CN219027551U

CN219027551U - Grabbing device for conical metal cylinder and grabbing robot

Info

Publication number: CN219027551U
Application number: CN202223600064.4U
Authority: CN
Inventors: 刘强; 丁维强; 沈卓; 邓晟; 黄勇; 李竹暄; 李玉球; 陈莹; 涂昌波
Original assignee: Changsha Intelligent Manufacturing Research Institute Co ltd
Current assignee: Changsha Intelligent Manufacturing Research Institute Co ltd
Priority date: 2022-12-21
Filing date: 2022-12-21
Publication date: 2023-05-16
Anticipated expiration: 2032-12-21

Abstract

The utility model provides a grabbing device and a grabbing robot for a conical metal cylinder, and relates to the technical field of grabbing equipment. The grabbing device comprises a mounting seat, a plurality of grabbing claws are rotatably arranged on the mounting seat along the circumferential interval of the mounting seat, an absorbing part is arranged at the first end part of each grabbing claw, a sliding block capable of axially moving along the mounting seat and a driving mechanism for driving the sliding block to move are arranged on the mounting seat, the second ends of the grabbing claws are all hinged with the sliding block, and the driving mechanism can drive the sliding block to move so as to drive the grabbing claws to rotate, so that the absorbing part is absorbed on the outer side wall of the conical metal cylinder. Based on the technical scheme of the utility model, the grabbing device can solve the grabbing problem of the conical metal cylinder and has the advantages of simple structure, simplicity and convenience in operation and the like.

Description

Grabbing device for conical metal cylinder and grabbing robot

Technical Field

The utility model relates to the technical field of grabbing equipment, in particular to a grabbing device and a grabbing robot for a conical metal cylinder.

Background

At present, the feeding and discharging of the conical metal cylinder products are basically carried out manually, and because the surfaces of the products are smooth after the products are processed, the products have a certain weight and are conical, and certain difficulty is brought to accurate automatic grabbing and placing, the conical products are produced in a large quantity in the military industry and some precision processing enterprises. The traditional mode is manual carrying, and the labor cost is high, efficient, and the work environment of porter is abominable, is unfavorable for human health. Some enterprises develop and design full-automatic or semi-automatic grippers to replace part of manual operation so as to improve production efficiency. However, the existing grippers have the problems of relatively complex structure and high cost.

Disclosure of Invention

To the problem among the above-mentioned prior art, the application provides a grabbing device and grabbing robot for toper metal cylinder, can solve the grabbing problem of toper metal cylinder.

According to one aspect of the utility model, a grabbing device for a conical metal cylinder is provided, the grabbing device comprises a mounting seat, a plurality of grabbing claws are rotatably mounted on the mounting seat at intervals along the circumferential direction of the mounting seat, an absorbing member is mounted at a first end of each grabbing claw, a sliding block capable of axially moving along the mounting seat and a driving mechanism for driving the sliding block to move are mounted on the mounting seat, a second end of each grabbing claw is hinged with the sliding block, and the driving mechanism can drive the sliding block to move so as to drive each grabbing claw to rotate, so that the absorbing member is absorbed on the outer side wall of the conical metal cylinder.

As a further improvement of the above technical scheme:

according to the grabbing device for the conical metal cylinder, further, the plurality of positioning claws are rotatably arranged on the mounting seat along the circumferential interval of the mounting seat, the positioning blocks are arranged at the first ends of the positioning claws, the second ends of the positioning claws are hinged with the sliding blocks, and the driving mechanism can drive the sliding blocks to move so as to drive the positioning claws to rotate, so that the positioning blocks form conical positioning grooves matched with the conical metal cylinder.

The above-mentioned grabbing device for toper metal section of thick bamboo, further, actuating mechanism includes along the axial extension's of mount pad lead screw and can drive lead screw pivoted rotary drive spare, the sliding block with lead screw threaded fit, rotary drive spare can drive the lead screw rotates in order to drive the sliding block is followed the mount pad axial displacement.

In the above gripping device for a tapered metal cylinder, further, the rotary driving member is a servo motor.

In the above grabbing device for a conical metal cylinder, further, the absorbing member is a circular corrugated sucker.

The grabbing device for the conical metal cylinder is further characterized in that the mounting seat is provided with a quick switching mechanism, and the quick switching mechanism can be connected with the mechanical arm.

Another aspect of the utility model provides a gripping robot comprising a robotic arm and a gripping device for a conical metal cylinder as described above, the gripping device being mounted on the robotic arm.

The above-described features may be combined in various suitable ways or replaced by equivalent features as long as the object of the present utility model can be achieved.

Compared with the prior art, the grabbing device and the grabbing robot for the conical metal cylinder have the following beneficial effects: when the grabbing device for the conical metal cylinder is required to be used for grabbing the conical metal cylinder, the grabbing device is driven to be close to the conical metal cylinder, then the driving mechanism drives the sliding block to move so as to drive each grabbing claw to rotate, so that the adsorbing piece is adsorbed on the outer side wall of the conical metal cylinder, the conical metal cylinder is grabbed to other positions, then the driving mechanism drives the sliding block to move reversely so as to drive each grabbing claw to rotate, and the adsorbing piece is separated from the outer side wall of the conical metal cylinder, so that the conical metal cylinder is released. The grabbing device can solve the grabbing problem of the conical metal cylinder, and has the advantages of being simple in structure, convenient to operate and the like.

In order to make the above objects, features and advantages of the present utility model more comprehensible, preferred embodiments accompanied with figures are described in detail below.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present utility model, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present utility model and therefore should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

The utility model will be described in more detail hereinafter on the basis of embodiments and with reference to the accompanying drawings. Wherein:

fig. 1 shows a schematic structural diagram of a gripping device according to an embodiment of the present utility model;

fig. 2 shows a side view of a gripping device according to an embodiment of the utility model.

In the drawings, like parts are designated with like reference numerals. The figures are not to scale.

Reference numerals:

100-grabbing device, 110-mount, 120-grabbing claw, 121-absorbing piece, 130-sliding block, 140-driving mechanism, 141-lead screw, 142-rotating driving piece, 150-positioning claw, 151-positioning block, 160-quick switching mechanism and 200-conical metal cylinder.

Detailed Description

Embodiments of the present utility model are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative only and are not to be construed as limiting the utility model.

In the description of the present utility model, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present utility model and simplifying the description, and do not indicate or imply that the device or element being referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present utility model.

Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present utility model, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.

In the present utility model, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the present utility model can be understood by those of ordinary skill in the art according to the specific circumstances.

In the present utility model, unless expressly stated or limited otherwise, a first feature "up" or "down" a second feature may be the first and second features in direct contact, or the first and second features in indirect contact via an intervening medium. Moreover, a first feature being "above," "over" and "on" a second feature may be a first feature being directly above or obliquely above the second feature, or simply indicating that the first feature is level higher than the second feature. The first feature being "under", "below" and "beneath" the second feature may be the first feature being directly under or obliquely below the second feature, or simply indicating that the first feature is less level than the second feature.

The utility model will be further described with reference to the accompanying drawings.

The embodiment of the utility model provides a gripping device 100 for a conical metal cylinder 200, which can solve the gripping problem of the conical metal cylinder 200.

Referring to fig. 1 and 2, in the gripping device 100 for a tapered metal cylinder 200 according to the embodiment of the present utility model, the gripping device 100 includes a mounting base 110, a plurality of gripping claws 120 are rotatably mounted on the mounting base 110 along a circumferential interval thereof, an absorbing member 121 is mounted at a first end of the gripping claws 120, a sliding block 130 capable of moving along an axial direction of the mounting base 110 and a driving mechanism 140 for driving the sliding block 130 to move are mounted on the mounting base 110, a second end of each gripping claw 120 is hinged to the sliding block 130, and the driving mechanism 140 is capable of driving the sliding block 130 to move to drive each gripping claw 120 to rotate, so that the absorbing member 121 is absorbed on an outer sidewall of the tapered metal cylinder 200.

When the gripping device 100 for the tapered metal cylinder 200 provided by the embodiment of the utility model needs to be used for gripping the tapered metal cylinder 200, the gripping device 100 is driven to approach the tapered metal cylinder 200, then the driving mechanism 140 drives the sliding block 130 to move so as to drive each gripping claw 120 to rotate, so that the adsorbing member 121 is adsorbed on the outer side wall of the tapered metal cylinder 200, thereby gripping the tapered metal cylinder 200 to other positions, and then the driving mechanism 140 drives the sliding block 130 to move reversely so as to drive each gripping claw 120 to rotate, so that the adsorbing member 121 is separated from the outer side wall of the tapered metal cylinder 200, and thus the tapered metal cylinder 200 is released. The grabbing device 100 provided by the embodiment of the utility model can solve the grabbing problem of the conical metal cylinder 200, and has the advantages of simple structure, simplicity and convenience in operation and the like.

In the gripping device 100 for a tapered metal cylinder 200 according to the embodiment of the present utility model, further, a plurality of positioning claws 150 are rotatably installed on the installation seat 110 at intervals along the circumferential direction thereof, a positioning block 151 is installed at a first end of each positioning claw 150, a second end of each positioning claw 150 is hinged to the sliding block 130, and the driving mechanism 140 can drive the sliding block 130 to move so as to drive each positioning claw 150 to rotate, so that the positioning block 151 forms a tapered positioning groove matched with the tapered metal cylinder 200.

When the gripping device 100 for the tapered metal cylinder 200 provided by the embodiment of the utility model needs to be used for gripping the tapered metal cylinder 200, the gripping device 100 is driven to approach the tapered metal cylinder 200, then the driving mechanism 140 drives the sliding block 130 to move so as to drive each gripping claw 120 and each positioning claw 150 to rotate, so that each positioning block 151 forms a tapered positioning groove matched with the tapered metal cylinder 200, the tapered metal cylinder 200 is positioned in the tapered positioning groove, the absorbing piece 121 is absorbed on the outer side wall of the tapered metal cylinder 200, thereby gripping the tapered metal cylinder 200 to other positions, and then the driving mechanism 140 drives the sliding block 130 to move reversely so as to drive each gripping claw 120 and each positioning claw 150 to rotate, so that each positioning block 151 is far away from each other, and simultaneously the absorbing piece 121 is separated from the outer side wall of the tapered metal cylinder 200, so that the tapered metal cylinder 200 is released.

According to the grabbing device 100 for the conical metal cylinder 200 provided by the embodiment of the utility model, each positioning block 151 can position the conical metal cylinder 200, and is matched with each absorption piece 121 to grab the conical metal cylinder 200, so that the grabbing precision of the conical metal cylinder 200 is improved.

Referring to fig. 1 specifically, referring to a gripping device 100 for a tapered metal cylinder 200 provided in an embodiment of the present utility model, a driving mechanism 140 includes a screw rod 141 extending along an axial direction of a mounting seat 110 and a rotation driving member 142 capable of driving the screw rod 141 to rotate, a sliding block 130 is in threaded engagement with the screw rod 141, and the rotation driving member 142 is capable of driving the screw rod 141 to rotate to drive the sliding block 130 to axially move along the mounting seat 110. In this embodiment, the rotary driving member 142 is a servo motor, which can precisely control the rotation angles of the gripping claws 120 and the positioning claws 150, and the rotation angles of the gripping claws 120 and the positioning claws 150 are determined by the shape and the size of the tapered metal cylinder 200, so as to ensure that the surface of the tapered metal cylinder 200 is not damaged during clamping, and ensure that the tapered metal cylinder 200 can be clamped. The suction member 121 is a circular corrugated suction cup, and is suitable for severe working conditions of multiple operations with extremely short beats.

Referring to fig. 1 in detail, in the gripping device 100 for a tapered metal cylinder 200 provided in the embodiment of the present utility model, a quick switching mechanism 160 is installed on a mounting seat 110, and the quick switching mechanism 160 can be connected to a mechanical arm and can be used for switching an electrical signal, an air source, etc.

The embodiment of the utility model also provides a grabbing robot, which comprises a mechanical arm and the grabbing device 100 for the conical metal tube 200 provided by any embodiment, wherein the grabbing device 100 is mounted on the mechanical arm. The specific structure of the gripping device 100 refers to the above embodiment, and since the gripping robot adopts all the technical solutions of all the embodiments, at least the gripping robot has all the beneficial effects brought by the technical solutions of the embodiments, and will not be described in detail herein.

In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present utility model. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.

Although the utility model herein has been described with reference to particular embodiments, it is to be understood that these embodiments are merely illustrative of the principles and applications of the present utility model. It is therefore to be understood that numerous modifications may be made to the illustrative embodiments and that other arrangements may be devised without departing from the spirit and scope of the present utility model as defined by the appended claims. It should be understood that the different dependent claims and the features described herein may be combined in ways other than as described in the original claims. It is also to be understood that features described in connection with separate embodiments may be used in other described embodiments.

Claims

1. The utility model provides a grabbing device for toper metal section of thick bamboo, its characterized in that, grabbing device includes the mount pad, install a plurality of snatchs claw along its circumference interval rotatable on the mount pad, the absorbing member is installed to the first end of snatch claw, install on the mount pad can follow the slider of mount pad axial displacement and be used for the drive the actuating mechanism that the slider removed, each snatch claw's second end all with the slider articulates, actuating mechanism can drive the slider removes in order to drive each snatch claw rotates, so that absorbing member adsorb in the lateral wall of toper metal section of thick bamboo.

2. The gripping device for a tapered metal cylinder as claimed in claim 1, wherein a plurality of positioning claws are rotatably mounted on the mounting base at intervals along a circumferential direction thereof, positioning blocks are mounted at first ends of the positioning claws, second ends of the positioning claws are hinged to the sliding blocks, and the driving mechanism can drive the sliding blocks to move so as to drive the positioning claws to rotate, so that the positioning blocks form tapered positioning grooves matched with the tapered metal cylinder.

3. The gripping device for a tapered metal cylinder as claimed in claim 1, wherein the driving mechanism includes a screw rod extending in an axial direction of the mount, and a rotation driving member capable of driving the screw rod to rotate, the sliding block is in threaded engagement with the screw rod, and the rotation driving member is capable of driving the screw rod to rotate to drive the sliding block to axially move along the mount.

4. A gripping device for tapered metal cans as in claim 3, wherein the rotary drive is a servo motor.

5. The grasping apparatus for a tapered metal cylinder according to claim 1, wherein the suction member is a circular corrugated suction cup.

6. The gripping device for a tapered metal cylinder as in claim 1, wherein the mounting base is provided with a quick switching mechanism, the quick switching mechanism being connectable to a robotic arm.

7. A gripping robot comprising a robot arm and a gripping device for a conical metal cylinder according to any one of claims 1 to 6, the gripping device being mounted on the robot arm.