catching hand B abuts against the second bumper D.
As an optional implementation manner of the above embodiment, the bidirectional grasping mechanism further includes: an adjusting support 500, wherein the adjusting support 500 has a rotating shaft, and the idle wheel 300d is sleeved on the rotating shaft; the adjusting bracket 500 is slidably connected to the fixing bracket 200, and a sliding direction of the adjusting bracket 500 is parallel to a moving direction of the gear mounting structure 300 b. The moving direction of the synchronous belt 300c is parallel to the moving direction of the gear mounting structure 300b, so that the sliding direction of the adjusting support 500 is parallel to the moving direction of the gear 300a mounting mechanism, and the adjusting support 500 is used for adjusting the distance between the idle pulley 300d and the synchronous wheel 300e to adjust the tension of the synchronous belt 300c, thereby facilitating the meshing between the synchronous belt 300c and the synchronous wheel 300 e. Generally speaking, a plurality of connecting holes or bar-shaped grooves are arranged on the adjusting support 500, a plurality of another connecting holes or another bar-shaped groove are arranged on the fixing support 200, and the adjusting support 500 can be locked on the fixing support 200 by inserting connecting pieces into the connecting holes or bar-shaped grooves of the adjusting support 500 and the another connecting holes or another bar-shaped groove; when the connection of the adjusting bracket 500 and the fixing bracket 200 by the connecting member is released, the position of the adjusting bracket 500 on the fixing bracket 200 can be adjusted, and the tension of the timing belt 300c can be adjusted.
As an optional implementation of the above embodiment, the drive mechanism further comprises: a drive shaft connected with the synchronizing wheel 300e for driving the synchronizing wheel 300e; a driving member 300f, the driving member 300f being connected to the fixing bracket 200, and the driving member 300f being connected to the driving shaft to drive the driving shaft to rotate. The technical scheme of the utility model in, synchronizing wheel 300e cover is located in the drive shaft, generally chooses the key-type connection for use. The drive member 300f is preferably a motor and is arranged to rotate in both directions. The driving shaft is driven by the driving member 300f to drive the synchronous pulley 300e to rotate, so as to drive the synchronous belt 300c to move, and further drive the gear mounting structure 300b to move, so that the mounting bracket 100 is finally moved.
As an optional implementation manner of the above embodiment, the bidirectional grasping mechanism further includes: the main body mounting bracket 400, one side of the fixing bracket 200, which is far away from the mounting bracket 100, is connected with the main body mounting bracket 100, and is used for fixing the fixing bracket 200; main part mounting bracket 400 be equipped with first through-hole and with the installation cavity of first through-hole intercommunication, the drive shaft passes through first through-hole stretches into in the installation cavity, with synchronizing wheel 300e connects. The main body mount 400 is used for fixing the stand 200, and may be configured in the form of a base or other forms capable of receiving the weight of the stand 200, etc. The main body mount 400 is provided with a mounting cavity for the timing wheel 300 e. The drive shaft is inserted into the installation cavity through the first through hole and is connected with the synchronizing wheel 300e, and the frame of the drive shaft is further connected to the main body installation frame 400, and the installation frame is provided with a bearing for supporting the drive shaft and a bearing end cover for sealing the bearing.
As an optional implementation manner of the above embodiment, the bidirectional grasping mechanism further includes: driving piece mounting panel 600, driving piece mounting panel 600 with main part mounting bracket 400 deviates from one side of installation cavity is connected, driving piece 300f with driving piece mounting panel 600 is connected, driving piece mounting panel 600 seted up with first through-hole just right second through-hole, the drive shaft deviates from the one end of synchronizing wheel 300e passes through the second through-hole with driving piece 300f is connected. The driving member mounting plate 600 is connected with the main body mounting frame 400, such as threaded connection, welding, splicing, riveting, etc., the driving member 300f is installed on the driving member mounting plate 600, one end of the driving shaft is connected with the output shaft of the driving member 300f, and the other end is connected with the synchronizing wheel 300e through the second through hole, the first through hole.
In the embodiment of the present invention, when the first grabbing hand a is located at the middle position defined by the first position and the second position, the first grabbing hand a and the second grabbing hand B are symmetrically arranged with the synchronizing wheel 300 e. Alternatively, in an embodiment of the present invention, the geometric centerline of the device and the geometric centerline of the synchronizing wheel 300e are coincident when the first gripper hand a is in the intermediate position defined by the first position and the second position.
As an alternative to the above embodiment, the first gripping hand a and the second gripping hand B are both air claws. The article can be taken out through the contraction of the gas claw, and the article can be placed through the relaxation of the gas claw. In another embodiment, the first gripping hand a and the second gripping hand B may be vacuum suction members, that is, articles may be taken by vacuum suction.
The above is only the optional embodiment of the present invention, and not the scope of the present invention is limited thereby, all the equivalent structure changes made by the contents of the specification and the drawings are utilized under the inventive concept of the present invention, or the direct/indirect application in other related technical fields is included in the patent protection scope of the present invention.
Claims (10)
1. A bidirectional gripping mechanism, comprising:
fixing a bracket;
the grabbing and releasing assembly comprises a first grabbing hand, a mounting bracket and a second grabbing hand, wherein two opposite ends of the mounting bracket are respectively connected with the first grabbing hand and the second grabbing hand; the mounting bracket is movably connected with the fixed bracket, and the mounting bracket is configured to be movable between a first position and a second position;
wherein the first grasping hand grasps the article and the second grasping hand grasps the article when the mounting bracket is in the first position; when the mounting bracket is at the second position, the first grabbing hand places an object, and the second grabbing hand places an object.
2. The bidirectional gripping mechanism of claim 1, wherein one side of the mounting bracket is provided with a first rack; a second rack is arranged on one side of the fixed support, and the first rack and the second rack are oppositely arranged;
the bidirectional grabbing mechanism further comprises:
a power assembly including a gear, a gear mounting structure, and a drive mechanism; the gear is rotationally connected to the gear mounting structure and meshed with the first rack and the second rack; the drive mechanism is coupled to the gear mounting structure for driving the gear mounting structure to move in a direction parallel to the direction defined by the first position and the second position.
3. The bidirectional gripping mechanism of claim 2, wherein the power assembly further includes a gear shaft, the gear being sleeved on the gear shaft;
the gear mounting structure includes:
the slide plate is connected with the driving mechanism and is provided with a gear mounting hole, and the gear penetrates through the gear mounting hole and is meshed with the first rack and the second rack respectively; and
the gear shaft mounting panel, the gear shaft mounting panel with the slider board is connected, the gear shaft mounting panel with the gear shaft rotates to be connected.
4. The bidirectional gripping mechanism of claim 3, further comprising a first bumper and a second bumper, opposite ends of the fixed bracket being coupled to the first bumper and the second bumper, respectively,
when the mounting bracket is at the first position, one side of the gear shaft mounting plate facing the first grabbing hand abuts against the first buffer;
when the mounting bracket is at the second position, one side of the gear shaft mounting plate facing the second grabbing hand is abutted against the second buffer.
5. The bidirectional gripping mechanism of claim 3, wherein the drive mechanism comprises:
one end of the synchronous belt is connected with the sliding block plate,
the idler wheel is connected with the fixed support, and one end, far away from the synchronous belt, of the synchronous belt, connected with the sliding block plate extends to the idler wheel and is sleeved on the idler wheel; and
the synchronous wheel is positioned on one side, deviating from the second rack, of the fixed support, one end, far away from the synchronous belt, of the synchronous belt, connected with the gear mounting structure, continues to extend to the synchronous wheel after passing through the idle wheel, and is meshed with the synchronous belt.
6. The bidirectional gripping mechanism of claim 5, further comprising:
the adjusting support is provided with a rotating shaft, and the idler pulley is sleeved on the rotating shaft; the adjusting support is connected with the fixed support in a sliding mode, and the sliding direction of the adjusting support is parallel to the moving direction of the gear mounting structure.
7. The bidirectional gripping mechanism of claim 5, wherein the drive mechanism further comprises:
a drive shaft connected with the synchronizing wheel for driving the synchronizing wheel;
the driving piece is connected with the fixed support, and the driving piece is connected with the driving shaft so as to drive the driving shaft to rotate.
8. The bidirectional gripping mechanism of claim 7, further comprising:
the side, away from the mounting bracket, of the fixing bracket is connected with the main body mounting bracket and used for fixing the fixing bracket; the main part mounting bracket be equipped with first through-hole and with the installation cavity of first through-hole intercommunication, the drive shaft passes through first through-hole stretches into in the installation cavity, with the synchronizing wheel is connected.
9. The bidirectional gripping mechanism of claim 8, further comprising:
the driving piece mounting panel, the driving piece mounting panel with the main part mounting bracket deviates from one side of installation cavity is connected, the driving piece with the driving piece mounting panel is connected, the driving piece mounting panel seted up with first through-hole just right second through-hole, the drive shaft deviates from the one end of synchronizing wheel passes through the second through-hole with the driving piece is connected.
10. The bidirectional grasping mechanism according to any one of claims 1 to 9, wherein the first grasping hand and the second grasping hand are each an air gripper.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122328613.6U CN218619026U (en) | 2021-09-24 | 2021-09-24 | Bidirectional grabbing mechanism |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122328613.6U CN218619026U (en) | 2021-09-24 | 2021-09-24 | Bidirectional grabbing mechanism |
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| CN218619026U true CN218619026U (en) | 2023-03-14 |
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| CN202122328613.6U Active CN218619026U (en) | 2021-09-24 | 2021-09-24 | Bidirectional grabbing mechanism |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116141357A (en) * | 2023-04-18 | 2023-05-23 | 成都川哈工机器人及智能装备产业技术研究院有限公司 | Adjustable self-adaptive clamp |
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2021
- 2021-09-24 CN CN202122328613.6U patent/CN218619026U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116141357A (en) * | 2023-04-18 | 2023-05-23 | 成都川哈工机器人及智能装备产业技术研究院有限公司 | Adjustable self-adaptive clamp |
| CN116141357B (en) * | 2023-04-18 | 2023-06-16 | 成都川哈工机器人及智能装备产业技术研究院有限公司 | Adjustable self-adaptive clamp |
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