CN220055471U - Adjustable grabbing mechanism - Google Patents

Abstract

The utility model discloses an adjustable grabbing mechanism which comprises a mounting frame and a plurality of movable grabbing modules. The mobile grabbing module comprises a first mobile unit, a second mobile unit and grabbing pieces. The first moving unit comprises a first base plate arranged on the mounting frame in a sliding manner, a first motor arranged on the mounting frame and a first belt transmission assembly arranged on the mounting frame and connected with the first base plate and the first motor. The second moving unit comprises a second base plate which is arranged on the first base plate in a sliding manner and connected with the grabbing piece, a second motor which is arranged on the second base plate, and a second belt transmission assembly which is arranged on the first base plate and connected with the second base plate and the second motor, and weight can be effectively reduced through belt transmission, and portability of the adjustable grabbing mechanism is improved. The first direction is perpendicular to the second direction, so that the plurality of grabbing pieces can move to any position of a horizontal plane in a certain area, the flexibility of the grabbing mechanism is improved, and the adjustable grabbing mechanism is suitable for workpieces waiting for use in different sizes and irregularly, so that the practicability of the adjustable grabbing mechanism is improved.

Description

Adjustable grabbing mechanism

Technical Field

The utility model relates to the technical field of automatic equipment, in particular to an adjustable grabbing mechanism.

Background

An adjustable gripping means of a massive or sheet-like workpiece, in particular of a cloth, generally requires the use of a truss structure carrying a plurality of gripping members for gripping the workpiece in order to move it for processing, and a plurality of gripping members for adjustable movement to accommodate different sizes of workpiece.

At present, the existing adjustable grabbing mechanism with a plurality of grabbing components can only draw together or expand along the middle along a preset line in the moving direction of the grabbing components, only one moving direction exists, and the grabbing mechanism can not move to any position, so that the edge position close to a workpiece to be machined cannot be grabbed well when inclined or irregular products are placed. In addition, the existing adjustable grabbing mechanism with a plurality of grabbing components is heavy in overall mechanism weight, large in size, large in occupied volume when assembled to automation equipment for use, and easy to bring load to loading equipment of the automation equipment.

Disclosure of Invention

The utility model mainly aims to provide an adjustable grabbing mechanism, which is used for solving the problem that a plurality of grabbing components in the existing adjustable grabbing mechanism cannot move to any position and are not suitable for placing inclined or irregular products.

In order to solve the technical problems, the technical scheme provided by the utility model is as follows:

an adjustable mechanism of snatching includes the mounting bracket and sets up a plurality of removal of snatching on the mounting bracket, remove and snatch the module and include first mobile unit, second mobile unit and snatch the piece.

The first mobile unit includes: the first base plate is arranged on the mounting frame in a sliding manner, the first motor is arranged on the mounting frame, and the first belt transmission assembly is arranged on the mounting frame; the first base plate and the first motor are connected with a first belt transmission assembly, and the first belt transmission assembly is configured to drive the first base plate to move on the mounting frame along a first direction when driven by the first motor;

the second mobile unit includes: a second base plate arranged on the first base plate in a sliding manner, a second motor arranged on the first base plate, and a second belt transmission assembly arranged on the first base plate; the second base plate and the second motor are both connected with the second belt transmission assembly, the grabbing piece is arranged on the second base plate, the second belt transmission assembly is configured to drive the second base plate to move on the mounting frame along the second direction when driven by the second motor, and the first direction is perpendicular to the second direction.

Further, the number of the movable grabbing modules is four, and the movable grabbing modules are respectively arranged at the left upper part, the left lower part, the right upper part and the right lower part of the mounting frame.

Further, the number of the mobile grabbing modules is six; the four movable grabbing modules are respectively arranged at the left upper part, the left lower part, the right upper part and the right lower part of the mounting frame; the other two movable grabbing modules are oppositely arranged, one movable grabbing module is arranged between the upper left position and the lower left position of the mounting frame, and the other movable grabbing module is arranged between the upper left position and the lower left position of the mounting frame.

Further, the movable grabbing modules located on the upper left and the upper right of the mounting frame respectively further comprise a rotating unit arranged on the second substrate, the rotating unit comprises a driving device arranged on the second substrate and a third substrate connected to the driving device, the grabbing pieces are arranged on the third substrate, and the third substrate is configured to drive the grabbing pieces on the third substrate to rotate when driven by the driving device.

Further, the driving device is a third motor, and the rotating unit further comprises a first conveyor belt, a first belt pulley, a rotating rod and a second belt pulley arranged on the rotating rod; the first belt wheel is arranged on an output shaft of the third motor, the rotating rod is connected with the second substrate through a first bearing, and the bottom of the rotating rod is connected with the third substrate; the two ends of the first conveyor belt are sleeved on the first belt wheel and the second belt wheel, and the diameter of the second belt wheel is larger than that of the first belt wheel.

Further, the number of grabbing pieces in the movable grabbing modules on the upper left and the upper right of the installation frame is multiple, and the grabbing pieces are arranged at intervals.

Further, the mounting frame comprises a plurality of vertical rods and two cross rods which are respectively arranged at two ends of the vertical rods; the first direction is the length direction of the vertical rod, and the second direction is the length direction of the transverse rod; the first belt transmission assembly is parallel to the vertical rod and is positioned on the same horizontal plane with the vertical rod, and the second belt transmission assembly is parallel to the cross rod.

Further, a first sliding block guide rail assembly is arranged between the first base plate and the vertical rods, and the number of the vertical rods is four; the first base plate stretches across the two vertical rods and is connected with the vertical rods through first sliding block guide rail components at positions corresponding to the vertical rods;

a second slider guide rail assembly is arranged between the first substrate and the second substrate; the number of the second sliding block guide rail assemblies is two, and the second sliding block guide rail assemblies are arranged at intervals.

Further, the first base plate is located above the vertical rod, and the first sliding block guide rail assembly is located below the vertical rod; or the first base plate is positioned below the vertical rod, and the first sliding block guide rail assembly is positioned above the vertical rod;

the first base plate is provided with a first connecting piece used for being connected with the first sliding block guide rail assembly.

Further, the mounting frame also comprises an intermediate base plate arranged above the vertical rods;

the first belt drive assembly includes a third pulley, a fourth pulley, and a second conveyor belt; the first motor is arranged above the middle substrate, an output shaft of the first motor penetrates through the middle substrate to be connected with the third belt wheel, the fourth belt wheel is rotatably arranged on one side, close to the middle substrate, of the cross rod, two ends of the second conveyor belt are sleeved on the third belt wheel and the fourth belt wheel, and the first substrate is connected with the second conveyor belt.

The utility model has the following beneficial effects: compared with the prior art, the grabbing parts at each position are provided with the first moving unit and the second moving unit, the first direction is vertical to the second direction, so that the grabbing parts can move to any position of a horizontal plane in a certain area, the limitation that the grabbing parts can only shrink or get close along one direction in the prior art is solved, the flexibility of the grabbing mechanism is improved, the grabbing mechanism is suitable for workpieces to be machined with different specifications and sizes, the workpieces to be machined in inclined arrangement or irregular workpieces to be machined, the practicability of the adjustable grabbing mechanism is effectively improved, and the grabbing mechanism is suitable for more complex workpieces to be machined. In addition, the adjustable grabbing mechanism disclosed by the utility model adopts belt transmission to realize that the grabbing piece moves along the first direction and the second direction, so that the weight of the adjustable grabbing mechanism can be effectively reduced, the using load of automatic equipment is reduced, and the portability of the adjustable grabbing mechanism is improved.

Drawings

In order to more clearly illustrate the embodiments of the present utility model or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, and it is obvious that the drawings in the following description are only some embodiments of the present utility model, and other drawings may be obtained according to the structures shown in these drawings without inventive effort for a person skilled in the art.

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

FIG. 2 is an enlarged view of the lower middle portion of the right side of FIG. 1;

FIG. 3 is a schematic view of the mobile gripper module of the present utility model in an upper left position of the mounting frame;

FIG. 4 is a schematic view of the present utility model with the gripping members removed;

FIG. 5 is an enlarged view of the lower middle portion of the right side of FIG. 4;

FIG. 6 is a schematic view of a portion of the mobile gripper module of the present utility model in an upper right position of the mounting frame;

FIG. 7 is a schematic view of the mobile gripper module of the present utility model in an upper left or upper right position of the mounting frame with the gripper removed;

FIG. 8 is a schematic diagram illustrating the assembly of a first substrate and a second mobile unit in a mobile gripper module of the present utility model in an upper left or upper right position of a mounting frame;

fig. 9 is an exploded view of the driving device, the rotating unit, the second base plate and the third base plate according to the present utility model.

FIG. 10 is a schematic view of the mobile gripper module of the present utility model in a middle position of the mounting frame with the first motor, the first belt drive assembly and the gripper removed;

FIG. 11 is a schematic view of a top or bottom panel;

reference numerals:

a mounting frame 1; a vertical rod 11; a cross bar 12; an intermediate substrate 13;

a mobile grabbing module 2;

a first moving unit 21; a first substrate 22; a first motor 211; a second conveyor belt 212; a third pulley 213; a first rail 214; a first slider 215; a first connection 221; first clamp plate 2211; a second clamp plate 2212; a first connection block 222; a first connection plate 2221; a second connection plate 2222;

the second moving unit 23: a second motor 231; a third conveyor belt 232; a second rail 233; a fifth pulley 234; a sixth pulley 235; a second slider 236; a second substrate 24; a second connecting piece 241; a third clamping plate 2411; a fourth clamping plate 2412; a stiffener 243;

a rotation unit 25; a driving device 251; a first pulley 252; a second pulley 253; a rotating rod 254; a first bearing 255; a second bearing 256; a third substrate 26; a limit hole 261;

gripping member 27.

Detailed Description

The following description of the embodiments of the present utility model will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the utility model. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

Referring to fig. 1-10, an adjustable gripping mechanism is shown in an embodiment of the present utility model.

Referring to fig. 1, the adjustable gripping mechanism includes a mounting frame 1 and a plurality of movable gripping modules 2 provided on the mounting frame 1. The mobile gripping module 2 comprises: a first moving unit 21 provided on the mounting frame 1, a second moving unit 23 provided on the first moving unit 21, and a grasping piece 27 provided on the second moving unit 23. The first mobile unit 21 includes: the first base plate 22 slidably provided on the mount 1, the first motor 211 provided on the mount 1, and the first belt transmission assembly provided on the mount 1. The first base plate 22 and the first motor 211 are both connected with a first belt transmission assembly, and the first belt transmission assembly is configured to drive the first base plate 22 to move on the mounting frame 1 along a first direction when the first motor 211 is driven. The second mobile unit 23 includes: a second base plate 24 slidably disposed on the first base plate 22, a second motor 231 disposed on the first base plate 22, and a second belt drive assembly disposed on the first base plate 22. The second base plate 24 and the second motor 231 are both connected with a second belt transmission assembly, the grabbing piece 27 is arranged on the second base plate 24, and the second belt transmission assembly is configured to drive the second base plate 24 to move on the mounting frame 1 along a second direction when the second motor 231 is driven, and the first direction is perpendicular to the second direction.

According to the utility model, the first moving unit 21 and the second moving unit 23 are configured on each grabbing piece 27, and the first direction is vertical to the second direction, so that the grabbing pieces 27 can move to any position of a horizontal plane in a certain area, the limitation that the grabbing pieces 27 can only shrink or close along one direction in the prior art is solved, the flexibility of the grabbing mechanism is improved, the grabbing mechanism is suitable for workpieces to be machined with different specifications and sizes, inclined workpieces to be machined or irregular workpieces to be machined, the practicability of the adjustable grabbing mechanism is effectively improved, and the grabbing mechanism is suitable for more complex workpieces to be machined. In addition, the adjustable grabbing mechanism disclosed by the utility model adopts belt transmission to realize that the grabbing piece 27 moves along the first direction and the second direction, so that the weight of the adjustable grabbing mechanism can be effectively reduced, the using load of automatic equipment is reduced, and the portability of the adjustable grabbing mechanism is improved.

In an embodiment, the number of the movable grabbing modules 2 may be four, and the movable grabbing modules are respectively arranged at the left upper part, the left lower part, the right upper part and the right lower part of the mounting frame 1, so that the adjustable grabbing mechanism is applicable to workpieces to be machined, which need to be grabbed from four end corners. In other embodiments, the number of the movable grabbing modules 2 may be six, wherein four end corners are respectively provided with one movable grabbing module 2, and two other movable grabbing modules 2 may be arranged between the two end corners to grab the middle position of the edge of the workpiece. Here, it should be noted that the number of the movable gripping modules 2 may be eight, wherein one movable gripping module 2 is disposed at each of the four end corners, and the other four movable gripping modules 2 may be disposed between two adjacent end corners, respectively; or the number of the movable grabbing modules 2 can be five, seven, nine and the like, and manufacturers can configure according to the point positions of the to-be-machined parts to be grabbed, so that the number of the movable grabbing modules 2 is not limited.

In the present embodiment, referring to fig. 1, the number of the moving grabbing modules 2 is six. Wherein, four removal snatchs module 2 and set up respectively in upper left, lower left, upper right and lower right of mounting bracket 1. The other two movable grabbing modules 2 are oppositely arranged, one movable grabbing module 2 is arranged at a position between the upper left and the lower left of the mounting frame 1, and the other movable grabbing module 2 is arranged at a position between the upper right and the lower right of the mounting frame 1, so that four end angles of a workpiece to be machined are grabbed and the middle position is achieved.

Specifically, in this embodiment, referring to fig. 3, the moving grabbing modules 2 located on the upper left and upper right of the mounting frame 1 further include a rotating unit 25 disposed on the second substrate 24, the rotating unit 25 includes a driving device 251 disposed on the second substrate 24 and a third substrate 26 connected to the driving device 251, the grabbing member 27 is disposed on the third substrate 26, and the third substrate 26 is configured to rotate the grabbing member 27 on the third substrate 26 when the driving device 251 drives, so as to adjust the grabbing member 27 to grab a specific position to adapt to use when the inclined workpiece is placed, or to use when the angle of the edge of the workpiece is found to change when the size of the workpiece is changed, etc. For example, when the gripping member 27 is a suction cup having a certain length, the angle adjustment is performed by the rotation unit 25, so that the gripping member can be adapted to the edge of the workpiece to be processed placed obliquely.

In the prior art, the upper garment is generally formed by sewing after overlapping the upper garment piece and the lower garment piece, and the seam positions of the upper garment piece and the lower garment piece generally comprise two shoulders and two sides, as shown in fig. 11. In this embodiment, the gripping member 27 is mainly used for gripping cloth, and in this case, the gripping member may be a vacuum chuck, a needle chuck, or the like. The two movable grabbing modules 2 positioned at the upper left and upper right of the mounting frame 1 are used for grabbing two shoulder positions of the upper garment piece, the two movable grabbing modules 2 positioned at the lower left and lower right of the mounting frame 1 are used for grabbing two garment angle positions of the upper garment piece, and the movable grabbing modules 2 positioned between the upper left and lower left of the mounting frame 1 and between the upper right and lower right of the mounting frame 1 are used for grabbing positions of chest sides of the upper garment piece, as shown in fig. 1.

When the utility model is suitable for grabbing the upper garment piece or the lower garment piece, a plurality of grabbing pieces 27 are arranged in the movable grabbing modules 2 on the upper left and the upper right of the installation frame 1, and the plurality of grabbing pieces 27 are arranged on the third base plate 26 at intervals; alternatively, the gripping members 27 in the upper left and right moving gripping modules 2 of the mounting frame 1 have a length such that the upper left and right moving gripping modules 2 of the mounting frame 1 can be adapted to grip both ends of the shoulders. And the cooperation rotation unit 25 can make the removal that is located upper left and upper right of mounting bracket 1 snatch the module 2 adaptation shoulder edge of different inclinations, and cooperation camera device discernment shoulder edge position can snatch the accurate of shoulder edge position.

In one embodiment, referring to fig. 3 and fig. 7 to 9, the driving device 251 is a third motor, and the rotating unit 25 further includes a first belt (not shown), a first pulley 252, a rotating rod 254, and a second pulley 253 disposed on the rotating rod 254. The first pulley 252 is disposed on the output shaft of the third motor, the rotating rod 254 is connected to the second base plate 24 through the first bearing 255, and the bottom of the rotating rod 254 is connected to the third base plate 26. The two ends of the first conveyor belt are sleeved on the first belt pulley 252 and the second belt pulley 253, and the diameter of the second belt pulley 253 is larger than that of the first belt pulley 252. Accordingly, the third motor drives the first belt wheel 252 to rotate, so as to cooperate with the first belt wheel and the second belt wheel 253 to drive the rotating rod 254 to rotate, and the rotating rod 254 is connected with the second substrate 24 through the first bearing 255, so that the second substrate 24 is prevented from influencing the rotation of the rotating rod 254, and the third substrate 26 is driven to rotate, thereby adjusting the inclination angles of the plurality of grabbing pieces 27 in the movable grabbing module 2 positioned on the upper left and the upper right of the mounting frame 1. In addition, the rotation speed of the output shaft is too high due to the driving of the motor, so that the rotation angle of the third base is inconvenient to control. The first belt and the first belt wheel 252 and the second belt wheel 253 are used for connecting the third motor with the third base plate 26, and the diameter of the first belt wheel 252 is smaller than that of the second belt wheel 253, so that a deceleration effect can be achieved, and the rotating angle of the third base plate 26 can be controlled more accurately for use. Specifically, the third motor, the first pulley 252, the second pulley 253, and the first conveyor belt are all located above the second substrate 24. Of course, in other embodiments, the third motor may be directly connected to the third substrate 26, or the driving device 251 may be a rotary cylinder, and the rotary cylinder drives the third substrate 26 to rotate, so that the positions of the plurality of gripping members 27 in the moving gripping module 2 located on the upper left and upper right of the mounting frame 1 may be adjusted, which is not limited to the structure of the driving device 251. The first belt, the first pulley 252, and the second pulley 253 may be replaced by gears, and the third substrate 26 may be rotated by gear transmission, and the like, which are not described herein.

In one embodiment, referring to fig. 7 and 9, a reinforcement 243 is fixed under the second substrate 24, the rotating rod 254 passes through the reinforcement 243, and the reinforcement 243 is connected to the rotating rod 254 through the second bearing 256 at a position near the bottom. Thus, the rotational stability of the rotating lever 254 can be increased to improve the rotational stability of the third substrate 26.

In one embodiment, referring to fig. 3 and 9, the gripping members 27 in the movable gripping modules 2 located on the upper left and right of the mounting frame 1 are at least one adjustable setting to achieve a plurality of gripping members 27 width to accommodate different upper garment piece shoulder widths.

Specifically, the third substrate 26 is provided with a plurality of limiting holes 261 arranged along the length direction of the third substrate 26, each grabbing piece 27 is fixed on the third substrate 26 through screws penetrating through the limiting holes 261, and the width of the grabbing pieces 27 can be adjusted according to the installation of the grabbing pieces 27 corresponding to the positions of different limiting holes 261 so as to adapt to the use of the width of shoulders of different cut pieces of the upper garment. In other embodiments, the gripping members 27 may also be disposed on the third substrate 26 by a linear module, a motor-driven belt, or the like, and the width of the gripping members 27 may be adjusted.

In the above embodiment, referring to fig. 1 and 2, the mounting frame 1 includes a plurality of vertical rods 11 and two cross rods 12 respectively disposed at two ends of the vertical rods 11. The first direction is the length direction of the vertical rod 11, the second direction is the length direction of the cross rod 12, and the second belt transmission assembly is parallel to the cross rod 12. The first belt drive assembly is parallel to the vertical bar 11 and is in the same horizontal plane as the vertical bar 11, it being understood that the first belt drive assembly is embedded in the mounting frame 1, i.e. surrounded by the vertical bar 11 and the cross bar 12, whereby the thickness of the adjustable gripping means of the utility model can be reduced.

Referring to fig. 2 and 6, a first slider rail assembly is disposed between the first base plate 22 and the vertical bars 11, and the number of the vertical bars 11 is four. The first base plate 22 spans across the two vertical rods 11, and is connected with the vertical rods 11 through the first slider guide rail assembly at the positions corresponding to the vertical rods 11. It will be appreciated that the sliding connection between the first base plate 22 and the mounting frame 1 is achieved by means of two first slider rail assemblies.

Referring to fig. 2, 5 and 8, a second slider rail assembly is disposed between the first substrate 22 and the second substrate 24, and the number of the second slider rail assemblies is two and is disposed at intervals. By the two first and second slider rail assemblies, the stability of the movement of the first base plate 22 on the mount 1 and the stability of the movement of the second base plate 24 on the first base plate 22 can be improved.

Specifically, the first slider rail assembly includes a first slider 215 and a first rail 214 for use with the first slider 215. The first guide rail 214 is mounted on the vertical rod 11, and the first slider 215 is matched with the first guide rail 214 for use and is connected with the first substrate 22; alternatively, the first guide rail 214 may be further mounted on the first base plate 22, and the first slider 215 is mounted on the vertical rod 11.

The second slider rail assembly includes a second slider 236 and a second rail 233 for use with the second slider 236. In the present embodiment, the second rail 233 is mounted on the first substrate 22, and the second slider 236 is matched with the second rail 233 and connected to the second substrate 24; in other embodiments, the second rail 233 may also be mounted on the second base plate 24, and the second slider 236 is mounted on the first base plate 22.

In one embodiment, the first base plate 22 is located above the vertical rod 11, the first slider rail assembly is located below the vertical rod 11, and the first base plate 22 is connected to the first slider 215 through the first connecting block 222. The second motor 231 may be disposed on the upper surface or the lower surface of the first substrate 22, and may be disposed with respect to the mounting frame 1 when the second motor 231 is disposed on the lower surface of the first substrate 22. The second belt drive assembly is located above the first base plate 22, and the second slider guide assembly, the second base plate 24 and the rotating unit 25 are all located above the first base plate 22, so that the thickness of the adjustable gripping mechanism is thinnest. In other embodiments, the first base plate 22 may also be located below the vertical rod 11, the first slider rail assembly is located above the vertical rod 11, and the second moving unit 23 and the rotating unit 25 are located below the first base plate 22. Or in other embodiments, the first substrate 22 in the mobile gripping module 2 located at a different position on the mounting frame 1 may be located partially below the mounting frame 1, partially above the mounting frame 1, etc., which is not limited herein.

In one embodiment, referring to fig. 1-3, in the mobile grabbing module 2 located on the upper left and upper right of the mounting frame 1, the first base plate 22 is located above the vertical rod 11, the first slider rail assembly is located below the vertical rod 11, and the bottom of the first base plate 22 is provided with a first connecting block 222 connected with the first slider rail assembly. Namely, the first guide rail 214 of the movable grabbing module 2 positioned on the upper left and upper right of the mounting frame 1 is installed at the bottom of the vertical rod 11, and the first sliding block 215 is connected with the first base plate 22 through the first connecting block 222, so that the first base plate 22 in the movable grabbing module 2 positioned on the upper left and upper right of the mounting frame 1 is in sliding connection with the mounting frame 1.

The structure of each of the moving grip modules 2, which is not in the upper left and upper right positions of the mounting frame 1, is the same except for the shape of the second base plate 24, as shown in fig. 4, 5 and 10.

And in the mobile grabbing module 2 which is not positioned on the upper left and upper right of the mounting frame 1, the first base plate 22 is positioned below the mounting frame 1, the first slider guide rail assembly is positioned above the vertical rod 11, and the first connecting block 222 is positioned on the top of the first base plate 22, as shown in fig. 1 and 2. Specifically, the first guide rail 214 is disposed above the vertical rod 11, the first slider 215 is matched with the first guide rail 214 to use and is located above the vertical rod 11, and the first slider 215 is connected with the first connecting block 222 to realize sliding connection between the first substrate 22 in the mobile grabbing module 2, which is not located at the upper left and upper right of the mounting frame 1, and the vertical rod 11.

Specifically, referring to fig. 2, the first connection block 222 includes a first connection plate 2221 and a second connection plate 2222 vertically connected to the first connection plate 2221, one end of the first connection plate 2221 is connected to the first substrate 22, and the second connection plate 2222 is connected to the first slider 215 and located on an upper surface or a lower surface of the first slider 215, thereby stably connecting the first slider 215 to the first substrate 22. In other embodiments, the first connecting block 222 may be a straight plate, one end of which is connected to the first substrate 22, and the side of which is connected to the slider, so that the first substrate 22 and the first slider 215 may be connected.

In one embodiment, referring to fig. 1-3, the mounting bracket 1 further comprises an intermediate base plate 13 disposed above the vertical bar 11. The first belt drive assembly includes a third pulley 213, a fourth pulley (not shown) and a second conveyor belt 212. The first motor 211 is disposed above the middle substrate 13, and the output shaft thereof passes through the middle substrate 13 and is connected with the third belt pulley 213, the fourth belt pulley is rotatably disposed on one side of the cross bar 12 near the middle substrate 13, two ends of the second conveyor belt 212 are sleeved on the third belt pulley 213 and the fourth belt pulley, and the first substrate 22 is connected with the second conveyor belt 212, so as to realize that the first belt transmission assembly is mounted in the mounting frame 1, thereby reducing the height of the utility model and making the utility model lighter and thinner. And when the first motor 211 drives the third belt pulley 213 to rotate, the second belt pulley 212 can be matched with the fourth belt pulley to realize the movement of the second belt pulley, so that the position of the first substrate 22 on the mounting frame 1 can be adjusted, and the position of the first substrate 22 in the first direction can be adjusted. The number of fourth pulleys may be arranged as required, and the number of fourth pulleys is not limited here.

Specifically, the first substrate 22 is connected to the second conveyor belt 212 through the first connecting member 221, wherein the first connecting member 221 includes a first clamping plate 2211 and a second clamping plate 2212, and one end of the first clamping plate 2211 is fixedly connected to the first substrate 22, and it is understood that the first clamping plate 2211 is integrated with the first substrate 22, or one end of the first clamping plate 2211 is fixed to the first substrate 22 by welding or screws. The first clamping plate 2211 is connected to the second clamping plate 2212 at a side surface far from the first substrate 22 and clamped on the second conveyor belt 212 to realize connection of the first substrate 22 and the second conveyor belt 212.

In one embodiment, the second belt drive assembly includes a fifth pulley 234, a sixth pulley 235, and a third belt 232. The output shaft of the second motor 231 is connected with the fifth belt pulley 234, the sixth belt pulley 235 is rotatably arranged on the first substrate 22, two ends of the third conveying belt 232 are sleeved on the fifth belt pulley 234 and the sixth belt pulley 235, the second substrate 24 is connected with the third conveying belt 232, accordingly, the fifth belt pulley 234 is driven to rotate when the second motor 231 is driven, and the third conveying belt 232 can be moved by being matched with the sixth belt pulley 235, so that the position of the second substrate 24 on the first substrate 22 can be adjusted, and the position of the second substrate 24 in the second direction can be adjusted. The number of the sixth pulleys 235 may be set as required, and the number of the sixth pulleys 235 is not limited here.

Specifically, the second substrate 24 is connected to the third conveyor belt 232 by the second connecting member 241, wherein the second connecting member 241 includes a third clamping plate 2411 and a fourth clamping plate 2412, and one end of the third clamping plate 2411 is fixedly connected to the second substrate 24, it is understood that the third clamping plate 2411 is integrally formed with the second substrate 24, or one end of the third clamping plate 2411 is fixed to the second substrate 24 by welding or screws. The third clamping plate 2411 is connected to the fourth clamping plate 2412 at a side remote from the first substrate 22 and clamped on the third conveyor belt 232 to achieve connection of the second substrate 24 to the second conveyor belt 212.

In an embodiment, in order to realize that the first slider 215 stops working when moving to two ends of the first guide rail 214, two ends of the first guide rail 214 are provided with detection sensors (not shown in the figure), specifically, the detection sensors may be slot type photoelectric sensors, and the first slider 215 is provided with a blocking piece, so that when the first slider 215 moves to two ends of the first guide rail 214, the blocking piece is placed in the slot type photoelectric sensors to block the transmitted signal, and when being matched with an external controller, the first motor 211 can be controlled to work according to the signal. In order to achieve that the second slider 236 stops working when moving to the two ends of the second rail 233, the same is true, and a detailed description is omitted herein.

The materials of the first substrate, the second substrate, the third substrate, the cross bar and the vertical bar may preferably be light materials such as carbon fibers, glass fibers and aluminum alloy, and may, of course, also be steel materials.

It should be noted that all directional indicators (such as up, down, left, right, front, and rear … …) in the embodiments of the present utility model are merely used to explain the relative positional relationship, movement, etc. between the components in a particular posture (as shown in the drawings), and if the particular posture is changed, the directional indicator is changed accordingly.

Furthermore, the description of "first," "second," etc. in this disclosure is for descriptive purposes only and is 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 at least one such feature. In addition, "and/or" throughout this document includes three schemes, taking a and/or B as an example, including a technical scheme, a technical scheme B, and a technical scheme that both a and B satisfy; in addition, the technical solutions of the embodiments may be combined with each other, but it is necessary to base that the technical solutions can be realized by those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should be considered to be absent and not within the scope of protection claimed in the present utility model.

The foregoing description is only of the preferred embodiments of the present utility model and is not intended to limit the scope of the utility model, and all equivalent structural changes made by the description of the present utility model and the accompanying drawings or direct/indirect application in other related technical fields are included in the scope of the utility model.

Claims (10)

1. An adjustable grabbing mechanism is characterized by comprising a mounting frame and a plurality of movable grabbing modules arranged on the mounting frame, wherein each movable grabbing module comprises a first movable unit, a second movable unit and grabbing pieces;

the first mobile unit includes: the first base plate is arranged on the mounting frame in a sliding manner, the first motor is arranged on the mounting frame, and the first belt transmission assembly is arranged on the mounting frame; the first base plate and the first motor are connected with a first belt transmission assembly, and the first belt transmission assembly is configured to drive the first base plate to move on the mounting frame along a first direction when driven by the first motor;

the second mobile unit includes: a second base plate arranged on the first base plate in a sliding manner, a second motor arranged on the first base plate, and a second belt transmission assembly arranged on the first base plate; the second base plate and the second motor are both connected with the second belt transmission assembly, the grabbing piece is arranged on the second base plate, the second belt transmission assembly is configured to drive the second base plate to move on the mounting frame along the second direction when driven by the second motor, and the first direction is perpendicular to the second direction.

2. The adjustable gripping mechanism of claim 1, wherein the number of mobile gripping modules is four, disposed at the top left, bottom left, top right and bottom right positions of the mounting frame, respectively.

3. The adjustable gripping mechanism according to claim 1, wherein the number of mobile gripping modules is six; the four movable grabbing modules are respectively arranged at the left upper part, the left lower part, the right upper part and the right lower part of the mounting frame; the other two movable grabbing modules are oppositely arranged, one movable grabbing module is arranged between the upper left position and the lower left position of the mounting frame, and the other movable grabbing module is arranged between the upper left position and the lower left position of the mounting frame.

4. The adjustable gripping mechanism according to claim 2 or 3, wherein the movable gripping modules located on the upper left and right of the mounting frame each further comprise a rotation unit provided on the second substrate, the rotation unit comprising a driving device provided on the second substrate and a third substrate connected to the driving device, the gripping member being provided on the third substrate, the third substrate being configured to rotate the gripping member located on the third substrate when driven by the driving device.

5. The adjustable gripping mechanism according to claim 4, wherein the drive means is a third motor, the rotary unit further comprising a first conveyor belt, a first pulley, a rotating rod, and a second pulley disposed on the rotating rod; the first belt wheel is arranged on an output shaft of the third motor, the rotating rod is connected with the second substrate through a first bearing, and the bottom of the rotating rod is connected with the third substrate; the two ends of the first conveyor belt are sleeved on the first belt wheel and the second belt wheel, and the diameter of the second belt wheel is larger than that of the first belt wheel.

6. The adjustable gripping mechanism of claim 5 wherein a plurality of gripping members are provided in the upper left and upper right mobile gripping modules of the mounting frame and are spaced apart.

7. The adjustable gripping mechanism according to claim 3, wherein the mounting frame comprises a plurality of vertical rods and two cross rods respectively arranged at two ends of the vertical rods; the first direction is the length direction of the vertical rod, and the second direction is the length direction of the transverse rod; the first belt transmission assembly is parallel to the vertical rod and is positioned on the same horizontal plane with the vertical rod, and the second belt transmission assembly is parallel to the cross rod.

8. The adjustable gripping mechanism according to claim 7, wherein a first slider rail assembly is disposed between the first base plate and the vertical bars, the number of vertical bars being four; the first base plate stretches across the two vertical rods and is connected with the vertical rods through first sliding block guide rail components at positions corresponding to the vertical rods;

a second slider guide rail assembly is arranged between the first substrate and the second substrate; the number of the second sliding block guide rail assemblies is two, and the second sliding block guide rail assemblies are arranged at intervals.

9. The adjustable gripping mechanism according to claim 8, wherein the first base plate is located above the vertical bar and the first slider rail assembly is located below the vertical bar; or the first base plate is positioned below the vertical rod, and the first sliding block guide rail assembly is positioned above the vertical rod;

the first base plate is provided with a first connecting piece used for being connected with the first sliding block guide rail assembly.

10. The adjustable gripping mechanism according to claim 9, wherein the mounting bracket further comprises an intermediate base plate disposed above the vertical bar;

the first belt drive assembly includes a third pulley, a fourth pulley, and a second conveyor belt; the first motor is arranged above the middle substrate, an output shaft of the first motor penetrates through the middle substrate to be connected with the third belt wheel, the fourth belt wheel is rotatably arranged on one side, close to the middle substrate, of the cross rod, two ends of the second conveyor belt are sleeved on the third belt wheel and the fourth belt wheel, and the first substrate is connected with the second conveyor belt.