CN219258824U

CN219258824U - Triaxial snatchs mechanism

Info

Publication number: CN219258824U
Application number: CN202320217656.3U
Authority: CN
Inventors: 赖定仁; 周辉
Original assignee: Xiamen Ding Casting Intelligent Equipment Co ltd
Current assignee: Xiamen Ding Casting Intelligent Equipment Co ltd
Priority date: 2023-02-15
Filing date: 2023-02-15
Publication date: 2023-06-27
Anticipated expiration: 2033-02-15

Abstract

The utility model discloses a triaxial grabbing mechanism which comprises a base, a traversing mechanism, a vertical moving mechanism, a longitudinal moving mechanism and a clamping mechanism, wherein the base is provided with a plurality of clamping grooves; the transverse moving mechanism can translate along the length direction of the machine base; the vertical moving mechanism can vertically move relative to the transverse moving mechanism; the longitudinal moving mechanism can longitudinally move relative to the vertical moving mechanism; the clamping mechanism comprises a swing arm assembly and a clamping piece, wherein the swing arm assembly is arranged on the longitudinal moving mechanism and can swing relative to the longitudinal moving mechanism, and the clamping piece is arranged on the swing arm assembly and can open and close relative to the swing arm assembly so as to clamp a workpiece. According to the utility model, the transverse moving mechanism, the vertical moving mechanism and the longitudinal moving mechanism are used for controlling the clamping mechanism to move in the directions of the XYZ three axes, and the swing arm assembly is used for controlling the clamping piece to swing, so that the clamping piece can swing to a required angle after clamping the workpiece, the workpiece can be conveniently taken and placed, the working efficiency of the robot is improved, the production cost is reduced, and the robot is fully automated.

Description

Triaxial snatchs mechanism

Technical Field

The utility model relates to the technical field of mechanical arms, in particular to a triaxial grabbing mechanism.

Background

The mechanical arm is an automatic operation device which can imitate some action functions of a human arm, grasp and carry objects or operation tools according to a fixed program, can complete various expected operations through programming, further replaces heavy labor of people to realize mechanization and automation of production, and can also operate under a harmful environment to protect personal safety, so that the mechanical arm is widely applied to the field of mechanical manufacturing.

At present, many polishing robots in the prior art also adopt a manual feeding and discharging mode, which not only has the problems of lower feeding and discharging speed, time and labor waste and high production cost, but also needs to be provided with additional equipment or hands to assist in taking out or placing workpiece products, which is not beneficial to the robot to realize full automation, so that improvement is necessary.

In addition, the clamping jaw of the existing mechanical arm mostly adopts a straight arm type pneumatic clamping piece, namely, two clamping jaws of the pneumatic clamping piece are in a straight rod shape, and as most of workpieces processed by the polishing robot are heavy metal workpieces, the clamping jaw of the structure is poor in stability of clamping the metal workpieces, and the workpieces fall off easily in the processing process.

Disclosure of Invention

The utility model aims to provide a three-shaft grabbing mechanism which can improve the working efficiency of a robot, reduce the production cost and is beneficial to realizing full automation of the robot.

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

a three-axis grabbing mechanism comprises a machine base, a transverse moving mechanism, a vertical moving mechanism, a longitudinal moving mechanism and a clamping mechanism; the transverse moving mechanism is arranged on the machine base and can translate along the length direction of the machine base; the vertical moving mechanism is arranged on the transverse moving mechanism and can vertically move relative to the transverse moving mechanism; the vertical moving mechanism is arranged on the vertical moving mechanism and can move longitudinally relative to the vertical moving mechanism; the clamping mechanism comprises a swing arm assembly and a clamping piece, wherein the swing arm assembly is arranged on the longitudinal moving mechanism and can swing relative to the longitudinal moving mechanism, and the clamping piece is arranged on the swing arm assembly and can open and close relative to the swing arm assembly so as to clamp a workpiece.

Further, the swing arm assembly comprises a swing piece, a rotating shaft, a rotating arm and a connecting rod, wherein the swing piece and the rotating shaft are respectively arranged on the longitudinal moving mechanism, the swing piece drives the rotating shaft to rotate relative to the longitudinal moving mechanism, the rotating arm is arranged on the rotating shaft, the clamping piece is arranged on the rotating arm, the swing piece adopts an air cylinder, one end of the connecting rod is hinged with a piston rod of the air cylinder, and the other end of the connecting rod is hinged on the rotating shaft.

Further, the clamping piece includes grip slipper, upper clamping jaw, lower clamping jaw and piece that opens and shuts, the grip slipper set firmly in on the rocking arm, articulated on the grip slipper side by side have two pairs of upper clamping jaw and lower clamping jaw, each pair of upper clamping jaw and lower clamping jaw are crooked rather than the middle part and form the centre gripping space that is the O shape, the piece that opens and shuts set up in the grip slipper is used for control open and close of upper clamping jaw, lower clamping jaw.

Further, an installation opening is formed in the clamping seat, an installation groove communicated with the installation opening is formed in the front end of the clamping seat, the opening and closing piece is arranged in the installation opening, and the tail ends of the upper clamping jaw and the lower clamping jaw are respectively hinged to the opening and closing piece and are hinged to the side wall of the installation groove through a connecting shaft.

Further, the sideslip mechanism includes first guide rail, first support, first slider and first driving piece, first guide rail transversely arrange in on the frame, the bottom of first support is provided with first slider, first slider and first guide rail sliding fit, first driving piece is used for the drive first support carries out horizontal translation.

Further, the first driving piece comprises a first rack, a first motor and a first gear, the first rack is transversely arranged on the base, the first motor is arranged on the first support, and the first gear is connected with a shaft of the first motor and meshed with the first rack.

Further, the vertical moving mechanism comprises a second guide rail, a second support, a second sliding block and a second driving piece, wherein the second guide rail is vertically arranged on the first support, the second sliding block is arranged on the rear side face of the second support, the second sliding block is in sliding fit with the second guide rail, and the second driving piece is used for driving the second support to vertically translate.

Further, the second driving piece comprises a second rack, a second motor and a second gear, the second rack is vertically arranged on the first support, the second motor is arranged on the second support, and the second gear is connected with a shaft of the second motor and meshed with the second rack.

Further, the longitudinal moving mechanism comprises a third sliding block, a third support, a third guide rail and a third driving piece, wherein the third sliding block is arranged on the front side face of the second support, the third guide rail is longitudinally distributed on the rear side face of the third support, the third guide rail is in sliding fit with the third sliding block, and the third driving piece is used for driving the third support to longitudinally translate.

Further, the third driving piece comprises a third rack, a third motor and a third gear, the third rack is longitudinally arranged on the third support, the third motor is arranged on the second support, and the third gear is connected with a shaft of the third motor and meshed with the third rack.

After the technical scheme is adopted, compared with the background technology, the utility model has the following advantages:

1. according to the utility model, the transverse moving mechanism, the vertical moving mechanism and the longitudinal moving mechanism are used for controlling the clamping mechanism to move in the directions of the XYZ three axes, and the swing arm assembly is used for controlling the clamping piece to swing, so that the clamping piece can swing to a required angle after clamping the workpiece, the workpiece can be conveniently taken and placed, the working efficiency of the robot is improved, the production cost is reduced, and the robot is fully automated.

2. The utility model adopts the design of two pairs of clamping jaws, the clamping jaws are more stable when clamping the workpiece, the workpiece is not easy to swing, the workpiece is not easy to fall off in the processing process, and the clamping jaws are bent relative to the middle parts of the clamping jaws to form an O-shaped clamping space, so that the clamping jaws are convenient for grabbing long-strip workpieces and irregular objects.

3. According to the utility model, the tail ends of the upper clamping jaw and the lower clamping jaw are respectively hinged on the opening and closing piece and are hinged with the side wall of the mounting groove of the clamping seat through the connecting shaft, and the stroke and the grasping force of the upper clamping jaw and the lower clamping jaw are larger by adopting the structural design of the lever principle, so that the metal piece can be processed more conveniently.

Drawings

FIG. 1 is a schematic perspective view of the present utility model;

FIG. 2 is a schematic view of the installation of a first rail and a first rack in the present utility model;

FIG. 3 is a schematic view of a portion of the structure of the present utility model;

FIG. 4 is an exploded view of FIG. 3;

FIG. 5 is a second schematic diagram of a portion of the structure of the present utility model;

FIG. 6 is a schematic diagram of a clamping mechanism according to the present utility model;

FIG. 7 is a second schematic diagram of the clamping mechanism according to the present utility model;

FIG. 8 is a view showing the state of use of the clamping mechanism according to the present utility model;

FIG. 9 is a cross-sectional view of a clip of the present utility model;

fig. 10 is an exploded view of the clip of the present utility model.

Reference numerals illustrate:

the device comprises a base 100, a first limiting seat and a first limiting head 120;

the traversing mechanism 200, the first guide rail 210, the first support 220, the second limiting seat 221, the second limiting head 222, the third limiting head 223, the first slider 230, the first rack 241, the first motor 242 and the first gear 243;

the vertical movement mechanism 300, the second guide rail 310, the second support 320, the second slider 330, the second driving piece 340, the second rack 341, the second motor 342, and the second gear 343;

the vertical moving mechanism 400, the third sliding block 410, the third support 420, the third limiting seat 421, the third limiting head 422, the third guide rail 430, the third driving piece 440, the third rack 441, the third motor 442 and the third gear 443;

swing arm assembly 510, swing member 511, rotation shaft 512, rotation arm 513, connecting rod 514, fourth limit seat 515, fourth limit head 516, clamping member 520, clamping seat 521, mounting opening 5211, mounting groove 5212, upper clamping jaw 522, lower clamping jaw 523, and opening and closing member 524;

the workpiece 600.

Detailed Description

The present utility model will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present utility model more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the utility model. In addition, it should be noted that:

the terms "upper," "lower," "left," "right," "vertical," "horizontal," "inner," "outer," and the like are based on the orientation or positional relationship shown in the drawings, and are merely for convenience of description and to simplify the description, and do not denote or imply that the apparatus or elements of the present utility model must have a particular orientation, and thus should not be construed as limiting the utility model.

When an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element.

Unless specifically stated or limited otherwise, the terms "mounted," "connected," and "coupled" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; 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 utility model will be understood by those skilled in the art according to the specific circumstances.

Examples

Referring to fig. 1, the utility model discloses a three-axis grabbing mechanism, which comprises a machine base 100, a traversing mechanism 200, a vertical moving mechanism 300, a longitudinal moving mechanism 400 and a clamping mechanism; the traversing mechanism 200 is disposed on the stand 100 and can translate along the length direction of the stand 100; the vertical moving mechanism 300 is arranged on the traversing mechanism 200 and can vertically move relative to the traversing mechanism 200; the vertical movement mechanism 400 is arranged on the vertical movement mechanism 300 and can move longitudinally relative to the vertical movement mechanism 300; the clamping mechanism comprises a swing arm assembly 510 and a clamping piece 520, wherein the swing arm assembly 510 is arranged on the longitudinal moving mechanism 400 and can swing relative to the longitudinal moving mechanism 400, and the clamping piece 520 is arranged on the swing arm assembly 510 and can open and close relative to the swing arm assembly 510 so as to clamp a workpiece.

Referring to fig. 1 to 5, the traversing mechanism 200 includes a first guide rail 210, a first support 220, a first slider 230, and a first driving member, where the first guide rail 210 is transversely disposed on the machine base 100, the first slider 230 is disposed at the bottom of the first support 220, the first slider 230 is slidably engaged with the first guide rail 210, and the first driving member is used for driving the first support 220 to transversely translate. The first driving member includes a first rack 241, a first motor 242 and a first gear 243, where the first rack 241 is transversely disposed on the stand 100, in this embodiment, the number of the first rails 210 is two, the first rack 241 is located between the two first rails 210, so that the movement of the first support 220 is more stable, the first motor 242 is disposed on the first support 220, and the first gear 243 is connected with the shaft of the first motor 242 and meshed with the first rack 241. The two ends of the stand 100 are respectively provided with a first limiting seat 110, the first limiting seat 110 is provided with a first limiting head 120, and the first support 220 is positioned between the two first limiting heads 120.

As shown in fig. 1 and fig. 3 to fig. 5, the vertical moving mechanism 300 includes a second guide rail 310, a second support 320, a second slider 330 and a second driving member 340, where the second guide rail 310 is vertically disposed on the first support 220, the second slider 330 is disposed on a rear side of the second support 320, and the second slider 330 is slidably matched with the second guide rail 310, and the second driving member 340 is used for driving the second support 320 to vertically translate. The second driving member 340 includes a second rack 341, a second motor 342 and a second gear 343, where the second rack 341 is vertically disposed on the first support 220, in this embodiment, the number of the second rails 310 is two, and the second rack 341 is located between the two second rails 310, so that the movement of the second support 320 is smoother, the second motor 342 is disposed on the second support 320, and the second gear 343 is connected with a crankshaft of the second motor 342 and meshed with the second rack 341. The upper end of the first support 220 is provided with a second limiting seat 221, the lower end is provided with a third limiting head 223, the second limiting seat 221 is provided with a second limiting head 222, and the second support 320 is positioned between the second limiting head 222 and the third limiting head 223.

Referring to fig. 1, 5 and 7, the longitudinal moving mechanism 400 includes a third slider 410, a third support 420, a third guide rail 430 and a third driving member 440, where the third slider 410 is disposed on the front side of the second support 320, the third guide rail 430 is disposed on the rear side of the third support 420, and the third guide rail 430 is slidably engaged with the third slider 410, and the third driving member 440 is used for driving the third support 420 to longitudinally translate. The third driving member 440 includes a third rack 441, a third motor 442, and a third gear 443, the third rack 441 is longitudinally disposed on the third support 420, the third motor 442 is disposed on the second support 320, and the third gear 443 is connected to a shaft of the third motor 442 and engaged with the third rack 441. The two ends of the third support 420 are respectively provided with a third limiting seat 421, the third limiting seat 421 is provided with a third limiting head 422, and the second support 320 is located between the two third limiting heads 422.

As shown in fig. 1 and fig. 6 to fig. 8, the swing arm assembly 510 includes a swing member 511, a rotation shaft 512, a rotation arm 513, and a connecting rod 514, wherein the swing member 511 and the rotation shaft 512 are respectively disposed on the longitudinal movement mechanism 400, the swing member 511 drives the rotation shaft 512 to rotate relative to the longitudinal movement mechanism 400, the rotation arm 513 is mounted on the rotation shaft 512, and the clamping member 520 is mounted on the rotation arm 513. The swinging member 511 adopts a cylinder, one end of the connecting rod 514 is hinged with a piston rod of the cylinder, and the other end is hinged on the rotating shaft 512. After the swinging member 511 acts, the connecting rod 514 drives the rotating shaft 512 to rotate, and then drives the rotating arm 513 to rotate together, so that the clamping member 520 rotates to a proper angle for picking and placing the workpiece. The rotating arm 513 is provided with a fourth limiting seat 515, the fourth limiting seat 515 is provided with a fourth limiting head 516, and the fourth limiting head 516 is located above the rotating arm 513.

As shown in fig. 7 to 10, the clamping member 520 includes a clamping seat 521, an upper clamping jaw 522, a lower clamping jaw 523, and an opening and closing member 524 (only the structure of the connector of the opening and closing member is shown in the drawing), the clamping seat 521 is fixedly arranged on the rotating arm 513, and two pairs of upper clamping jaws 522 and lower clamping jaws 523 are arranged on the clamping seat 521 in parallel and hinged, so that the workpiece clamping mechanism is more stable, is not easy to deflect and swing, and is not easy to fall in the processing process. The upper clamping jaw 522 and the lower clamping jaw 523 of each pair are bent to form an O-shaped clamping space relative to the middle part thereof, so that the elongated workpiece 600 and the irregular object can be conveniently grasped, and the opening and closing member 524 is arranged in the clamping seat and is used for controlling the opening and closing of the upper clamping jaw 522 and the lower clamping jaw 523, and in the embodiment, the opening and closing member 524 can adopt a telescopic structure such as an air cylinder and the like, and is not limited herein.

The clamping seat 521 is provided with a mounting opening 5211, a mounting groove 5212 communicated with the mounting opening 5211 is formed in the front end of the clamping seat 521, the opening and closing member 524 is arranged in the mounting opening 5211, the tail ends of the upper clamping jaw 522 and the lower clamping jaw 523 are respectively hinged to the opening and closing member 524 and are hinged to the side wall of the mounting groove 5212 through a connecting shaft 525, and the upper clamping jaw 522 and the lower clamping jaw 523 can enable the stroke and the grasping force of the clamp to be larger by adopting the structural design of the lever principle.

The present utility model is not limited to the above-mentioned embodiments, and any changes or substitutions that can be easily understood by those skilled in the art within the technical scope of the present utility model are intended to be included in the scope of the present utility model. Therefore, the protection scope of the present utility model should be subject to the protection scope of the claims.

Claims

1. The utility model provides a triaxial snatchs mechanism which characterized in that: comprises a machine seat, a transverse moving mechanism, a vertical moving mechanism, a longitudinal moving mechanism and a clamping mechanism; the transverse moving mechanism is arranged on the machine base and can translate along the length direction of the machine base; the vertical moving mechanism is arranged on the transverse moving mechanism and can vertically move relative to the transverse moving mechanism; the vertical moving mechanism is arranged on the vertical moving mechanism and can move longitudinally relative to the vertical moving mechanism; the clamping mechanism comprises a swing arm assembly and a clamping piece, wherein the swing arm assembly is arranged on the longitudinal moving mechanism and can swing relative to the longitudinal moving mechanism, and the clamping piece is arranged on the swing arm assembly and can open and close relative to the swing arm assembly so as to clamp a workpiece.

2. A three-axis gripping mechanism as in claim 1, wherein: the swing arm assembly comprises a swing piece, a rotating shaft, a rotating arm and a connecting rod, wherein the swing piece and the rotating shaft are respectively arranged on the longitudinal moving mechanism, the swing piece drives the rotating shaft to rotate relative to the longitudinal moving mechanism, the rotating arm is arranged on the rotating shaft, the clamping piece is arranged on the rotating arm, the swing piece adopts an air cylinder, one end of the connecting rod is hinged with a piston rod of the air cylinder, and the other end of the connecting rod is hinged to the rotating shaft.

3. A three-axis gripping mechanism as in claim 2, wherein: the clamping piece comprises a clamping seat, an upper clamping jaw, a lower clamping jaw and an opening and closing piece, wherein the clamping seat is fixedly arranged on the rotating arm, two pairs of upper clamping jaws and lower clamping jaws are hinged on the clamping seat side by side, the upper clamping jaws and the lower clamping jaws are respectively bent relative to the middle parts of the upper clamping jaws and the lower clamping jaws to form an O-shaped clamping space, and the opening and closing piece is arranged in the clamping seat and used for controlling the opening and closing of the upper clamping jaws and the lower clamping jaws.

4. A three-axis gripping mechanism as in claim 3 wherein: the clamping seat is provided with a mounting opening, the front end of the clamping seat is provided with a mounting groove communicated with the mounting opening, the opening and closing piece is arranged in the mounting opening, and the tail ends of the upper clamping jaw and the lower clamping jaw are respectively hinged to the opening and closing piece and are hinged to the side wall of the mounting groove through a connecting shaft.

5. A three-axis gripping mechanism as in claim 1, wherein: the transverse moving mechanism comprises a first guide rail, a first support, a first sliding block and a first driving piece, wherein the first guide rail is transversely arranged on the base, the first sliding block is arranged at the bottom of the first support, the first sliding block is in sliding fit with the first guide rail, and the first driving piece is used for driving the first support to transversely move.

6. A three-axis gripping mechanism as in claim 5, wherein: the first driving piece comprises a first rack, a first motor and a first gear, the first rack is transversely arranged on the base, the first motor is arranged on the first support, and the first gear is connected with a crankshaft of the first motor and meshed with the first rack.

7. A three-axis gripping mechanism as in claim 5, wherein: the vertical moving mechanism comprises a second guide rail, a second support, a second sliding block and a second driving piece, wherein the second guide rail is vertically arranged on the first support, the second sliding block is arranged on the rear side face of the second support, the second sliding block is in sliding fit with the second guide rail, and the second driving piece is used for driving the second support to vertically translate.

8. A three-axis gripping mechanism as in claim 7 wherein: the second driving piece comprises a second rack, a second motor and a second gear, wherein the second rack is vertically arranged on the first support, the second motor is arranged on the second support, and the second gear is connected with a crankshaft of the second motor and meshed with the second rack.

9. A three-axis gripping mechanism as in claim 7 wherein: the longitudinal moving mechanism comprises a third sliding block, a third support, a third guide rail and a third driving piece, wherein the third sliding block is arranged on the front side face of the second support, the third guide rail is longitudinally arranged on the rear side face of the third support, the third guide rail is in sliding fit with the third sliding block, and the third driving piece is used for driving the third support to longitudinally translate.

10. A three-axis gripping mechanism as in claim 9 wherein: the third driving piece comprises a third rack, a third motor and a third gear, the third rack is longitudinally arranged on the third support, the third motor is arranged on the second support, and the third gear is connected with a crankshaft of the third motor and meshed with the third rack.