A grabbing device for mechanical production

Abstract

The present invention belongs to the technical field of mechanical products, and in particular to a grasping device for mechanical production, which comprises a mounting frame, a motor connection structure, a sliding block limiting structure, a slider, a power structure, a mounting plate, a bearing, a power nut, a power parachute ruler, a transmission parachute ruler, a power threaded rod, a rectangular slide rod, a connecting block, a mounting hole, a spring, a limiting ball, a limiting hole, an electromagnet, and a clamping claw structure. The transmission parachute ruler connected to the power structure drives the power parachute ruler to rotate and then drives the power nut to rotate. The power nut is rotated to drive the power threaded rod to rise or fall, and then drives the rectangular slide rod to rise or fall, and then drives the slider to rise and fall through the connecting block. When it falls to the lower limit of the sliding block limiting structure, the connecting block continues to move downward, and then drives the mounted electromagnet to fall, and then uses the electromagnet to realize the adsorption of a steel plate with a larger area, thereby solving the problem that the existing mechanical claws cannot clamp the steel plate.

Description

Technical Field

[0001] The present invention relates to the technical field of mechanical products, and in particular to a grasping device for mechanical production. Background Art

[0002] With the development of society and science and technology, human industrial level and technology have been significantly improved, and mechanical equipment is widely used in industrial production. Many existing products are directly transported to designated locations by conveyor belts and stopped for processing. Therefore, a grabbing device for mechanical production is developed, which can directly grab products for processing during transportation, solve the problem that products need to be transported directly to designated locations by conveyor belts and stopped for processing, reduce unnecessary time waste during transportation and processing of products, and maximize production efficiency.

[0003] In the prior art, the patent with the patent authorization announcement number CN207346752U discloses a technical solution: including row grab, pin I, V-shaped swing arm, mechanical claw cover, mechanical claw frame, locking nut, motor connecting shaft, rotating servo, servo platform, box cover, rotating frame, bolt I, linear servo, coupling, clamping claw base, sliding base, U-shaped swing arm, pin II, pin III, screw rod, swing arm, servo gear, servo gear shaft, speed gear, speed gear shaft, rotating shaft, positioning pin, bolt II, nut, three-hole swing arm, screw rod limiter, and mobile screw rod pair. The present invention has a simple structure and is easy to assemble; it has two degrees of freedom and can achieve the required motion state in different environments; it has strong adjustability and can be widely used in industrial production and daily life; grabbing objects simulates human hand movements and fully combines human movements with mechanical principles.

[0004] The above technical solution solves the problem of grasping in mechanical production to a certain extent, but it can only clamp smaller block structures. When encountering a larger steel plate, it cannot be clamped. In the field of mechanical manufacturing, steel plates are extremely common raw materials. Therefore, the deficiencies in the technical solution of the above solution seriously affect its application in mechanical processing. Summary of the invention

[0005] The purpose of the present invention is to solve the defect in the prior art that mechanical claws cannot clamp larger steel plates, and to propose a gripping device for mechanical production.

[0006] In order to achieve the above object, the present invention adopts the following technical solutions:

[0007] A grabbing device for mechanical production, comprising a mounting frame, a motor connection structure, a sliding block limiting structure, a slider, a power structure, a mounting plate, a bearing, a power nut, a power parachute ruler, a transmission parachute ruler, a power threaded rod, a rectangular slide rod, a connecting block, a mounting hole, a spring, a limiting ball, a limiting hole, an electromagnet, and a clamping claw structure, wherein the motor connection structure is installed above the mounting frame, the sliding block limiting structure is installed below the mounting frame, and the slider is slidably embedded in the sliding block limiting structure;

[0008] The power structure is installed on one side of the mounting frame, the mounting plate is installed horizontally in the mounting frame, the bearing is embedded in the middle of the mounting plate and the outer ring of the bearing is connected to the mounting plate, the power nut is embedded in the inner ring of the bearing, the power parachute ruler is installed above the power nut, the transmission parachute ruler is engaged with the power parachute ruler and is connected to the power structure, the power threaded rod is screwed and inserted in the power nut, the rectangular sliding rod is slidably inserted on the sliding block limiting structure and its upper end is connected to the lower end of the power threaded rod, the connecting block is slidably embedded in the middle of the slider, the two mounting holes are opened on both sides of the connecting block, the spring is installed in the mounting hole, the limiting ball is slidably embedded in the mounting hole and connected to the outer end of the spring, the limiting hole is opened in the slider and the limiting ball falls into it, the electromagnet is installed at the lower end of the connecting block, and the clamping claw structure is arranged on the slider and the sliding block limiting structure.

[0009] Preferably, the motor connection structure includes a connecting threaded tube, a connecting head, and a connecting nut. The connecting threaded tube is installed above the mounting frame, the connecting head is arranged above the connecting threaded tube and abuts against the upper end of the connecting threaded tube, and the connecting nut is installed on the connecting head and screwed on the connecting threaded tube.

[0010] Preferably, the sliding block limiting structure includes a door-shaped plate, a guide groove, and a guide rod. The door-shaped plate is installed below the mounting frame, and four guide grooves are symmetrically opened on both sides of the door-shaped plate. Four guide rods are installed on both sides of the sliding block and are slidably embedded in the guide grooves.

[0011] Preferably, the power structure includes a reducer and a servo motor, the reducer is installed on one side of the mounting frame and its output shaft is connected to the transmission umbrella ruler, and the servo motor is installed on the reducer and its output shaft is connected to the reducer input.

[0012] Preferably, the clamping claw structure includes an upper link row, a lower grabbing row, a connecting rod one, and a connecting rod two. A pair of the upper link rows are symmetrically and rotatably installed on the inner side of the door panel, a pair of the lower grabbing rows are rotatably and symmetrically installed below the upper link rows, one end of the two connecting rods are rotatably and symmetrically installed above the slider and the other end is rotatably connected to the bottom of the upper link row, and a pair of connecting rods two are rotatably and symmetrically installed below the slider and are rotatably connected to the middle of the two lower grabbing rows respectively.

[0013] Preferably, a rod accommodating hole is provided on the mounting frame, and the rod accommodating hole is opened on the mounting frame above the power threaded rod.

[0014] In the present invention, the grasping device for mechanical production has the following beneficial effects through its structural design: the power parachute ruler is driven to rotate by the transmission parachute ruler connected to the power structure, and then the power nut is driven to rotate, and the power threaded rod is driven to rise or fall by the rotation of the power nut, and then the rectangular sliding rod is driven to rise or fall, and then the slider is driven to rise and fall through the connecting block. When it falls to the lower limit of the sliding block limit structure, the connecting block continues to move downward, and then the electromagnet on which it rides is driven to fall, and then the electromagnet is used to realize the adsorption of steel plates with a larger area, thereby solving the problem that the existing mechanical claws cannot clamp and carry steel plates. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 A schematic diagram of the internal structure of a mechanical production grabbing device proposed by the present invention;

[0016] Figure 2 This is a schematic diagram of the external structure of a gripping device for mechanical production proposed by the present invention;

[0017] Figure 3 A mechanical production grabbing device proposed by the present invention Figure 1 A schematic diagram of the structure of part A is shown;

[0018] Figure 4 A mechanical production grabbing device proposed by the present invention Figure 1 The schematic diagram of the structure of part B is shown;

[0019] Figure 5 This is a partial cross-sectional structural schematic diagram of the bearing, power nut and power parachute ruler of a grabbing device for mechanical production proposed by the present invention.

[0020] In the figure: 1. mounting frame; 2. slider; 3. mounting plate; 4. bearing; 5. power nut; 6. power parachute ruler; 7. transmission parachute ruler; 8. power threaded rod; 9. rectangular slide rod; 10. connecting block; 11. mounting hole; 12. spring; 13. limit ball; 14. limit hole; 15. electromagnet; 16. connecting threaded pipe; 17. connector; 18. connecting nut; 19. door plate; 20. guide groove; 21. guide rod; 22. reducer; 23. servo motor; 24. upper connecting row; 25. lower grabbing row; 26. connecting rod one; 27. connecting rod two; 28. rod holding hole. DETAILED DESCRIPTION

[0021] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0022] Reference Figure 1-5 A grabbing device for mechanical production, including a mounting frame 1, a motor connection structure, a sliding block limiting structure, a slider 2, a power structure, a mounting plate 3, a bearing 4, a power nut 5, a power parachute ruler 6, a transmission parachute ruler 7, a power threaded rod 8, a rectangular slide rod 9, a connecting block 10, a mounting hole 11, a spring 12, a limiting ball 13, a limiting hole 14, an electromagnet 15, and a clamping claw structure. The motor connection structure is installed above the mounting frame 1, the sliding block limiting structure is installed below the mounting frame 1, and the slider 2 is slidably embedded in the sliding block limiting structure;

[0023] In the present invention, the power structure is installed on one side of the mounting frame 1, the mounting plate 3 is installed horizontally in the mounting frame 1, the bearing 4 is embedded in the middle of the mounting plate 3 and the outer ring of the bearing 4 is connected to the mounting plate 3, the mounting plate 3 plays a role in fixing the bearing 4, the power nut 5 is embedded in the inner ring of the bearing 4, the power nut 5 is an annular structure with a thread on its inner surface, the power parachute ruler 6 is installed above the power nut 5, the power parachute ruler 6 is a hollow annular parachute ruler structure, the transmission parachute ruler 7 is engaged with the power parachute ruler 6 and connected to the power structure, the power threaded rod 8 is screwed and inserted into the power nut 5, and passes through the hollow structure of the power parachute ruler 6, and the rectangular sliding rod 9 is slidably inserted into the sliding block limit The connecting block 10 is slidably embedded in the middle of the slider 2, and a groove for inserting the connecting block 10 is provided in the middle of the slider 2, and the upper part of the groove is not opened, so that the connecting block 10 can be limited when it moves upward. The two mounting holes 11 are opened on both sides of the connecting block 10, and the spring 12 is installed in the mounting hole 11. The limiting ball 13 is slidably embedded in the mounting hole 11 and connected to the outer end of the spring 12. The limiting hole 14 is opened in the slider 2 and the limiting ball 13 falls into it. The electromagnet 15 is installed at the lower end of the connecting block 10. The electromagnet 15 is an AC electromagnet. The clamping claw structure is arranged on the slider 2 and the sliding block limiting structure.

[0024] In the present invention, the motor connection structure includes a connecting threaded tube 16, a connecting head 17, and a connecting nut 18. The connecting threaded tube 16 is installed above the mounting frame 1, and the connecting head 17 is arranged above the connecting threaded tube 16 and abuts against the upper end of the connecting threaded tube 16. The connecting nut 18 is installed on the connecting head 17 and screwed on the connecting threaded tube 16. The connecting head 17 of the motor connection structure is connected to an external rotating structure, such as a rotating mechanism on a robotic arm, so as to facilitate the overall rotation of the device and facilitate the horizontal angle adjustment of the clamped object.

[0025] In the present invention, the sliding block limiting structure includes a door-shaped plate 19, a guide groove 20, and a guide rod 21. The door-shaped plate 19 is installed below the mounting frame 1. The four guide grooves 20 are symmetrically opened on both sides of the door-shaped plate 19. The four guide rods 21 are installed on both sides of the slider 2 and are slidably embedded in the guide grooves 20. The guide grooves 20 limit the guide rods 21 and thus play a role in limiting the slider 2.

[0026] In the present invention, the power structure includes a reducer 22 and a servo motor 23. The reducer 22 is installed on one side of the mounting frame 1 and its output shaft is connected to the transmission umbrella ruler 7. The servo motor 23 is installed on the reducer 22 and its output shaft is connected to the input of the reducer 22. The servo motor 23 uses an AC servo motor, which can be controlled by a host computer such as a PLC. The pulse sent by the host computer can control its rotation angle. The device can add a torque sensor to the output shaft of the reducer 22 to determine the torque of the output shaft of the reducer, and then control the clamping force. The rotation angle control and clamping force control are existing technologies.

[0027] In the present invention, the clamping claw structure includes an upper link row 24, a lower grabbing row 25, a connecting rod 1 26, and a connecting rod 27. A pair of the upper link rows 24 are symmetrically and rotatably installed on the inner side of the door-type plate 19, a pair of the lower grabbing rows 25 are rotatably and symmetrically installed below the upper link row 24, one end of the two connecting rods 1 26 are rotatably and symmetrically installed above the slider 2 and the other end thereof is rotatably connected to the bottom of the upper link row 24, a pair of connecting rods 27 are rotatably and symmetrically installed below the slider 2 and are rotatably connected to the middle part of the two lower grabbing rows 25 respectively. The slider 2 is used to drive the connecting rod 1 26 and the connecting rod 2 27 respectively to drive the upper link row 24 and the lower grabbing row 25 to perform an inward movement that simulates the movement of a human hand.

[0028] In the present invention, a rod accommodating hole 28 is provided on the mounting frame 1. The rod accommodating hole 28 is opened on the mounting frame 1 above the power threaded rod 8. The rod accommodating hole 28 provides a larger space for the rising of the power threaded rod 8, which is convenient for the power threaded rod 8 to rise and then drive the slider 2 to rise and then drive the clamping claw structure to achieve clamping.

[0029] In the present invention, the working process is as follows: first, the device is installed on the external mechanical arm through the connecting head 17, and the connecting head 17 can be fixed on the connecting threaded tube 16 through the connecting nut 18, and then the device is fixed through the mounting frame 1 on the connecting threaded tube 16. When the external mechanical arm rotates, the device can be driven to rotate;

[0030] When it is necessary to clamp general items, first, the servo motor 23 is actuated and decelerated by the reducer 22, and then the transmission umbrella ruler 7 is driven to rotate, and then the transmission umbrella ruler 7 drives the power umbrella ruler 6 to rotate, and the power umbrella ruler 6 rotates to drive the power nut 5 to rotate, and the bearing 4 plays the role of rotating and connecting the power nut 5, and then the power nut 5 rotates to drive the power threaded rod 8 to rise, and then the rising of the power threaded rod 8 drives the rectangular slide 9 to rise, and the rectangular slide 9 functions to limit the rotation of the power threaded rod 8, and then the rising of the rectangular slide 9 drives the connection block 10 to rise, and the connection block 10 in the slide block 2 drives the slide block 2 to rise under the obstruction of the upper part of the slide block 2, and then the slide block 2 rises;

[0031] Then the slider 2 rises to drive the inner ends of the connecting rod 1 26 and the connecting rod 27 to move upward. Driven by the connecting rod 1 26 and the connecting rod 27, the upper link row 24 and the lower grabbing row 25 begin to rotate inward, thereby narrowing the distance between the lower grabbing row 25, and then the object can be clamped under the drive of the mechanical arm;

[0032] The guide groove 20 on the door-shaped plate 19 limits the guide rod 21 and thus limits the slider 2, limiting the maximum upward and downward positions of the slider 2;

[0033] When the steel plate needs to be moved, the servo motor 23 rotates in the opposite direction and indirectly drives the connecting block 10 to move downward. The downward movement of the connecting block 10 drives the slider 2 to move downward. When the slider 2 is restricted by the guide groove 20 and cannot continue to move downward, the limiting ball 13 in the mounting hole 11 on the connecting block 10 is released from the limiting hole 14 by the force of the slider 2, and the limiting ball 13 no longer hinders the connecting block 10, and the connecting block 10 continues to move downward, driving the electromagnet 15 downward. When the height of the lower surface of the electromagnet 15 is lower than the lowest end of the lower grab row 25, the servo motor 23 stops, and the position of the electromagnet 15 is fixed. Then, power is supplied to the electromagnet, and the electromagnet 15 operates to adsorb the steel plate. Then, the robotic arm can drive the steel plate to move by driving the device to move, thereby realizing the clamping (adsorption) movement of the steel plate and achieving the purpose of transporting the steel plate.

[0034] The spring 12 is used to push the limiting ball 13 to fall into the limiting hole 14. When the slider 2 does not reach the lower limit, the limiting ball 13 is pushed by the spring 12 and will not be pushed out by the upward force of the slider 2, thereby driving the clamping structure to operate.

[0035] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A gripping device for mechanical production, comprising a mounting frame (1), a motor connection structure, a sliding block limiting structure, a slider (2), a power structure, a mounting plate (3), a bearing (4), a power nut (5), a power parachute ruler (6), a transmission parachute ruler (7), a power threaded rod (8), a rectangular slide rod (9), a connecting block (10), a mounting hole (11), a spring (12), a limiting ball (13), a limiting hole (14), an electromagnet (15), and a clamping claw structure, wherein the motor connection structure is mounted above the mounting frame (1), the sliding block limiting structure is mounted below the mounting frame (1), and the slider (2) is slidably embedded in the sliding block limiting structure; It is characterized in that The power structure is installed on one side of the mounting frame (1), the mounting plate (3) is installed transversely in the mounting frame (1), the bearing (4) is embedded in the middle of the mounting plate (3) and the outer ring of the bearing (4) is connected to the mounting plate (3), the power nut (5) is embedded in the inner ring of the bearing (4), the power parachute ruler (6) is installed above the power nut (5), the transmission parachute ruler (7) is engaged with the power parachute ruler (6) and connected to the power structure, the power threaded rod (8) is screwed and inserted into the power nut (5), and the rectangular sliding rod (9) is slidably inserted into the sliding block limit structure. The connecting block (10) is slidably mounted on the middle part of the slider (2), and the two mounting holes (11) are opened on both sides of the connecting block (10). The spring (12) is installed in the mounting hole (11). The limiting ball (13) is slidably mounted in the mounting hole (11) and connected to the outer end of the spring (12). The limiting hole (14) is opened in the slider (2) and the limiting ball (13) falls into it. The electromagnet (15) is installed on the lower end of the connecting block (10). The clamping claw structure is arranged on the slider (2) and the sliding block limiting structure. The motor connection structure comprises a connecting threaded tube (16), a connecting head (17), and a connecting nut (18); the connecting threaded tube (16) is installed above the mounting frame (1); the connecting head (17) is arranged above the connecting threaded tube (16) and abuts against the upper end of the connecting threaded tube (16); and the connecting nut (18) is sleeved and installed on the connecting head (17) and screwed on the connecting threaded tube (16); The sliding block limiting structure comprises a door-shaped plate (19), a guide groove (20), and a guide rod (21); the door-shaped plate (19) is installed below the mounting frame (1); four guide grooves (20) are symmetrically opened on both sides of the door-shaped plate (19); and four guide rods (21) are installed on both sides of the sliding block (2) and are slidably embedded in the guide grooves (20); The power structure comprises a reducer (22) and a servo motor (23); the reducer (22) is mounted on one side of the mounting frame (1) and its output shaft is connected to the transmission umbrella ruler (7); the servo motor (23) is mounted on the reducer (22) and its output shaft is connected to the input of the reducer (22); The clamping claw structure comprises an upper link row (24), a lower grabbing row (25), a connecting rod one (26), and a connecting rod two (27); a pair of the upper link rows (24) are symmetrically and rotatably mounted on the inner side of the door-type plate (19); a pair of the lower grabbing rows (25) are rotatably and symmetrically mounted below the upper link rows (24); one end of the two connecting rods one (26) are rotatably and symmetrically mounted above the slider (2) and the other end thereof is rotatably connected to the bottom of the upper link row (24); a pair of the connecting rods two (27) are rotatably and symmetrically mounted below the slider (2) and are rotatably connected to the middle of the two lower grabbing rows (25) respectively.

2. A gripping device for mechanical production according to claim 1, It is characterized in that The mounting frame (1) is provided with a rod accommodating hole (28), and the rod accommodating hole (28) is opened on the mounting frame (1) above the power threaded rod (8).

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