WO2022077616A1 - 一种自动化爪搬料手机构 - Google Patents

一种自动化爪搬料手机构 Download PDF

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Publication number
WO2022077616A1
WO2022077616A1 PCT/CN2020/126263 CN2020126263W WO2022077616A1 WO 2022077616 A1 WO2022077616 A1 WO 2022077616A1 CN 2020126263 W CN2020126263 W CN 2020126263W WO 2022077616 A1 WO2022077616 A1 WO 2022077616A1
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WO
WIPO (PCT)
Prior art keywords
lifting seat
fixedly connected
support frame
mechanism according
hinge
Prior art date
Application number
PCT/CN2020/126263
Other languages
English (en)
French (fr)
Inventor
陆昕云
Original Assignee
苏州赛亚智能技术有限公司
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Filing date
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Publication of WO2022077616A1 publication Critical patent/WO2022077616A1/zh

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials
    • B65G47/901—Devices for picking-up and depositing articles or materials provided with drive systems with rectilinear movements only
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0009—Constructional details, e.g. manipulator supports, bases
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/02—Gripping heads and other end effectors servo-actuated
    • B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/102—Gears specially adapted therefor, e.g. reduction gears
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
    • B25J9/123—Linear actuators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials

Definitions

  • the invention relates to the technical field of material handling mechanisms, in particular to an automatic claw material handling mechanism.
  • the mechanical gripper is a conventional component of the material handling mechanism.
  • the existing manipulator gripper usually adopts a pneumatic structure. Due to its complex structure, difficult manufacturing and poor controllability, it cannot achieve precise control of opening and grasping force, and cannot control the fingers of the gripper. Free, independent positioning and precise control of gripping force. At the same time, the cooperation of the peripheral pneumatic valve is also required, and the assembly of electronic components in a narrow range and requiring strict gripping force control cannot be realized.
  • Chinese patent CN203092574U discloses a rotatable servo mechanical claw, including a mechanical claw rotating body part; the mechanical claw rotating body part includes a mechanical claw rotating driven synchronous pulley, a compression nut, a bearing compression piece, a mechanical claw The claw rotating installation flange shaft, the mechanical claw rotating bearing, and the mechanical claw rotating bearing mounting seat for installing the mechanical claw rotating bearing; wherein, the motor mounting flange of the opening and closing power part of the mechanical claw is connected with the mechanical claw rotating mounting flange shaft,
  • the purpose of the present invention is to provide an automatic claw feeding hand mechanism, including a support frame and a base, a support frame is fixedly installed on the upper part of the base, a horizontal horizontal plate is fixedly installed on the top of the support frame, a lifting seat is arranged in the support frame, and the lifting seat is installed in the support frame.
  • a clamping mechanism for moving materials is installed on the seat, and a height adjustment component for adjusting the height of the clamping mechanism is also installed on the horizontal horizontal plate, so as to solve the problem of inconvenient adjustment of the height of the mechanical claw of the existing device.
  • the present invention provides the following technical solutions:
  • An automatic claw material-handling mechanism includes a support frame and a base, a support frame is fixedly installed on the upper part of the base, a horizontal horizontal plate is fixedly installed on the top of the support frame, a lifting seat is arranged in the support frame, and a lifting seat is installed on the lifting seat for carrying A clamping mechanism for the material, and a height adjustment component for adjusting the height of the clamping mechanism is also installed on the horizontal horizontal plate.
  • the height adjustment assembly includes a servo motor, a driving gear and a driven gear
  • the servo motor is fixedly installed on the top of the support frame
  • the output end of the servo motor is fixedly connected with a driving gear
  • the driving gear and the horizontal horizontal plate are rotatably connected
  • a driven gear is arranged on one side of the driving gear
  • a screw rod is fixedly connected to the lower part of the driven gear
  • an internal thread sleeve is sleeved on the outside of the screw rod. Meshing connection of the moving gears. .
  • two vertical through grooves are symmetrically arranged on the rear side of the lifting seat, and an internal thread sleeve is fixedly installed in the vertical through groove on the left side.
  • a limit component for limiting the position of the lifting seat is provided on the horizontal horizontal plate, and the limit component includes a slider and a positioning rod, and the upper and lower ends of the positioning rod are connected to the horizontal horizontal plate and the base through bolts respectively.
  • the positioning rod is sleeved with a sliding block, and the sliding block is fixedly connected with the vertical through groove on the left side through bolts.
  • the clamping mechanism includes a hydraulic cylinder and a lifting seat, the hydraulic cylinder is fixedly installed in the lifting seat, and the telescopic end of the hydraulic cylinder is fixedly connected with the lifting seat, and the lower part of the lifting seat is symmetrically hinged with two push rods
  • the end of the push rod away from the lift seat is hinged with a hinge block, the hinge block is movably installed in the hinge groove, and the hinge groove is arranged in the swing arm.
  • one end of the swing arm is mounted on the vertical plate, and the swing arm and the vertical plate are rotatably connected, and the top of the vertical plate is fixedly connected to the lifting seat.
  • the hinge block is also fixedly connected with a material handling hand, and the material handling hands are connected in rotation through a hinge shaft.
  • a buffer spring for protecting the hinge block is installed in the hinge groove, and the buffer spring is fixedly connected with the hinge block.
  • the beneficial effects of the present invention are as follows: the embodiment of the present invention is provided with a height adjustment component, the setting of the height adjustment component realizes the adjustment of the height of the clamping mechanism, reduces the handling difficulty of electronic components, and improves the handling efficiency, At the same time, the setting of the limit component realizes the limit of the lifting seat, ensures the accuracy of the electronic component handling, and avoids the falling off of the electronic component.
  • Figure 1 is a schematic diagram of the structure of the invention.
  • FIG. 2 is a schematic diagram of the structure of the support frame in the invention.
  • FIG. 3 is a schematic diagram of the structure of the lift seat in the invention.
  • FIG. 4 is a partial enlarged schematic diagram of A in FIG. 1 .
  • FIG. 5 is a schematic view of the structure of the material carrier in the invention.
  • an automated claw material-handling mechanism includes a support frame 1 and a base 22.
  • the support frame 1 is fixedly installed on the upper part of the base 22, and the top of the support frame 1 is fixedly installed with a support frame 1.
  • the horizontal horizontal plate 2, the support frame 1 is provided with a lifting seat 7, a clamping mechanism 15 for carrying materials is installed on the lifting seat 7, and a height adjustment assembly for adjusting the height of the clamping mechanism 15 is also installed on the horizontal horizontal plate 2;
  • the height adjustment assembly includes a servo motor 3, a driving gear 4 and a driven gear 5.
  • the servo motor 3 is fixedly installed on the top of the support frame 1, and the output end of the servo motor 3 is fixedly connected with the driving gear 4, the driving gear 4 and the horizontal horizontal plate 2.
  • Rotationally connected, and a driven gear 5 is provided on one side of the driving gear 4, the driving gear 4 and the driven gear 5 are meshed and connected, a screw 6 is fixedly connected below the driven gear 5, and the outer sleeve of the screw 6 is provided with an internal thread sleeve
  • the barrel 9, the screw 6 and the inner thread sleeve 9 are connected by threads;
  • two vertical through grooves 8 are symmetrically arranged on the rear side of the lifting base 7 , and an internally threaded sleeve 9 is fixedly installed in the vertical through groove 8 on the left side;
  • the servo motor 3 drives the driving gear 4 and the driven gear 5 to rotate, and the driven gear 5 drives the screw 6 to rotate, so that the screw 6 drives the inner thread sleeve.
  • the cylinder 9 and the lifting seat 7 move up and down, thereby realizing the adjustment of the height of the lifting seat 7 and the clamping mechanism 15, which is beneficial to the clamping of electronic components;
  • the horizontal horizontal plate 2 is provided with a limit component for limiting the position of the lifting seat 7.
  • the limit component includes a slider 10 and a positioning rod 11.
  • the upper and lower ends of the positioning rod 11 are respectively fixed to the horizontal horizontal board 2 and the base 22 by bolts.
  • the positioning rod 11 is sleeved with a sliding block 10, and the sliding block 10 is fixedly connected with the vertical through slot 8 described on the left side by bolts. The accuracy of component handling avoids the falling off of electronic components.
  • the clamping mechanism 15 includes a hydraulic cylinder 12 and a lifting seat 13 .
  • the hydraulic cylinder 12 is fixedly installed in the lifting seat 7 , and the telescopic end of the hydraulic cylinder 12 is fixedly connected with the lifting seat 13 .
  • Two push rods 14 are symmetrically hinged below, and one end of the push rod 14 away from the lift seat 13 is hinged with a hinge block 18, the hinge block 18 is movably installed in the hinge groove 19, and the hinge groove 19 is arranged in the swing arm 17;
  • One end of the swing arm 17 is installed on the vertical plate 16, and the swing arm 17 and the vertical plate 16 are rotatably connected, and the top of the vertical plate 16 is fixedly connected to the lift seat 7;
  • the hinge block 18 is also fixedly connected with a material-handling hand 21, and the material-handling hands 21 are rotatably connected by a hinge shaft 20;
  • the hydraulic cylinder 12 When in use, when the electronic components need to be clamped, the hydraulic cylinder 12 is opened, and the hydraulic cylinder 12 drives the lifting seat 13 to move up and down, so that the lifting seat 13 drives the push rod 14 and the hinge block 18 to move, and then the hinge block 18 drives the moving material.
  • the hand 21 is rotated to realize the clamping of the electronic components.
  • a buffer spring for protecting the hinge block 18 is installed in the inner threaded sleeve 9, and the buffer spring is fixedly connected with the hinge block 18.
  • an automated claw material-handling mechanism includes a support frame 1 and a base 22.
  • the support frame 1 is fixedly installed on the upper part of the base 22, and the top of the support frame 1 is fixedly installed with a support frame 1.
  • the horizontal horizontal plate 2, the support frame 1 is provided with a lifting seat 7, a clamping mechanism 15 for carrying materials is installed on the lifting seat 7, and a height adjustment assembly for adjusting the height of the clamping mechanism 15 is also installed on the horizontal horizontal plate 2;
  • the height adjustment assembly includes a servo motor 3, a driving gear 4 and a driven gear 5.
  • the servo motor 3 is fixedly installed on the top of the support frame 1, and the output end of the servo motor 3 is fixedly connected with the driving gear 4, the driving gear 4 and the horizontal horizontal plate 2.
  • Rotationally connected, and a driven gear 5 is provided on one side of the driving gear 4, the driving gear 4 and the driven gear 5 are meshed and connected, a screw 6 is fixedly connected below the driven gear 5, and the outer sleeve of the screw 6 is provided with an internal thread sleeve
  • the barrel 9, the screw 6 and the inner thread sleeve 9 are connected by threads;
  • two vertical through grooves 8 are symmetrically arranged on the rear side of the lifting base 7 , and an internally threaded sleeve 9 is fixedly installed in the vertical through groove 8 on the left side;
  • the servo motor 3 drives the driving gear 4 and the driven gear 5 to rotate, and the driven gear 5 drives the screw 6 to rotate, so that the screw 6 drives the inner thread sleeve.
  • the cylinder 9 and the lifting seat 7 move up and down, thereby realizing the adjustment of the height of the lifting seat 7 and the clamping mechanism 15, which is beneficial to the clamping of electronic components;
  • the horizontal horizontal plate 2 is provided with a limit component for limiting the position of the lifting seat 7.
  • the limit component includes a slider 10 and a positioning rod 11.
  • the upper and lower ends of the positioning rod 11 are respectively fixed to the horizontal horizontal board 2 and the base 22 by bolts.
  • the positioning rod 11 is sleeved with a sliding block 10, and the sliding block 10 is fixedly connected with the vertical through slot 8 described on the left side by bolts. The accuracy of component handling avoids the falling off of electronic components.
  • an automated claw material-handling mechanism includes a support frame 1 and a base 22.
  • the support frame 1 is fixedly installed on the upper part of the base 22, and the top of the support frame 1 is fixedly installed with a support frame 1.
  • the horizontal horizontal plate 2, the support frame 1 is provided with a lifting seat 7, a clamping mechanism 15 for carrying materials is installed on the lifting seat 7, and a height adjustment assembly for adjusting the height of the clamping mechanism 15 is also installed on the horizontal horizontal plate 2;
  • the servo motor 3 drives the driving gear 4 and the driven gear 5 to rotate, and the driven gear 5 drives the screw 6 to rotate, so that the screw 6 drives the inner thread sleeve.
  • the cylinder 9 and the lifting seat 7 move up and down, thereby realizing the adjustment of the height of the lifting seat 7 and the clamping mechanism 15, which is beneficial to the clamping of electronic components;
  • the horizontal horizontal plate 2 is provided with a limit component for limiting the position of the lifting seat 7.
  • the limit component includes a slider 10 and a positioning rod 11.
  • the upper and lower ends of the positioning rod 11 are respectively fixed to the horizontal horizontal board 2 and the base 22 by bolts.
  • the positioning rod 11 is sleeved with a sliding block 10, and the sliding block 10 is fixedly connected with the vertical through slot 8 described on the left side by bolts. The accuracy of component handling avoids the falling off of electronic components.
  • the clamping mechanism 15 includes a hydraulic cylinder 12 and a lifting seat 13 .
  • the hydraulic cylinder 12 is fixedly installed in the lifting seat 7 , and the telescopic end of the hydraulic cylinder 12 is fixedly connected with the lifting seat 13 .
  • Two push rods 14 are symmetrically hinged below, and one end of the push rod 14 away from the lift seat 13 is hinged with a hinge block 18, the hinge block 18 is movably installed in the hinge groove 19, and the hinge groove 19 is arranged in the swing arm 17;
  • One end of the swing arm 17 is installed on the vertical plate 16, and the swing arm 17 and the vertical plate 16 are rotatably connected, and the top of the vertical plate 16 is fixedly connected to the lift seat 7;
  • the hinge block 18 is also fixedly connected with a material-handling hand 21, and the material-handling hands 21 are rotatably connected by a hinge shaft 20;
  • the hydraulic cylinder 12 When in use, when the electronic components need to be clamped, the hydraulic cylinder 12 is opened, and the hydraulic cylinder 12 drives the lifting seat 13 to move up and down, so that the lifting seat 13 drives the push rod 14 and the hinge block 18 to move, and then the hinge block 18 drives the moving material.
  • the hand 21 is rotated to realize the clamping of the electronic components.
  • a buffer spring for protecting the hinge block 18 is installed in the hinge groove 19 , and the buffer spring is fixedly connected with the hinge block 18 .
  • the working principle of the present invention is: when in use, when the electronic components need to be clamped, the hydraulic cylinder 12 is opened, and the hydraulic cylinder 12 drives the lifting seat 13 to move up and down, so that the lifting seat 13 drives the push rod 14 and the hinged connection The block 18 moves, so that the hinge block 18 drives the hand 21 to rotate, thereby realizing the clamping of the electronic components.
  • the servo motor 3 drives the driving gear 4 and the driven gear 5 to rotate, and the driven gear 5 drives the screw 6 to rotate, so that the screw 6 drives the inner thread sleeve.
  • the cylinder 9 and the lifting seat 7 move up and down, thereby realizing the adjustment of the height of the lifting seat 7 and the clamping mechanism 15, which is beneficial to the clamping of electronic components
  • the embodiment of the present invention is provided with a height adjustment component.
  • the setting of the height adjustment component realizes the adjustment of the height of the clamping mechanism 15, reduces the difficulty of handling electronic components, and improves the handling efficiency.
  • the limit of 7 ensures the accuracy of electronic components handling and avoids the falling off of electronic components.

Abstract

一种自动化爪搬料手机构，属于搬料机构技术领域，解决了现有装置机械爪高度调节不便的问题，包括支撑架（1）和底座（22），底座（22）的上部固定安装有支撑架（1），支撑架（1）的顶部固定安装有水平横板（2），支撑架（1）内设置有升降座（7），升降座（7）上安装有用于搬料的夹持机构（15），水平横板（2）上还安装有用于调节夹持机构高度的高度调节组件。该机构设置了高度调节组件，实现了对夹持机构高度的调节，降低了电子元件的搬运难度，提高了搬运效率，同时限位组件的设置实现了对升降座的限位，保证了电子元件搬运的准确性，避免了电子元件的脱落。

Description

一种自动化爪搬料手机构 技术领域
本发明涉及搬料机构技术领域，尤其涉及一种自动化爪搬料手机构。
 背景技术
压敏电阻生产过程中，需要将插满半加工的焊接好电子元器件的铝盘搬至传送机构上，通过传送机构带将铝盘传送至涂布槽进行涂装。现时，将铝盘搬至传送机构上的工序通过人工完成，生产效率较低。
机械爪是搬料机构的常规组件，现有的机械手爪通常采用气动结构，由于其结构复杂和制造困难及本身可控性差，无法实现精确的开口和抓取力的控制，不能对气爪手指进行自由、独立定位和精确控制抓取力。同时还需要外围的气动阀的配合，无法实现狭小范围和要求抓取力控制严格的电子元件装配。
中国专利CN203092574U公开了一种可旋转的伺服机械爪，包括有机械爪旋转本体部分；所述机械爪旋转本体部分包括有机械爪旋转从动同步带轮、压紧螺母、轴承压紧片、机械爪旋转安装法兰轴、机械爪旋转轴承、以及安装机械爪旋转轴承的机械爪旋转轴承安装座；其中，机械爪的开合动力部分的电机安装法兰和机械爪旋转安装法兰轴联接，但是该装置机械爪高度调节调节不便，因此，我们提出一种自动化爪搬料手机构。
 技术解决方案
本发明的目的在于提供一种自动化爪搬料手机构，包括支撑架和底座，底座的上部固定安装有支撑架，支撑架的顶部固定安装有水平横板，支撑架内设置有升降座，升降座上安装有用于搬料的夹持机构，水平横板上还安装有用于调节夹持机构高度的高度调节组件，以解决现有装置机械爪高度调节调节不便的问题。
为实现上述目的，本发明提供如下技术方案：
一种自动化爪搬料手机构，包括支撑架和底座，底座的上部固定安装有支撑架，支撑架的顶部固定安装有水平横板，支撑架内设置有升降座，升降座上安装有用于搬料的夹持机构，水平横板上还安装有用于调节夹持机构高度的高度调节组件。
作为本发明进一步的方案：高度调节组件包括伺服电机、主动齿轮和从动齿轮，伺服电机固定安装在支撑架的顶部，伺服电机的输出端固定连接有主动齿轮，主动齿轮和水平横板转动连接，且主动齿轮的一侧设置有从动齿轮，从动齿轮的下方固定连接有螺杆，螺杆的外部套设有内螺纹套筒，螺杆和内螺纹套筒之间通过螺纹连接，主动齿轮和从动齿轮啮合连接。。
作为本发明再进一步的方案：升降座的后侧对称设置有两个竖直通槽，左侧所述的竖直通槽内固定安装有内螺纹套筒。
作为本发明再进一步的方案：水平横板上设置有用于对升降座限位的限位组件，限位组件包括滑块和定位杆，定位杆的上下两端分别通过螺栓与水平横板和底座固定连接，定位杆上套设有滑块，滑块通过螺栓与左侧所述的竖直通槽固定连接。
作为本发明再进一步的方案：夹持机构包括液压缸和升降座，液压缸固定安装在升降座内，且液压缸的伸缩端固定连接有升降座，升降座的下方对称铰接有两个推杆，推杆远离升降座的一端铰接有铰接块，铰接块活动安装在铰接槽内，铰接槽设置在摆动臂中。
作为本发明再进一步的方案：摆动臂的一端安装在立板上，且摆动臂和立板之间转动连接，立板的顶部与升降座固定连接。
作为本发明再进一步的方案：铰接块还固定连接有搬料手，搬料手之间通过铰接轴转动连接。
作为本发明再进一步的方案：铰接槽内安装有用于保护铰接块的缓冲弹簧，缓冲弹簧与铰接块固定连接。
 有益效果
综上所述，本发明的有益效果是：本发明实施例设置了高度调节组件，高度调节组件的设置实现了对夹持机构高度的调节，降低了电子元件的搬运难度，提高了搬运效率，同时限位组件的设置实现了对升降座的限位，保证了电子元件搬运的准确性，避免了电子元件的脱落。
 附图说明
图1为发明中结构示意图。
图2为发明中支撑架的结构示意图。
图3为发明中升降座的结构示意图。
图4为图1中A的局部放大示意图。
图5为发明中搬料手的结构示意图。
图中：1-支撑架、2-水平横板、3-伺服电机、4-主动齿轮、5-从动齿轮、6-螺杆、7-升降座、8-竖直通槽、9-内螺纹套筒、10-滑块、11-定位杆、12-液压缸、13-升降座、14-推杆、15-夹持机构、16-立板、17-摆动臂、18-铰接块、19-铰接槽、20-铰接轴、21-搬料手、22-底座。
 本发明的实施方式
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
实施例1
如图1-2所示，本发明实施例中，一种自动化爪搬料手机构，包括支撑架1和底座22，底座22的上部固定安装有支撑架1，支撑架1的顶部固定安装有水平横板2，支撑架1内设置有升降座7，升降座7上安装有用于搬料的夹持机构15，水平横板2上还安装有用于调节夹持机构15高度的高度调节组件；
高度调节组件包括伺服电机3、主动齿轮4和从动齿轮5，伺服电机3固定安装在支撑架1的顶部，伺服电机3的输出端固定连接有主动齿轮4，主动齿轮4和水平横板2转动连接，且主动齿轮4的一侧设置有从动齿轮5，主动齿轮4和从动齿轮5啮合连接，从动齿轮5的下方固定连接有螺杆6，螺杆6的外部套设有内螺纹套筒9，螺杆6和内螺纹套筒9之间通过螺纹连接；
如图3所示，升降座7的后侧对称设置有两个竖直通槽8，左侧所述的竖直通槽8内固定安装有内螺纹套筒9；
需要调节升降座7和夹持机构15的高度时，开启伺服电机3，伺服电机3带动主动齿轮4和从动齿轮5转动，从动齿轮5带动螺杆6转动，从而使得螺杆6带动内螺纹套筒9和升降座7上下移动，从而实现了对升降座7和夹持机构15高度的调节，利于对电子元件的夹持；
水平横板2上设置有用于对升降座7限位的限位组件，限位组件包括滑块10和定位杆11，定位杆11的上下两端分别通过螺栓与水平横板2和底座22固定连接，定位杆11上套设有滑块10，滑块10通过螺栓与左侧所述的竖直通槽8固定连接，限位组件的设置实现了对升降座7的限位，保证了电子元件搬运的准确性，避免了电子元件的脱落。
如图4-5所示，夹持机构15包括液压缸12和升降座13，液压缸12固定安装在升降座7内，且液压缸12的伸缩端固定连接有升降座13，升降座13的下方对称铰接有两个推杆14，推杆14远离升降座13的一端铰接有铰接块18，铰接块18活动安装在铰接槽19内，铰接槽19设置在摆动臂17中；
摆动臂17的一端安装在立板16上，且摆动臂17和立板16之间转动连接，立板16的顶部与升降座7固定连接；
铰接块18还固定连接有搬料手21，搬料手21之间通过铰接轴20转动连接；
使用时，需要对电子元件进行夹持时，开启液压缸12，液压缸12带动升降座13上下移动，从而使得升降座13带动推杆14和铰接块18移动，进而使得铰接块18带动搬料手21转动，实现了对电子元件的夹持。
1内螺纹套筒9内安装有用于保护铰接块18的缓冲弹簧，缓冲弹簧与铰接块18固定连接。
实施例2
如图1-2所示，本发明实施例中，一种自动化爪搬料手机构，包括支撑架1和底座22，底座22的上部固定安装有支撑架1，支撑架1的顶部固定安装有水平横板2，支撑架1内设置有升降座7，升降座7上安装有用于搬料的夹持机构15，水平横板2上还安装有用于调节夹持机构15高度的高度调节组件；
高度调节组件包括伺服电机3、主动齿轮4和从动齿轮5，伺服电机3固定安装在支撑架1的顶部，伺服电机3的输出端固定连接有主动齿轮4，主动齿轮4和水平横板2转动连接，且主动齿轮4的一侧设置有从动齿轮5，主动齿轮4和从动齿轮5啮合连接，从动齿轮5的下方固定连接有螺杆6，螺杆6的外部套设有内螺纹套筒9，螺杆6和内螺纹套筒9之间通过螺纹连接；
如图3所示，升降座7的后侧对称设置有两个竖直通槽8，左侧所述的竖直通槽8内固定安装有内螺纹套筒9；
需要调节升降座7和夹持机构15的高度时，开启伺服电机3，伺服电机3带动主动齿轮4和从动齿轮5转动，从动齿轮5带动螺杆6转动，从而使得螺杆6带动内螺纹套筒9和升降座7上下移动，从而实现了对升降座7和夹持机构15高度的调节，利于对电子元件的夹持；
水平横板2上设置有用于对升降座7限位的限位组件，限位组件包括滑块10和定位杆11，定位杆11的上下两端分别通过螺栓与水平横板2和底座22固定连接，定位杆11上套设有滑块10，滑块10通过螺栓与左侧所述的竖直通槽8固定连接，限位组件的设置实现了对升降座7的限位，保证了电子元件搬运的准确性，避免了电子元件的脱落。
实施例3
如图1-2所示，本发明实施例中，一种自动化爪搬料手机构，包括支撑架1和底座22，底座22的上部固定安装有支撑架1，支撑架1的顶部固定安装有水平横板2，支撑架1内设置有升降座7，升降座7上安装有用于搬料的夹持机构15，水平横板2上还安装有用于调节夹持机构15高度的高度调节组件；
需要调节升降座7和夹持机构15的高度时，开启伺服电机3，伺服电机3带动主动齿轮4和从动齿轮5转动，从动齿轮5带动螺杆6转动，从而使得螺杆6带动内螺纹套筒9和升降座7上下移动，从而实现了对升降座7和夹持机构15高度的调节，利于对电子元件的夹持；
水平横板2上设置有用于对升降座7限位的限位组件，限位组件包括滑块10和定位杆11，定位杆11的上下两端分别通过螺栓与水平横板2和底座22固定连接，定位杆11上套设有滑块10，滑块10通过螺栓与左侧所述的竖直通槽8固定连接，限位组件的设置实现了对升降座7的限位，保证了电子元件搬运的准确性，避免了电子元件的脱落。
如图4-5所示，夹持机构15包括液压缸12和升降座13，液压缸12固定安装在升降座7内，且液压缸12的伸缩端固定连接有升降座13，升降座13的下方对称铰接有两个推杆14，推杆14远离升降座13的一端铰接有铰接块18，铰接块18活动安装在铰接槽19内，铰接槽19设置在摆动臂17中；
摆动臂17的一端安装在立板16上，且摆动臂17和立板16之间转动连接，立板16的顶部与升降座7固定连接；
铰接块18还固定连接有搬料手21，搬料手21之间通过铰接轴20转动连接；
使用时，需要对电子元件进行夹持时，开启液压缸12，液压缸12带动升降座13上下移动，从而使得升降座13带动推杆14和铰接块18移动，进而使得铰接块18带动搬料手21转动，实现了对电子元件的夹持。
铰接槽19内安装有用于保护铰接块18的缓冲弹簧，缓冲弹簧与铰接块18固定连接。
综上所述，本发明的工作原理是：使用时，需要对电子元件进行夹持时，开启液压缸12，液压缸12带动升降座13上下移动，从而使得升降座13带动推杆14和铰接块18移动，进而使得铰接块18带动搬料手21转动，实现了对电子元件的夹持。
需要调节升降座7和夹持机构15的高度时，开启伺服电机3，伺服电机3带动主动齿轮4和从动齿轮5转动，从动齿轮5带动螺杆6转动，从而使得螺杆6带动内螺纹套筒9和升降座7上下移动，从而实现了对升降座7和夹持机构15高度的调节，利于对电子元件的夹持
本发明实施例设置了高度调节组件，高度调节组件的设置实现了对夹持机构15高度的调节，降低了电子元件的搬运难度，提高了搬运效率，同时限位组件的设置实现了对升降座7的限位，保证了电子元件搬运的准确性，避免了电子元件的脱落。
对于本领域技术人员而言，虽然说明了本发明的几个实施方式以及实施例，但这些实施方式以及实施例是作为例子而提出的，并不意图限定发明的范围。这些新的实施方式能够以其他各种方式实施，在不脱离发明的主旨的范围内能够进行各种省略、替换、变更。这些实施方式及其变形包含在发明的范围及主旨中，并且包含在权利要求书所记载的发明和其等效的范围内。
此外，应当理解，虽然本说明书按照实施方式加以描述，但并非每个实施方式仅包含一个独立的技术方案，说明书的这种叙述方式仅仅是为清楚起见，本领域技术人员应当将说明书作为一个整体，各实施例中的技术方案也可以经适当组合，形成本领域技术人员可以理解的其他实施方式。

Claims (9)

  1. 一种自动化爪搬料手机构，包括支撑架（1）和底座（22），底座（22）的上部固定安装有支撑架（1），支撑架（1）的顶部固定安装有水平横板（2），其特征在于，支撑架（1）内设置有升降座（7），升降座（7）上安装有用于搬料的夹持机构（15），水平横板（2）上还安装有用于调节夹持机构（15）高度的高度调节组件。
  2. 根据权利要求1所述的自动化爪搬料手机构，其特征在于，高度调节组件包括伺服电机（3）、主动齿轮（4）和从动齿轮（5），伺服电机（3）固定安装在支撑架（1）的顶部，伺服电机（3）的输出端固定连接有主动齿轮（4），主动齿轮（4）和水平横板（2）转动连接，且主动齿轮（4）的一侧设置有从动齿轮（5），从动齿轮（5）的下方固定连接有螺杆（6），螺杆（6）的外部套设有内螺纹套筒（9），螺杆（6）和内螺纹套筒（9）之间通过螺纹连接。
  3. 根据权利要求2所述的自动化爪搬料手机构，其特征在于，主动齿轮（4）和从动齿轮（5）啮合连接。
  4. 根据权利要求2所述的自动化爪搬料手机构，其特征在于，升降座（7）的后侧对称设置有两个竖直通槽（8），左侧所述的竖直通槽（8）内固定安装有内螺纹套筒（9）。
  5. 根据权利要求4所述的自动化爪搬料手机构，其特征在于，水平横板（2）上设置有用于对升降座（7）限位的限位组件，限位组件包括滑块（10）和定位杆（11），定位杆（11）的上下两端分别通过螺栓与水平横板（2）和底座（22）固定连接，定位杆（11）上套设有滑块（10），滑块（10）通过螺栓与左侧所述的竖直通槽（8）固定连接。
  6. 根据权利要求1-5任一所述的自动化爪搬料手机构，其特征在于，夹持机构（15）包括液压缸（12）和升降座（13），液压缸（12）固定安装在升降座（7）内，且液压缸（12）的伸缩端固定连接有升降座（13），升降座（13）的下方对称铰接有两个推杆（14），推杆（14）远离升降座（13）的一端铰接有铰接块（18），铰接块（18）活动安装在铰接槽（19）内，铰接槽（19）设置在摆动臂（17）中。
  7. 根据权利要求6所述的自动化爪搬料手机构，其特征在于，摆动臂（17）的一端安装在立板（16）上，且摆动臂（17）和立板（16）之间转动连接，立板（16）的顶部与升降座（7）固定连接。
  8. 根据权利要求7所述的自动化爪搬料手机构，其特征在于，铰接块（18）还固定连接有搬料手（21），搬料手（21）之间通过铰接轴（20）转动连接。
  9. 根据权利要求8所述的自动化爪搬料手机构，其特征在于，铰接槽（19）内安装有用于保护铰接块（18）的缓冲弹簧，缓冲弹簧与铰接块（18）固定连接。
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CN115091506A (zh) * 2022-08-04 2022-09-23 北京顺圆和合科技有限公司 一种用于工业机器人的平衡装置
CN115091506B (zh) * 2022-08-04 2023-01-10 北京顺圆和合科技有限公司 一种用于工业机器人的平衡装置
CN116275961A (zh) * 2023-05-19 2023-06-23 深圳市亚细亚电子有限公司 一种烫发机组装用机械手
CN116275961B (zh) * 2023-05-19 2023-08-08 深圳市亚细亚电子有限公司 一种烫发机组装用机械手

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