CN218664180U

CN218664180U - Gripping device

Info

Publication number: CN218664180U
Application number: CN202223251291.0U
Authority: CN
Inventors: 刘宇豪; 曲普; 边根成; 张敬锋; 胡佳明
Original assignee: North University of China
Current assignee: North University of China
Priority date: 2022-12-06
Filing date: 2022-12-06
Publication date: 2023-03-21
Anticipated expiration: 2032-12-06

Abstract

The utility model relates to the technical field of electromechanical equipment, in particular to a gripping device, which comprises a rotating mechanism, a lifting mechanism, a translation mechanism and a gripping mechanism; the rotating mechanism is used for driving the lifting mechanism, the translation mechanism and the grabbing mechanism to rotate horizontally; the lifting mechanism is used for driving the translation mechanism and the grabbing mechanism to lift; the translation mechanism is used for driving the grabbing mechanism to move horizontally; snatch mechanism includes sliding block, connecting plate, electric telescopic handle and centre gripping body, the connecting plate set up in the sliding block below, two fixed plate of connecting plate lower surface fixedly connected with, two the centre gripping body passes through respectively electric telescopic handle and two the fixed plate inboard is connected. The utility model provides a grabbing device, the holding body passes through electric telescopic handle and is connected with the fixed plate, through electric telescopic handle's flexible to adjust the distance between two holding bodies, thereby press from both sides tight work piece, snatch the work piece of equidimension not.

Description

Gripping device

Technical Field

The utility model relates to an electromechanical device technical field, more specifically say, in particular to grabbing device.

Background

The mechatronics is also called mechanical electronic engineering, is one of mechanical engineering and automation, and a mechatronics lathe can automatically process a product. Lathe material loading before all carries out the material loading through the manual work, and there is certain danger in manual material loading, and needs a large amount of manpowers to operate, has increased labour cost, and the speed of manual material loading is extremely slow simultaneously, has reduced the fashioned speed of work piece to reduced part production speed.

Present grabbing device can't accomplish all-round snatching, and according to different work pieces, need change the clamping jaw of different grade type, it is troublesome to change, the utility model discloses a grant utility model patent that bulletin number is CN215431545U discloses a grabbing device for mechatronic lathe, as shown in figure 1, through setting up gear wheel and pinion, can realize pressing from both sides the rotation of getting the device, through setting up slide and first lead screw, can realize pressing from both sides the reciprocating of getting the device, through setting up slider and second lead screw, can realize pressing from both sides and remove about getting the device, thereby the lift clamp is got the clamp of getting the device and is got the scope, make the device can all-round snatch and put down. As shown in fig. 1, the clamping device 500 includes a connecting plate 510, a fixed chuck 520, a movable chuck 530, anti-slip threads 540, a sliding rod 550, a third screw 560 and a wheel disc 570, and by arranging the fixed chuck 520 and the movable chuck 530, workpieces of different sizes can be grabbed without frequently exchanging clamping jaws of different types, and when the clamping device is used, the third screw 560 is driven to rotate by rotating the wheel disc 570, so that the movable chuck 530 is driven to slide on the sliding rod 550, and the distance between the movable chuck 530 and the fixed chuck 520 is adjusted, so as to clamp the workpieces. The clamping device has the disadvantages that the distance between the movable chuck and the fixed chuck needs to be manually adjusted, so that a workpiece is clamped, the clamping device is inconvenient to use, and the efficiency is low.

SUMMERY OF THE UTILITY MODEL

The utility model discloses an overcome the distance that needs manual regulation activity chuck and fixed chuck between to press from both sides the problem of the work piece of tight equidimension not, aim at providing one kind and need not manual regulation and can snatch the work piece of equidimension not, and can carry out the grabbing device of location to the work piece in the certain limit when snatching.

A gripping device comprises a rotating mechanism, a lifting mechanism, a translation mechanism and a gripping mechanism; the rotating mechanism is used for driving the lifting mechanism, the translation mechanism and the grabbing mechanism to rotate horizontally; the lifting mechanism is used for driving the translation mechanism and the grabbing mechanism to lift; the translation mechanism is used for driving the grabbing mechanism to move horizontally; snatch mechanism includes sliding block, backup pad, electric telescopic handle and holding body, the backup pad set up in the sliding block below, two fixed plate of backup pad surface fixedly connected with, two the holding body passes through respectively electric telescopic handle and two the fixed plate inboard is connected.

Furthermore, the two clamping bodies are provided with pressure sensors.

Further, still include laser range finder and control mechanism, laser range finder set up in backup pad lower surface middle part, the vertical transmission downwards of laser range finder, laser range finder with control mechanism links to each other, control mechanism with elevating system and translation mechanism link to each other.

Furthermore, snatch the mechanism and still include first motor, first motor install in sliding block below, just first motor output shaft with backup pad fixed connection.

Furthermore, the rotating mechanism comprises a second motor, a first gear, a rotating shaft and a second gear, an output shaft of the second motor is fixedly connected with the first gear, the second gear is fixedly sleeved on the rotating shaft, the first gear is meshed with the second gear, a turntable is fixedly arranged at the top of the rotating shaft, and the lifting mechanism is arranged above the turntable.

Furthermore, the lifting mechanism comprises a fixed frame, a first screw rod, a third motor and a sliding plate, the first screw rod is vertically and rotatably arranged in the fixed frame, the third motor is arranged above the fixed frame, an output shaft of the third motor penetrates through the top of the fixed frame and is fixedly connected with the first screw rod, and the sliding plate is in rotating fit with the first screw rod.

Furthermore, translation mechanism includes crane, second lead screw and fourth motor, the second lead screw both ends with the elevator both ends are rotated and are connected, the output shaft of fourth motor with second lead screw fixed connection, the sliding block with the rotatory cooperation of second lead screw.

Further, the lower side surface of the supporting plate is provided with a sliding rail, and the clamping body is in sliding fit with the sliding rail.

Further, still include the base, second motor and axis of rotation all install in on the base, the axis of rotation with the base rotates and is connected.

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

(1) the utility model provides a grabbing device, the holding body passes through electric telescopic handle to be connected with the fixed plate, through electric telescopic handle's flexible to adjust the distance between two holding bodies, thereby press from both sides tight work piece, snatch the work piece of equidimension not, solved prior art, need the distance between manual regulation activity chuck and the fixed chuck, just can press from both sides tight work piece, be not convenient for use, the lower technical problem of efficiency.

(2) The utility model provides a grabbing device through set up pressure sensor on the clamping body, can prevent to snatch the clamp force and decrease too big with the product clamp, has enough under the prerequisite of grabbing power guaranteeing, stably snatchs the product.

(3) The utility model provides a grabbing device through set up laser range finder at the connecting plate lower surface, can follow translation mechanism's length direction and fix a position the work piece to more accurate work piece that snatchs.

Drawings

The accompanying drawings are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention, and together with the description serve to explain the principles of the invention. In the drawings:

fig. 1 is a schematic structural view of a clamping device for a grabbing device for an mechatronic lathe in the prior art.

Fig. 2 is a perspective view of a first viewing angle of the grasping apparatus according to an embodiment of the present invention.

Fig. 3 is a perspective view of a second viewing angle of the grasping apparatus according to the embodiment of the present invention.

Fig. 4 is a perspective view of a third viewing angle of the grasping device in the embodiment of the present invention.

Fig. 5 is a sectional view of the clamping body in the embodiment of the present invention.

Fig. 6 is a front view of a grasping apparatus in an embodiment of the present invention.

In the figure: 500. a clamping device; 510. a connecting plate; 520. fixing the chuck; 530. a movable chuck; 540. a slide bar; 550. anti-skid lines; 560. a third screw rod; 570. a wheel disc.

1. A rotating mechanism; 101. a second motor; 102. a first gear; 103. a rotating shaft; 104. a second gear; 105. a turntable; 2. a lifting mechanism; 201. a fixed mount; 202. a first lead screw; 203. a third motor; 204. a sliding plate; 3. a translation mechanism; 301. a lifting frame; 302. a second lead screw; 303. a fourth motor; 4. a grabbing mechanism; 401. a slider; 402. a support plate; 403. an electric telescopic rod; 404. a clamping body; 405. a fixing plate; 406. a pressure sensor; 407. a first motor; 408. a slide rail; 5. a laser range finder; 6. a control mechanism; 7. a base.

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.

The specific embodiment is as follows:

as shown in fig. 2, the gripping device in this embodiment includes a rotating mechanism 1, a lifting mechanism 2, a translating mechanism 3, a gripping mechanism 4, and a base 7. As shown in fig. 3, the rotating mechanism 1 includes a second motor 101, a first gear 102, a rotating shaft 103, and a second gear 104, the second motor 101 is mounted on the base 7, an output shaft of the second motor 101 is in a vertical state, and the first gear 102 is coaxially and fixedly connected with the output shaft of the second motor 101. The rotating shaft 103 is vertically and rotatably installed on the base 7, the second gear 104 is fixedly sleeved on the rotating shaft 103 and coaxially arranged with the rotating shaft 103, the first gear 102 is meshed with the second gear 104, and the top of the rotating shaft 103 is fixedly provided with the rotating disc 105. The second motor 101 is turned on, and the output shaft of the second motor 101 transfers the first gear 102 to rotate, so as to drive the second gear 104, the rotating shaft 103 and the rotating disc 105 to rotate.

In this embodiment, the lifting mechanism 2 includes a fixing frame 201, a first lead screw 202, a third motor 203 and a sliding plate 204, the fixing frame 201 is vertically fixed on the upper surface of the turntable 105, the first lead screw 202 is vertically disposed in the fixing frame 201, and the bottom of the first lead screw 202 is rotatably connected with the turntable 105. The third motor 203 is installed above the fixing frame 201, an output shaft of the third motor 203 penetrates through the top of the fixing frame 201 and is fixedly connected with the top of the first screw rod 202, a first rotating hole is formed in the sliding plate 204, the sliding plate 204 is sleeved outside the first screw rod 202, and the sliding plate 204 is in rotating fit with the first screw rod 202 through the first rotating hole.

In the present embodiment, the translation mechanism 3 includes a crane 301, a second lead screw 302, and a fourth motor 303. The lifting frame 301 is in a U-shaped structure, one end of the lifting frame 301 is fixedly connected with the sliding plate 204, and the other end of the lifting frame 301 is provided with a fourth motor 303. Two ends of the second screw rod 302 are rotatably connected with two ends of the lifting frame 301, and an output shaft of the fourth motor 303 is fixedly connected with the second screw rod 302. The sliding plate 204 is provided with a second rotating hole, the sliding block 401 is sleeved outside the second screw rod 302, and the sliding block 401 is rotatably matched with the second screw rod 302 through the second rotating hole. Spacing hole has been seted up to crane 301 bottom, and sliding block 401 bottom is inserted and is located spacing hole to restriction sliding block 401 rotates.

In this embodiment, as shown in fig. 3, the grabbing mechanism 4 includes a sliding block 401, a supporting plate 402, an electric telescopic rod 403, and two clamping bodies 404, the supporting plate 402 is disposed below the sliding block 401 and is in a strip shape, two fixing plates 405 are fixedly connected to two ends of a lower surface of the supporting plate 402, and the two clamping bodies 404 are respectively connected to inner sides of the two fixing plates 405 through the electric telescopic rod 403. The lower surface of the support plate 402 is further provided with a slide rail 408, and the clamping body 404 is in sliding fit with the slide rail 408. As shown in fig. 5, an inner groove is formed in the gripper body, a pressure sensor 406 is disposed on one side of the inner groove close to the electric telescopic rod 403, a gripper plate is disposed on the other side of the inner groove, and the pressure sensor 406 is connected with the gripper plate through a spring.

As shown in fig. 4, the gripping device in this embodiment further includes a first motor 407, the first motor 407 is installed below the sliding block 401, and an output shaft of the first motor 407 is fixedly connected to the supporting plate 402. Through setting up first motor 407, first motor 407 output shaft rotates and can drive backup pad 402 and rotate to adjust the centre gripping direction of grip block, increase the practicality.

Grabbing device in this embodiment still includes laser range finder 5 and control mechanism 6, and laser range finder 5 sets up in backup pad 402 lower surface middle part, and the vertical emission downwards of laser range finder 5, and laser range finder 5 control mechanism 6 links to each other, and control mechanism 6 links to each other with third motor 203 and fourth motor 303. Setting one end of the second lead screw 302 close to the sliding plate 204 as a front end and the other end as a rear end, in an initial state, the sliding block 401 is located at the front end, as shown in fig. 6, when grabbing a workpiece, the laser range finder 5 is turned on, the fourth motor 303 is turned on, the sliding block 401 is moved to the rear end, the laser range finder 5 is turned on at the same time, the distance between the support plate 402 and the object below is measured as d, the measurement structure is transmitted to the control mechanism 6 in real time, the distance between the support plate 402 and the conveyor belt is set as an initial value d0, the sliding block 401 drives the support plate 402 to move to the rear end, when the support plate 402 moves to the front and the rear of the workpiece, d is equal to d0, when the support plate 402 moves to the upper side of the workpiece, d is smaller than d0, when d is smaller than d0, the control mechanism 6 controls the fourth motor 303 to be turned off, the sliding block 401 stops moving, then the control mechanism 6 controls the third motor 203 to be turned on, the grabbing mechanism 4 to move downward, and when d is equal to be equal to 0, the control mechanism 6 controls the third motor 203 to be turned off, and then the workpiece. Through setting up laser range finder 5 and control mechanism 6, can fix a position the work piece along the length direction of second lead screw 302 to more accurate snatch the work piece.

In this embodiment, the control mechanism 6 is further connected to the pressure sensor 406 and the electric telescopic rod 403. Through setting up pressure sensor 406, electric telescopic handle 403 extends, drives clamping body 404 and is close to clamping workpiece each other, and pressure sensor 406 transmits the pressure value of survey for control mechanism 6, and when the pressure measurement value arrived the set pressure value, control mechanism 6 control electric telescopic handle 403 stopped the extension, can prevent to snatch the clamp force and decrease the product clamp excessively, under the prerequisite that the assurance had enough power of grabbing, steadily snatch the product.

The working principle of the gripping device in this embodiment is as follows:

when a workpiece is grabbed, the laser range finder 5 is started, the fourth motor 303 is started, the sliding block 401 moves towards the rear end, the laser range finder 5 is started simultaneously, the distance between the supporting plate 402 and the object below is measured to be d, the measuring structure is transmitted to the control mechanism 6 in real time, the distance between the supporting plate 402 and the conveyor belt is set to be an initial value d0, the sliding block 401 drives the supporting plate 402 to move towards the rear end, when the supporting plate 402 moves to the front and the back of the workpiece, d is equal to d0, when the supporting plate 402 moves to the upper portion of the workpiece, d is smaller than d0, when d is smaller than d0, the control mechanism 6 controls the fourth motor 303 to be closed, the sliding block 401 stops moving, then the control mechanism 6 controls the third motor 203 to be started, the grabbing mechanism 4 moves downwards, and when d is equal to 0, the control mechanism 6 controls the third motor 203 to be closed. Then the control mechanism 6 controls the electric telescopic rod 403 to extend to drive the clamping bodies 404 to approach each other to clamp the workpiece, the pressure sensor 406 transmits the measured pressure value to the control mechanism 6, when the pressure measured value reaches the set pressure value, the control mechanism 6 controls the electric telescopic rod 403 to stop extending, the clamping bodies 404 clamp the workpiece, then the third motor 203 is started again and rotates the same stroke in the opposite direction, the second motor 101 is started to enable the rotating shaft 103 to rotate a certain angle, the workpiece is placed at the next working procedure, and then the rotating shaft 103 rotates in the opposite direction by the same angle to reset.

After resetting, the next workpiece reaches the position to be grabbed, the supporting plate 402 is positioned above the grabbing position of the previous workpiece, at this time, three conditions exist, namely the first condition is that the position of the next workpiece is the same as that of the previous workpiece, d is smaller than d0, the control mechanism 6 controls the third motor 203 to be started, and the grabbing mechanism 4 moves downwards to grab the next workpiece; secondly, the next workpiece is positioned at the rear side of the previous workpiece, d is equal to d0, the control mechanism 6 controls the fourth motor 303 to be started, the grabbing mechanism 4 moves towards the rear end, when the supporting plate 402 moves to the position above the workpiece, d is smaller than d0, the control mechanism 6 controls the fourth motor 303 to be closed, the sliding block 401 stops moving, then the control mechanism 6 controls the third motor 203 to be started, and the grabbing mechanism 4 moves downwards to grab the next workpiece; thirdly, the next workpiece is positioned on the front side of the previous workpiece, d is equal to d0, the control mechanism 6 controls the fourth motor 303 to be started, the grabbing mechanism 4 moves towards the rear end, when the sliding block 401 moves to the rear end, the control mechanism 6 controls the fourth motor 303 to rotate reversely, the grabbing mechanism 4 moves towards the front end, when the supporting plate 402 moves to the position above the workpiece, d is smaller than d0, the control mechanism 6 controls the fourth motor 303 to be closed, the sliding block 401 stops moving, then the control mechanism 6 controls the third motor 203 to be started, and the grabbing mechanism 4 moves downwards to grab the next workpiece.

The gripping device in this embodiment, the clamping body 404 is connected with the fixed plate 405 through electric telescopic handle 403, and is flexible through electric telescopic handle 403, thereby adjusts the distance between two clamping bodies 404, thereby presss from both sides tight work piece, snatchs the work piece of equidimension not, has solved prior art, needs the manual distance of adjusting between movable chuck and the fixed chuck, just can press from both sides tight work piece, is not convenient for use, the lower technical problem of efficiency. And set up pressure sensor 406 on clamping body 404, can prevent to snatch the too big product clamp loss of clamp force, under the prerequisite of guaranteeing to have enough grabbing power, steadily snatch the product.

On the other hand, the grabbing device in this embodiment is through setting up laser range finder 5 and control mechanism 6 for the length direction that snatchs mechanism 4 and can follow second lead screw 302 is fixed a position the work piece, thereby more accurate snatchs the work piece, has solved and can not fix a position the problem in any direction to the work piece among the prior art.

Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments described in the foregoing embodiments, or equivalents may be substituted for elements thereof. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. The grabbing device is characterized by comprising a rotating mechanism (1), a lifting mechanism (2), a translation mechanism (3) and a grabbing mechanism (4);

the rotating mechanism (1) is used for driving the lifting mechanism (2), the translation mechanism (3) and the grabbing mechanism (4) to horizontally rotate;

the lifting mechanism (2) is used for driving the translation mechanism (3) and the grabbing mechanism (4) to lift;

the translation mechanism (3) is used for driving the grabbing mechanism (4) to move horizontally;

snatch mechanism (4) and include sliding block (401), backup pad (402), electric telescopic handle (403) and centre gripping body (404), backup pad (402) set up in sliding block (401) below, backup pad (402) lower surface fixedly connected with two fixed plates (405), two centre gripping body (404) pass through respectively electric telescopic handle (403) and two fixed plate (405) inboard is connected.

2. The grasping apparatus according to claim 1, wherein: the two clamping bodies (404) are provided with pressure sensors (406).

3. The grasping apparatus according to claim 1, wherein: still include laser range finder (5) and control mechanism (6), laser range finder (5) set up in backup pad (402) lower surface middle part, the vertical emission downwards of laser range finder (5), laser range finder (5) with control mechanism (6) link to each other, control mechanism (6) with elevating system (2) and translation mechanism (3) link to each other.

4. The grasping apparatus according to claim 1, wherein: the grabbing mechanism (4) further comprises a first motor (407), the first motor (407) is installed below the sliding block (401), and an output shaft of the first motor (407) is fixedly connected with the supporting plate (402).

5. The grasping apparatus according to claim 1, wherein: the rotating mechanism (1) comprises a second motor (101), a first gear (102), a rotating shaft (103) and a second gear (104), an output shaft of the second motor (101) is fixedly connected with the first gear (102), the second gear (104) is fixedly sleeved on the rotating shaft (103), the first gear (102) is meshed with the second gear (104), a rotating disc (105) is fixedly arranged at the top of the rotating shaft (103), and the lifting mechanism (2) is arranged above the rotating disc (105).

6. The grasping apparatus according to claim 1, wherein: the lifting mechanism (2) comprises a fixed frame (201), a first screw rod (202), a third motor (203) and a sliding plate (204), the first screw rod (202) is vertically and rotatably arranged in the fixed frame (201), the third motor (203) is arranged above the fixed frame (201), an output shaft of the third motor (203) penetrates through the top of the fixed frame (201) and is fixedly connected with the first screw rod (202), and the sliding plate (204) is in rotating fit with the first screw rod (202).

7. The grasping apparatus according to claim 1, wherein: translation mechanism (3) include crane (301), second lead screw (302) and fourth motor (303), second lead screw (302) both ends with the lift both ends are rotated and are connected, the output shaft of fourth motor (303) with second lead screw (302) fixed connection, sliding block (401) with second lead screw (302) normal running fit.

8. The grasping apparatus according to claim 1, wherein: the lower side surface of the supporting plate (402) is provided with a sliding rail (408), and the clamping body (404) is in sliding fit with the sliding rail (408).

9. The grasping apparatus according to claim 5, wherein: still include base (7), second motor (101) and axis of rotation (103) all install in on base (7), axis of rotation (103) with base (7) are rotated and are connected.