CN219170941U

CN219170941U - Tongs with adsorption structure

Info

Publication number: CN219170941U
Application number: CN202223371952.3U
Authority: CN
Inventors: 宋志文; 陆云霄; 宋仁杰; 邢成光; 贾美
Original assignee: Suzhou Zhengchun Intelligent Technology Co ltd
Current assignee: Suzhou Zhengchun Intelligent Technology Co ltd
Priority date: 2022-12-14
Filing date: 2022-12-14
Publication date: 2023-06-13
Anticipated expiration: 2032-12-14

Abstract

The utility model discloses a gripper with an adsorption structure, which comprises a chassis and an inclined assembly, wherein an upright post is arranged above the chassis, transverse moving assemblies for transverse expansion are symmetrically arranged on the left side and the right side of the upright post, inclined assemblies for changing inclination are symmetrically arranged on the front side and the rear side of one side of the transverse moving assemblies far away from the upright post, each inclined assembly comprises a motor, a driving wheel, a screw rod, a sliding chute, a sliding block, a shaft sleeve, a driving wheel, a supporting plate, an upright post and a control wheel group, one side of the transverse moving assemblies far away from the upright post is fixedly connected with the motor, a driving wheel is fixedly connected to an output shaft of the motor, driving wheels are symmetrically meshed on the front side and the rear side of the driving wheel, the screw rod is fixedly connected to one side of the driving wheel far away from the driving wheel, and the sliding chute is symmetrically arranged on the surface of the screw rod. According to the utility model, through the cooperation of parts of each part, the inclination of the sucker can be adjusted when the sucker is controlled to move forwards and backwards, so that the sucker is convenient to adsorb articles with non-planar top surfaces.

Description

Tongs with adsorption structure

Technical Field

The utility model relates to the technical field of grippers, in particular to a gripper with an adsorption structure.

Background

A manipulator, also called a mechanical gripper, is an automatic operation device which can simulate some action functions of a human hand and an arm and is used for grabbing and carrying objects or operating tools according to a fixed program. The method is characterized in that various expected operations can be completed through programming, the structure and the performance of the method have the advantages of people and a mechanical hand device, and the mechanical hand is an industrial robot which appears earliest and a modern robot which appears earliest, can replace heavy labor of people to realize mechanization and automation of production, can operate under harmful environments to protect personal safety, and is widely applied to departments of mechanical manufacture, metallurgy, electronics, light industry, atomic energy and the like.

The utility model of application number CN201921063357.9 discloses a robot hand grip with an adsorption structure. According to the utility model, the adsorption assemblies at two sides can be adjusted according to the sizes of the clamping parts, the gear assemblies can simultaneously adjust the lengths of the two sides of the first connecting rod, and the distances of the two sides of the adsorption assemblies are further controlled, so that smaller parts can be adsorbed, but when parts or articles with non-planar upper surfaces are adsorbed, the inclination angle of the washing tray cannot be adjusted, and the situation that the articles fall down due to unstable adsorption can occur.

Accordingly, in view of the above, research and improvement have been made on the conventional structure and the conventional defects, and a grip having an adsorption structure has been proposed.

Disclosure of Invention

The present utility model is directed to a gripper with an adsorption structure, so as to solve the problems set forth in the background art.

In order to achieve the above purpose, the present utility model provides the following technical solutions: the utility model provides a tongs with adsorption structure, includes chassis and tilt module, the chassis top is provided with the stand, and stand left and right sides symmetry is provided with the sideslip subassembly that is used for horizontal extension, the tilt module that is used for changing the gradient is provided with to the symmetry around one side that the sideslip subassembly kept away from the stand, tilt module includes motor, drive wheel, lead screw, spout, slider, axle sleeve, action wheel, extension board, pole setting and control wheelset, one side fixedly connected with motor that the sideslip subassembly kept away from the stand, and fixedly connected with drive wheel on the motor output shaft, both sides symmetrical engagement is provided with the drive wheel around the drive wheel, and drive wheel keeps away from drive wheel one side fixedly connected with lead screw, the spout has been seted up to lead screw surface symmetry, the gomphosis is connected with the slider in the spout, fixedly connected with axle sleeve in the slider outside, and the axle sleeve outside fixedly connected with action wheel is kept away from drive wheel one side gomphosis rotation and is connected with extension board, and extension board top fixedly connected with pole setting, pole setting upper portion rotation is connected with control wheelset, the control wheelset is duplex gear, and the gear is in the gear and the gear is located the pole setting both sides respectively.

Further, the inclination assembly further comprises an electromagnetic block, a control spring, a base plate and a tooth block, wherein the electromagnetic block is fixedly connected to the middle of the upper surface of the support plate, the control spring is symmetrically arranged on the front side and the rear side of the electromagnetic block, the base plate is fixedly connected to the upper end of the control spring, and the tooth block is fixedly connected to the upper side of the base plate.

Further, the control wheel set is meshed with the driving wheel, the control wheel set is meshed with the tooth block, the backing plate is elastically connected with the support plate through the control spring, and the support plate is in sliding connection with the screw rod.

Further, the suction cup is fixedly connected with below the support plate, the longitudinal movement assembly used for longitudinal expansion is arranged in the support plate, the longitudinal movement assembly comprises a clamping cavity and electromagnetic sheets, the clamping cavity is formed in the support plate, and the electromagnetic sheets are symmetrically and fixedly connected with the left side and the right side of the clamping cavity.

Further, the longitudinal moving assembly further comprises a clamp spring and a thread clamp, the upper side and the lower side of the electromagnetic sheet are symmetrically provided with the clamp spring, and one end, close to the screw rod, of the clamp spring is fixedly connected with the thread clamp.

Further, the thread clamp is elastically connected with the clamp cavity through the clamp spring, and is in threaded connection with the screw rod.

Further, the sideslip subassembly includes smooth chamber, slide rail and slide, the smooth chamber has been seted up to chassis left and right sides symmetry, and the slide rail has been seted up to smooth chamber front and back bilateral symmetry, sliding connection has the slide in smooth chamber.

Further, sideslip subassembly still includes draw runner and telescopic link, both sides symmetry fixedly connected with draw runner around the slide, and the slide top rotates and is connected with the telescopic link, the draw runner passes through slide rail and chassis sliding connection, the telescopic link rotates with the stand to be connected.

The utility model provides a gripper with an adsorption structure, which has the following beneficial effects: according to the gripper with the adsorption structure, through the cooperation among parts, when the sucker is controlled to move forwards and backwards, the inclination of the sucker can be adjusted, so that the articles with the non-planar top surfaces can be adsorbed conveniently;

1. according to the utility model, through the arrangement of the inclination assembly, when the motor drives the driving wheel to rotate through the driving wheel, the screw rod can drive the shaft sleeve to drive the driving wheel to rotate through the sliding groove and the sliding block, when the electromagnetic block is powered off, the base plate drives the toothed plate to be meshed with the control wheel set under the action of the control spring, so that the control wheel set cannot rotate on the vertical rod, at the moment, the driving wheel can drive the support plate to rotate on the screw rod through the control wheel set, the inclination of the sucker is adjusted, the adsorption of articles with non-planar top surface is facilitated, when the electromagnetic block is powered on, the electromagnetic block sucks the base plate down, the toothed plate is separated from the control wheel set, the driving wheel drives the control wheel set to rotate on the vertical rod, and the support plate is kept vertical on the screw rod under the action of gravity;

2. according to the utility model, through the arrangement of the longitudinal moving assembly, when the sucker needs to be longitudinally moved, the thread clamp is in threaded connection with the screw rod under the action of the clamp spring, when the screw rod rotates, the support plate can be driven to move in the front-back direction on the screw rod through the thread clamp, when the sucker does not need to be longitudinally moved, the electromagnetic sheet is electrified to adsorb the thread clamp, and at the moment, the screw rod can not be rotated to drive the support plate to move any more;

3. according to the utility model, through the arrangement of the transverse moving assembly, when the sucker needs to be expanded, the telescopic rod stretches to drive the sliding plate to move in the sliding cavity, so that the sucker is driven to transversely expand, the sliding strip can limit the sliding plate through the sliding rail, and the sliding plate is prevented from deflecting to keep the stability of the sliding plate.

Drawings

FIG. 1 is a schematic cross-sectional front view of the present utility model;

FIG. 2 is an enlarged schematic view of the structure of FIG. 1A according to the present utility model;

FIG. 3 is a right side view of the slide plate according to the present utility model;

fig. 4 is a schematic perspective view of a skateboard according to the present utility model.

In the figure: 1. a chassis; 2. a column; 3. a traversing assembly; 301. a sliding cavity; 302. a slide rail; 303. a slide plate; 304. a slide bar; 305. a telescopic rod; 4. a tilting assembly; 401. a motor; 402. a driving wheel; 403. a driving wheel; 404. a screw rod; 405. a chute; 406. a slide block; 407. a shaft sleeve; 408. a driving wheel; 409. a support plate; 410. a vertical rod; 411. a control wheel set; 412. an electromagnetic block; 413. a control spring; 414. a backing plate; 415. tooth blocks; 5. a suction cup; 6. a longitudinally moving component; 601. a cavity is blocked; 602. an electro-magnetic sheet; 603. clamping springs; 604. and (5) a thread clamp.

Detailed Description

Embodiments of the present utility model are described in further detail below with reference to the accompanying drawings and examples. The following examples are illustrative of the utility model but are not intended to limit the scope of the utility model.

As shown in fig. 1, 2 and 3, a gripper with an adsorption structure comprises a chassis 1 and an inclination component 4, wherein an upright post 2 is arranged above the chassis 1, transverse moving components 3 for transverse expansion are symmetrically arranged on the left side and the right side of the upright post 2, the inclination component 4 for changing inclination is symmetrically arranged on the front side and the rear side of one side of the transverse moving components 3 far away from the upright post 2, the inclination component 4 comprises a motor 401, a driving wheel 402, a driving wheel 403, a screw rod 404, a sliding chute 405, a sliding block 406, a shaft sleeve 407, a driving wheel 408, a support plate 409, an upright rod 410 and a control wheel group 411, one side of the transverse moving components 3 far away from the upright post 2 is fixedly connected with the motor 401, a driving wheel 402 is fixedly connected with an output shaft of the motor 401, driving wheels 403 are symmetrically meshed on the front side and the rear side of the driving wheel 403 far away from the driving wheel 402, the screw rod 404 is symmetrically provided with the sliding chute 405 on the surface of the screw rod 404, the slide groove 405 is internally embedded and connected with a slide block 406, the outer side of the slide block 406 is fixedly connected with a shaft sleeve 407, the outer side of the shaft sleeve 407 is fixedly connected with a driving wheel 408, one side of the shaft sleeve 407 far away from the driving wheel 403 is embedded and rotationally connected with a support plate 409, the upper part of the support plate 409 is fixedly connected with a vertical rod 410, the upper part of the vertical rod 410 is rotationally connected with a control wheel group 411, the control wheel group 411 is a duplex gear, the gears are respectively positioned at two sides of the vertical rod 410, the tilting assembly 4 also comprises an electromagnetic block 412, a control spring 413, a backing plate 414 and a tooth block 415, the middle part of the upper surface of the support plate 409 is fixedly connected with the electromagnetic block 412, the front side and the rear side of the electromagnetic block 412 are symmetrically provided with control springs 413, the upper end of the control spring 413 is fixedly connected with a backing plate 414, the upper part of the backing plate 414 is fixedly connected with a tooth block 415, the control wheel group 411 is meshed with the driving wheel 408, the control wheel group 411 is meshed with the tooth block 415, the backing plate 414 is elastically connected with the support plate 409 through the control spring 413, the support plate 409 is in sliding connection with the screw rod 404, the suction cup 5 is fixedly connected below the support plate 409, the longitudinal moving assembly 6 for longitudinal expansion is arranged in the support plate 409, the longitudinal moving assembly 6 comprises a clamping cavity 601 and an electromagnetic sheet 602, the clamping cavity 601 is internally provided with the clamping cavity 601, the electromagnetic sheet 602 is symmetrically and fixedly connected with the left side and the right side in the clamping cavity 601, the longitudinal moving assembly 6 further comprises a clamp spring 603 and a thread clamp 604, the upper side and the lower side of the electromagnetic sheet 602 are symmetrically provided with the clamp spring 603, one end of the clamp spring 603 close to the screw rod 404 is fixedly connected with the thread clamp 604, the thread clamp 604 is elastically connected with the clamping cavity 601 through the clamp spring 603, the thread clamp 604 is in threaded connection with the screw rod 404, through the arrangement of the tilting assembly 4, when the motor 401 drives the driving wheel 403 to rotate through the driving wheel 402, the screw rod 404 can drive the driving wheel 408 through the sliding groove 405 and the sliding block 406, and the shaft sleeve 407 drives the driving wheel 408 to rotate when the electromagnetic block 412 is powered off, the base plate 414 drives the toothed plate to be meshed with the control wheel group 411 under the action of the control spring 413, so that the control wheel group 411 cannot rotate on the vertical rod 410, at the moment, the driving wheel 408 can drive the support plate 409 to rotate on the screw rod 404 through the control wheel group 411, the inclination of the suction disc 5 is adjusted, the non-planar article on the top surface is convenient to adsorb, when the electromagnetic block 412 is electrified, the electromagnetic block 412 sucks the base plate 414 down, the toothed plate is separated from the control wheel group 411, the driving wheel 408 drives the control wheel group 411 to rotate on the vertical rod 410, the support plate 409 is kept vertical on the screw rod 404 under the action of gravity, through the arrangement of the longitudinal moving component 6, when the suction disc 5 needs to longitudinally move, the threaded clamp 604 is in threaded connection with the screw rod 404 under the action of the clamp spring 603, and when the screw rod 404 rotates, the threaded clamp 604 can drive the support plate 409 to longitudinally move on the screw rod 404 without longitudinally moving the suction disc 5, the electromagnetic sheet 602 is electrified to adsorb the screw clamp 604, and at this time, the screw rod 404 can not drive the support plate 409 to move any more.

As shown in fig. 1, fig. 2, fig. 3 and fig. 4, the traversing assembly 3 includes a sliding cavity 301, sliding rails 302 and a sliding plate 303, the left and right sides of the chassis 1 are symmetrically provided with the sliding cavity 301, the front and rear sides of the sliding cavity 301 are symmetrically provided with the sliding rails 302, the sliding plate 303 is connected in a sliding manner in the sliding cavity 301, the traversing assembly 3 further includes a sliding bar 304 and a telescopic rod 305, the front and rear sides of the sliding plate 303 are symmetrically and fixedly connected with the sliding bar 304, the telescopic rod 305 is connected with the chassis 1 in a sliding manner through the sliding rail 302 in a rotating manner above the sliding plate 303, the telescopic rod 305 is connected with the upright post 2 in a rotating manner, when the sucking disc 5 needs to be expanded through the arrangement of the traversing assembly 3, the telescopic rod 305 stretches to drive the sliding plate 303 to move in the sliding cavity 301, so as to drive the sucking disc 5 to transversely expand, and the sliding bar 304 can limit the sliding plate 303 through the sliding rail 302, so as to avoid the sliding plate 303 from deflecting and keeping the stability of the sliding plate 303.

In summary, this tongs with adsorption structure, when in use, firstly according to the structure shown in fig. 1, fig. 2, fig. 3 and fig. 4, when needs are to be expanded to sucking disc 5, telescopic link 305 is elongated, drive slide 303 removes in slide cavity 301, thereby drive sucking disc 5 and transversely expand, slide 304 accessible slide rail 302 is restricted slide 303, avoid slide 303 skew to keep slide 303 stable, when motor 401 drives drive wheel 403 through drive wheel 402 and rotate, lead screw 404 accessible spout 405, slider 406 makes sleeve 407 drive action wheel 408 rotate, when electromagnet 412 outage, backing plate 414 drives pinion rack and control wheelset 411 under control spring 413's effect, make control wheelset 411 unable to rotate on pole setting 410, this moment, the accessible control wheelset 411 drives extension board 409 and rotates on lead screw 404, adjust sucking disc 5 gradient, be convenient for adsorbing for the article that is the nonplanar, when electromagnet 412 is circular telegram, electromagnet 412 is sucked down backing plate 414, pinion rack and control wheelset 411 breaks away from, action control wheelset rotates on pole setting 410, under the effect of gravity, support board 409 keeps vertical clamp 409 and keeps vertical clamp on top surface and moves on lead screw 404 and need not to rotate on lead screw 404 when the longitudinal direction of lead screw 404, and can's screw 404 is connected with lead screw 404 and can's threads 404 and can't be rotated when the screw 404 is required to move under the effect of leading screw 404.

The embodiments of the utility model have been presented for purposes of illustration and description, and are not intended to be exhaustive or limited to the utility model in the form disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art. The embodiments were chosen and described in order to best explain the principles of the utility model and the practical application, and to enable others of ordinary skill in the art to understand the utility model for various embodiments with various modifications as are suited to the particular use contemplated.

Claims

1. The utility model provides a tongs with adsorption structure, includes chassis (1) and tilting assembly (4), its characterized in that, chassis (1) top is provided with stand (2), and stand (2) left and right sides symmetry is provided with sideslip subassembly (3) that are used for horizontal expansion, sideslip subassembly (3) are kept away from one side of stand (2) and are provided with tilting assembly (4) that are used for changing the gradient front and back symmetry, tilting assembly (4) including motor (401), drive wheel (402), drive wheel (403), lead screw (404), spout (405), slider (406), axle sleeve (407), action wheel (408), extension board (409), pole setting (410) and control wheelset (411), one side fixedly connected with motor (401) of stand (2) is kept away from to sideslip subassembly (3), and bilateral symmetry meshing is provided with drive wheel (403) around drive wheel (402), and drive wheel (403) are kept away from one side fixedly connected with lead screw (404) of drive wheel (402), spout (405) are seted up to lead screw (404) surface symmetry, slider (406) are connected with slider (406) inside, outside (407) are fixedly connected with outside (407), and axle sleeve (407) outside fixedly connected with action wheel (408), axle sleeve (407) are kept away from drive wheel (403) one side gomphosis rotation and are connected with extension board (409), and extension board (409) top fixedly connected with pole setting (410), pole setting (410) upper portion rotates and is connected with control wheelset (411), control wheelset (411) are duplex gear, and the gear is located pole setting (410) both sides respectively.

2. The gripper with the adsorption structure according to claim 1, wherein the tilting assembly (4) further comprises an electromagnetic block (412), a control spring (413), a base plate (414) and a tooth block (415), the electromagnetic block (412) is fixedly connected to the middle of the upper surface of the support plate (409), the control springs (413) are symmetrically arranged on the front side and the rear side of the electromagnetic block (412), the base plate (414) is fixedly connected to the upper end of the control spring (413), and the tooth block (415) is fixedly connected to the upper portion of the base plate (414).

3. The gripper with the adsorption structure according to claim 2, wherein the control wheel set (411) is meshed with the driving wheel (408), the control wheel set (411) is meshed with the tooth block (415), the base plate (414) is elastically connected with the support plate (409) through the control spring (413), and the support plate (409) is slidably connected with the screw rod (404).

4. The gripper with the adsorption structure according to claim 1, wherein the suction cup (5) is fixedly connected below the support plate (409), a longitudinally moving component (6) for longitudinal expansion is arranged in the support plate (409), the longitudinally moving component (6) comprises a clamping cavity (601) and electromagnetic sheets (602), the clamping cavity (601) is formed in the support plate (409), and the electromagnetic sheets (602) are symmetrically and fixedly connected to the left side and the right side in the clamping cavity (601).

5. The gripper with the adsorption structure according to claim 4, wherein the longitudinal moving assembly (6) further comprises a clamp spring (603) and a thread clamp (604), the clamp spring (603) is symmetrically arranged on the upper side and the lower side of the electromagnetic sheet (602), and one end, close to the screw rod (404), of the clamp spring (603) is fixedly connected with the thread clamp (604).

6. The gripper with the adsorption structure according to claim 5, wherein the thread clamp (604) is elastically connected with the clamp cavity (601) through the clamp spring (603), and the thread clamp (604) is in threaded connection with the screw rod (404).

7. The gripper with the adsorption structure according to claim 1, wherein the traversing assembly (3) comprises a sliding cavity (301), sliding rails (302) and sliding plates (303), the sliding cavity (301) is symmetrically arranged on the left side and the right side of the chassis (1), the sliding rails (302) are symmetrically arranged on the front side and the rear side of the sliding cavity (301), and the sliding plates (303) are connected in a sliding mode in the sliding cavity (301).

8. The gripper with the adsorption structure according to claim 7, wherein the traversing assembly (3) further comprises a sliding bar (304) and a telescopic rod (305), the sliding bar (304) is symmetrically and fixedly connected to the front side and the rear side of the sliding plate (303), the telescopic rod (305) is rotatably connected to the upper portion of the sliding plate (303), the sliding bar (304) is slidably connected with the chassis (1) through the sliding rail (302), and the telescopic rod (305) is rotatably connected with the upright post (2).