Combined grabbing device

Abstract

The invention relates to the field of automation equipment, in particular to a combined grabbing device which comprises a transverse conveying seat, a longitudinal conveying seat capable of sliding along the transverse conveying seat, a control box for driving the transverse conveying seat to move and two mechanical grabbing mechanisms capable of moving along the longitudinal conveying seat. The mechanical grabbing mechanism comprises a mechanical grabbing seat capable of moving along the longitudinal conveying seat, a walking driving mechanism arranged on the mechanical grabbing seat, a lifting conveying assembly detachably arranged on the mechanical grabbing seat, a grabbing manipulator arranged at the lower end of the lifting conveying assembly and a lifting driving mechanism. The lifting conveying assembly comprises a connecting plate used for being fastened to the mechanical grabbing base and a lifting rod piece capable of sliding up and down along the connecting plate, a calibration mechanism used for achieving calibration matching is arranged on the connecting plate and / or the mechanical grabbing base, and a locking mechanism used for fastening is arranged on the connecting plate and / or the mechanical grabbing base. The technical problems that an existing grabbing device is large in transportation occupied space and poor in combination and installation stability are solved.

Description

Technical Field

[0001] The present invention relates to the field of automation equipment, and in particular to a combined grabbing device. Background Art

[0002] At present, the automation of machinery has become a more common trend, and the grasping device has generally replaced manual labor. The existing grasping device usually includes a horizontal conveying seat, a longitudinal conveying seat, and a lifting conveying seat, so that free movement and grasping in three directions can be achieved. For example, a modular rotating structure disclosed by Chinese Patent Publication No. CN215201997U includes a base, a long arch group, a drawing group, and an arm group, wherein the arm group includes a traction mechanism and a clamping mechanism, the long arch group is arranged on the base, the drawing group is arranged on the long arch group, and the arm group is arranged on the drawing group. The drawing group and the long arch group are connected by a detachable rotating device, the rotating device drawing slide, the long arch slide, and the rotating shaft. There are corresponding shaft holes and screw holes between the drawing slide and the long arch slide. The rotating shaft passes through the shaft holes of the drawing slide and the long arch slide, so that the drawing slide rotates on the long arch slide around the rotating shaft.

[0003] However, due to the arrangement of the horizontal conveying seat, the longitudinal conveying seat, and the lifting conveying seat, the existing grabbing device is not easy to realize effective combined installation. Either it needs to occupy a large space during packaging and transportation, or the combined installation has poor stability. Summary of the Invention

[0004] Therefore, in response to the above problems, the present invention proposes a combined grabbing device, which solves the technical problems of existing grabbing devices that occupy a large space for transportation and have poor combined installation stability.

[0005] To achieve the above object, the present invention adopts the following technical solutions: The camming mechanism is a combination of a lifting and lowering mechanism, a lifting and lowering mechanism, and a lifting and lowering mechanism. The lifting and lowering mechanism is a combination of a lifting and lowering mechanism, a lifting and lowering mechanism and a lifting and lowering mechanism. The lifting and lowering mechanism comprises a connecting plate for being fastened to the mechanical grabbing seat and a lifting rod which can slide up and down along the connecting plate. The lifting drive mechanism drives the lifting rod to slide up and down. The connecting plate and / or the mechanical grabbing seat are provided with a calibration mechanism for achieving calibration and matching. The connecting plate and / or the mechanical grabbing seat are provided with a locking mechanism for fastening. Two longitudinal conveying rails are provided on the longitudinal conveying seat, and a longitudinal rack is provided between the two longitudinal conveying rails. The travel drive mechanism includes a slider cooperating with the two longitudinal conveying rails, a travel servo motor and a first gear provided on the mechanical grabbing seat. A first motor mounting hole is provided on the mechanical grabbing seat, and the travel servo motor and the slider are respectively provided on opposite sides of the mechanical grabbing seat. The rotating shaft of the travel servo motor passes through the first motor mounting hole. The first gear is provided on the rotating shaft of the travel servo motor, and the first gear is engaged with the longitudinal rack to realize driving. The lifting rod is provided with a lifting rack, and the lifting drive mechanism includes a lifting servo motor and a second gear provided on the mechanical grabbing seat. The mechanical grabbing seat is provided with a second motor mounting hole, and the rotating shaft of the lifting servo motor passes through the second motor mounting hole. The second gear is provided on the rotating shaft of the lifting servo motor, and the second gear is engaged with the lifting rack to realize driving; At least one grasping robot includes a grasping motor arranged at the lower end of the lifting and conveying assembly, a spline sleeve arranged on the rotating shaft of the grasping motor, a spline shaft arranged in the spline sleeve, a screw connected to the lower end of the spline shaft and a grasping assembly driven by the screw, the grasping assembly is composed of three grasping petals, each grasping petal includes a supporting end, a third gear rotatably arranged below the supporting end and a clamping mechanism connected to each third gear, the three third gears are distributed on the circumferential outer side of the screw and cooperate with the screw transmission, when the grasping motor rotates, it drives the screw to move upward or downward, thereby realizing the approach or opening of multiple clamping mechanisms.

[0006] Furthermore, the locking mechanism is a bolt assembly.

[0007] Furthermore, the calibration mechanism includes a first protrusion provided on the mechanical grasping seat, a first groove provided on the mechanical grasping seat, a second protrusion provided on the connecting plate and a second groove provided on the connecting plate. The first protrusion cooperates with the second groove, and the first groove cooperates with the second protrusion to achieve the fit between the connecting plate and the mechanical grasping seat.

[0008] Furthermore, a snap-fit ​​groove is provided on one side of the support end, and a snap-fit ​​protrusion is provided on the other side. The two adjacent support ends are connected by plugging and fitting the snap-fit ​​groove and the snap-fit ​​protrusion. The three support ends form a hollow support platform, and the screw rod passes through the hollow part of the support platform and cooperates with the third gear.

[0009] Furthermore, a limiting block is provided on the upper end of the engaging protrusion, and a limiting groove is provided on the upper end of the engaging groove, and the position-limiting engaging is achieved by the cooperation between the limiting block and the limiting groove.

[0010] Furthermore, the clamping mechanism includes an inner clamping plate, an outer clamping plate and a clamping plate support, the inner clamping plate is connected to the lower end of the outer clamping plate, the upper ends of the inner clamping plate and the outer clamping plate are respectively connected to the two sides of the third gear, the inner clamping plate, the outer clamping plate and the third gear form a hollow triangular area, a first clamping plate support portion is provided on the inner wall of the inner clamping plate, a second clamping plate support portion is provided on the inner wall of the outer clamping plate, and the two ends of the clamping plate support are respectively inserted into the first clamping plate support portion and the second clamping plate support portion.

[0011] Furthermore, the inner clamping plate and the outer clamping plate are made of flexible materials, and the clamping plate support is a metal part.

[0012] Furthermore, a bending portion is provided on the free end of the clamping plate support member passing through the first clamping plate support portion and the second clamping plate support portion to achieve stable insertion.

[0013] Furthermore, when the inner clamping plate is vertical, the clamping plate supports located in the same clamping mechanism are parallel to each other, and the angle between each clamping plate support and the inner clamping plate is 60°-85°, and the angle between the outer clamping plate and the inner clamping plate is 10°-20°.

[0014] By adopting the above technical solution, the beneficial effects of the present invention are: 1. This solution combines the travel drive mechanism and the lifting drive mechanism through a mechanical gripper seat, realizes assembly and disassembly through the cooperation of the connecting plate and the mechanical gripper seat, and assists in connection through the calibration mechanism and the locking mechanism, thereby effectively improving the stability and efficiency of the combination and effectively reducing the reduction of packaging space.

[0015] Through the specific arrangement of the travel drive mechanism and the lifting drive mechanism, effective drive coordination can be achieved, thereby realizing effective travel drive in the longitudinal and vertical directions.

[0016] The setting of the grasping robot can realize effective flexible grasping, achieve better assembly coordination, and achieve grasping stability.

[0017] 2. Through the cooperation between the first protrusion and the second groove, and the cooperation between the first groove and the second protrusion, effective and accurate positioning is achieved, thereby improving the accuracy during assembly.

[0018] 3. The cooperation of the clamping groove, the clamping protrusion, the limiting block and the limiting groove can realize the effective forming of the support platform, that is, the effective forming of the support end, thereby realizing a stable connection and realizing effective cooperation with the screw rod.

[0019] 4. The clamping mechanism can improve the clamping flexibility by setting the inner clamping plate, the outer clamping plate and the clamping plate support. Among them, the inner clamping plate and the outer clamping plate are made of flexible materials, and the clamping plate support is a metal part, which can achieve a combination of flexibility and hardness and realize effective clamping. Moreover, the inner clamping plate, the outer clamping plate and the third gear form a hollow triangular area, which effectively reduces weight and improves flexibility. The setting of the bending part realizes plug-in stability. When the inner clamping plate is vertical, the clamping plate supports located in the same clamping mechanism are parallel to each other, and the angle between each clamping plate support and the inner clamping plate is 60°-85°, and the angle between the outer clamping plate and the inner clamping plate is 10°-20°. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a structural diagram of the combined grabbing device.

[0021] Figure 2 It is a three-dimensional structural diagram of the mechanical grasping mechanism of the combined grasping device.

[0022] Figure 3 It is a schematic diagram of the exploded structure of the mechanical grasping mechanism of the combined grasping device.

[0023] Figure 4 It is a schematic structural diagram of the mechanical grasping mechanism of the combined grasping device in a top view.

[0024] Figure 5 It is a structural diagram of the mechanical gripping seat portion of the combined gripping device.

[0025] Figure 6 It is a structural schematic diagram of the mechanical gripping seat of the combined gripping device from the front view.

[0026] Figure 7 It is a structural schematic diagram of the mechanical gripping seat of the combined gripping device from the back side.

[0027] Figure 8 It is a structural diagram of the grasping manipulator of the combined grasping device.

[0028] Figure 9 It is a structural schematic diagram of the gripper assembly of the combined gripping device.

[0029] Figure 10 It is a schematic diagram of the three-dimensional structure of the gripper flap of the combined gripping device.

[0030] Figure 11 It is a front structural schematic diagram of the gripper flap of the combined gripping device.

[0031] Reference numerals: 1. Horizontal conveyor seat; 2. Longitudinal conveyor seat; 21. Longitudinal conveyor slide rail; 22. Longitudinal rack; 3. Control box; 4. Mechanical gripping mechanism; 41. Mechanical gripping seat; 411. First motor mounting hole; 412. Second motor mounting hole; 413. First protrusion; 414. First groove; 42. Travel drive mechanism; 421. Slider; 422. Travel servo motor; 423. First gear; 43. Lifting conveyor assembly; 431. Connecting plate; 4311. Second protrusion; 4312. Second groove; 432. Lifting rod; 433. Lifting rack; 44. Lifting drive mechanism; 441. Lifting servo motor; 442. Second gear; 5. Grasping robot; 51. Grasping motor; 52. Spline sleeve; 53. Spline shaft; 54. Screw; 6. Gripper; 61. Support end; 62. Third gear; 63. Clamping mechanism; 611. Snap groove; 612. Snap protrusion; 613. Limiting groove; 614. Limiting block; 631. Inner clamping plate; 632. Outer clamping plate; 633. Clamping plate support; 634. First clamping plate support portion; 635. Second clamping plate support portion; 636. Bending portion. DETAILED DESCRIPTION

[0032] The present invention will now be further described with reference to the accompanying drawings and specific embodiments.

[0033] refer to Figures 1 to 11 , this embodiment provides a combined grasping device, including a transverse conveying seat 1, a longitudinal conveying seat 2 that can slide along the transverse conveying seat 1, a control box 3 that drives the transverse conveying seat 1 to move, and two mechanical grasping mechanisms 4 that can move along the longitudinal conveying seat 2, the mechanical grasping mechanism 4 including a mechanical grasping seat 41 that can move along the longitudinal conveying seat 2, a walking drive mechanism 42 provided on the mechanical grasping seat 41, a lifting and conveying assembly 43 detachably provided on the mechanical grasping seat 41, a grasping manipulator 5 and a lifting drive mechanism 44 provided at the lower end of the lifting and conveying assembly 43, the lifting and conveying assembly 43 including a connecting plate 431 for fastening to the mechanical grasping seat 41 and a lifting rod 432 that can slide up and down along the connecting plate 431, the lifting drive mechanism 44 drives the lifting rod 432 to slide up and down, the connecting plate 431 and / or the mechanical grasping seat 41 are provided with a calibration mechanism for achieving calibration cooperation, and the connecting plate 431 and / or the mechanical grasping seat 41 are provided with a locking mechanism for fastening.

[0034] Two longitudinal conveying rails 21 are provided on the longitudinal conveying seat 2, and a longitudinal rack 22 is provided between the two longitudinal conveying rails 21. The walking drive mechanism 42 includes a slider 421 cooperating with the two longitudinal conveying rails 21, a walking servo motor 422 and a first gear 423 provided on the mechanical grabbing seat 41. A first motor mounting hole 411 is provided on the mechanical grabbing seat 41. The walking servo motor 422 and the slider 421 are respectively provided on opposite sides of the mechanical grabbing seat 41. The rotating shaft of the walking servo motor 422 (not marked in the figure) passes through the first motor mounting hole 411. The first gear 423 is provided on the rotating shaft of the walking servo motor 422. The first gear 423 engages with the longitudinal rack 22 to achieve drive.

[0035] A lifting rack 433 is provided on the lifting rod 432, and the lifting drive mechanism 44 includes a lifting servo motor 441 and a second gear 442 provided on the mechanical grabbing seat 41. A second motor mounting hole 412 is provided on the mechanical grabbing seat 41, and the rotating shaft of the lifting servo motor 441 passes through the second motor mounting hole 412. The second gear 442 is provided on the rotating shaft of the lifting servo motor 441, and the second gear 442 is engaged with the lifting rack 433 to realize driving.

[0036] At least one grasping robot 5 includes a grasping motor 51 arranged at the lower end of the lifting and conveying assembly 43, a spline sleeve 52 arranged on the rotating shaft of the grasping motor 51, a spline shaft 53 sleeved in the spline sleeve 52, a screw rod 54 connected to the lower end of the spline shaft 53 and a grasping assembly driven by the screw rod 54, and the grasping assembly is composed of three grasping petals 6, each grasping petal 6 includes a support end 61, a third gear 62 rotatably arranged below the support end 61 and a clamping mechanism 63 connecting each third gear 62, the three third gears 62 are distributed on the circumferential outer side of the screw rod 54 and are in transmission cooperation with the screw rod 54. When the grasping motor 51 rotates, it drives the screw rod 54 to move upward or downward, thereby realizing the approach or opening of multiple clamping mechanisms 63.

[0037] The locking mechanism is a bolt assembly. It can also be other structures, such as a quick-release chuck or other mechanism capable of achieving tightening. The calibration mechanism includes a first protrusion 413 provided on the mechanical gripping seat 41, a first groove 414 provided on the mechanical gripping seat 41, a second protrusion 4311 provided on the connecting plate 431, and a second groove 4312 provided on the connecting plate 431. The first protrusion 413 cooperates with the second groove 4312, and the first groove 414 cooperates with the second protrusion 4311 to achieve the fit between the connecting plate 431 and the mechanical gripping seat 41. The specific structure of the calibration mechanism can also be set according to actual needs, as long as the precise fit between the connecting plate 431 and the mechanical gripping seat 41 is achieved.

[0038] The support end 61 is provided with a snap-fit ​​groove 611 on one side and a snap-fit ​​protrusion 612 on the other side. Adjacent support ends 61 are connected by plugging and engaging the snap-fit ​​grooves 611 and the snap-fit ​​protrusions 612. The three support ends 61 form a hollow support platform. The screw rod 54 passes through the hollow portion of the support platform and engages with the third gear 62. A limiting block 614 is provided on the upper end of the snap-fit ​​protrusion 612, and a limiting groove 613 is provided on the upper end of the snap-fit ​​groove 611. The limiting block 614 cooperates with the limiting groove 613 to achieve a position-limiting snap-fit.

[0039] The clamping mechanism 63 includes an inner clamping plate 631, an outer clamping plate 632, and a clamping plate support 633. The inner clamping plate 631 is connected to the lower end of the outer clamping plate 632. The upper ends of the inner clamping plate 631 and the outer clamping plate 632 are respectively connected to the two sides of the third gear 62. The inner clamping plate 631, the outer clamping plate 632, and the third gear 62 form a hollow triangular area. A first clamping plate support portion 634 is provided on the inner side wall of the inner clamping plate 631, and a second clamping plate support portion 635 is provided on the inner side wall of the outer clamping plate 632. The two ends of the clamping plate support 633 are respectively inserted into the first clamping plate support portion 634 and the second clamping plate support portion 635. The inner clamping plate 631 and the outer clamping plate 632 are made of flexible material, and the clamping plate support 633 is a metal component. The free ends of the clamping plate supports 633, which pass through the first clamping plate support portion 634 and the second clamping plate support portion 635, are provided with a bent portion 636 to ensure stable insertion. When the inner clamping plate 631 is in a vertical position, the clamping plate supports 633 within the same clamping mechanism 63 are parallel to each other, and the angle α between each clamping plate support 633 and the inner clamping plate 631 is 60°-85°. The angle β between the outer clamping plate 632 and the inner clamping plate 631 is 10°-20°.

[0040] When clamping is achieved, due to the presence of the clamping plate support 633, the outer clamping plate 632 and the inner clamping plate 631 will press against each other to achieve basic hardness. However, due to the presence of the angles α and β, the inner clamping plate 631 will deform, thereby driving the outer clamping plate 632 to deform, thereby achieving better clamping.

[0041] In this combined gripping device, the travel servo motor 422, the lift servo motor 441, and the gripping motor 51 are all conventional components in the art. The inner clamping plate 631, the outer clamping plate 632, and the third gear 62 can be integrally formed or separately formed, and can be made of conventional flexible materials such as rubber and silicone. The clamping plate support 633 can be made of stainless steel or other conventional metals.

[0042] Although the present invention has been particularly shown and described in conjunction with preferred embodiments, it will be understood by those skilled in the art that various changes in form and details may be made to the present invention without departing from the spirit and scope of the invention as defined in the appended claims, and all such changes are within the scope of protection of the present invention.

Claims

1. A combined grabbing device, comprising a transverse conveying seat (1), a longitudinal conveying seat (2) that can slide along the transverse conveying seat (1), a control box (3) that drives the transverse conveying seat (1) to move, and two mechanical grabbing mechanisms (4) that can move along the longitudinal conveying seat (2), characterized in that: The mechanical grabbing mechanism (4) comprises a mechanical grabbing seat (41) movable along the longitudinal conveying seat (2), a walking drive mechanism (42) arranged on the mechanical grabbing seat (41), a lifting and conveying assembly (43) detachably arranged on the mechanical grabbing seat (41), a grabbing manipulator (5) and a lifting and driving mechanism (44) arranged at the lower end of the lifting and conveying assembly (43), the lifting and conveying assembly (43) comprising a connecting plate (431) for fastening to the mechanical grabbing seat (41) and a lifting rod (432) that can slide up and down along the connecting plate (431), the lifting and driving mechanism (44) drives the lifting rod (432) to slide up and down, a calibration mechanism for achieving calibration matching is arranged on the connecting plate (431) and / or the mechanical grabbing seat (41), and a locking mechanism for fastening is arranged on the connecting plate (431) and / or the mechanical grabbing seat (41); The longitudinal conveying seat (2) is provided with two longitudinal conveying rails (21), a longitudinal rack (22) is provided between the two longitudinal conveying rails (21), the travel drive mechanism (42) comprises a slider (421) matched with the two longitudinal conveying rails (21), a travel servo motor (422) and a first gear (423) provided on the mechanical grab seat (41), a first motor mounting hole (411) is provided on the mechanical grab seat (41), the travel servo motor (422) and the slider (421) are respectively provided on opposite sides of the mechanical grab seat (41), the rotating shaft of the travel servo motor (422) passes through the first motor mounting hole (411), the first gear (423) is provided on the rotating shaft of the travel servo motor (422), and the first gear (423) is meshed with the longitudinal rack (22) to realize driving; The lifting rod (432) is provided with a lifting rack (433), the lifting drive mechanism (44) comprises a lifting servo motor (441) and a second gear (442) provided on the mechanical grab seat (41), the mechanical grab seat (41) is provided with a second motor mounting hole (412), the rotating shaft of the lifting servo motor (441) passes through the second motor mounting hole (412), the second gear (442) is provided on the rotating shaft of the lifting servo motor (441), and the second gear (442) is meshed with the lifting rack (433) to achieve driving; At least one grabbing robot (5) comprises a grabbing motor (51) arranged at the lower end of the lifting and conveying assembly (43), a spline sleeve (52) arranged on the rotating shaft of the grabbing motor (51), a spline shaft (53) sleeved in the spline sleeve (52), a screw rod (54) connected to the lower end of the spline shaft (53), and a gripper assembly driven by the screw rod (54), wherein the gripper assembly is composed of three gripper petals (6) connected by clamping, each gripper petal (6) comprising a supporting end (61), a third gear (62) rotatably arranged below the supporting end (61), and a clamping mechanism (63) connected to each third gear (62), the three third gears (62) are distributed on the circumferential outer side of the screw rod (54) and are in transmission cooperation with the screw rod (54), and when the grabbing motor (51) rotates, the screw rod (54) is driven to move upward or downward, thereby realizing the approach or opening of multiple clamping mechanisms (63).

2. A combined grabbing device according to claim 1, characterized in that: The locking mechanism is a bolt assembly.

3. A combined grabbing device according to claim 1, characterized in that: The calibration mechanism comprises a first protrusion (413) provided on the mechanical gripping seat (41), a first groove (414) provided on the mechanical gripping seat (41), a second protrusion (4311) provided on the connecting plate (431), and a second groove (4312) provided on the connecting plate (431), wherein the first protrusion (413) cooperates with the second groove (4312), and the first groove (414) cooperates with the second protrusion (4311), so as to achieve the fitting of the connecting plate (431) and the mechanical gripping seat (41).

4. A combined grabbing device according to claim 1, characterized in that: A snap-fit ​​groove (611) is provided on one side of the support end (61), and a snap-fit ​​protrusion (612) is provided on the other side. Two adjacent support ends (61) are connected by plugging and matching the snap-fit ​​groove (611) and the snap-fit ​​protrusion (612). The three support ends (61) form a hollow support platform. The screw rod (54) passes through the hollow portion of the support platform and matches with the third gear (62).

5. A combined grabbing device according to claim 4, characterized in that: A limiting block (614) is provided on the upper end of the locking protrusion (612), and a limiting groove (613) is provided on the upper end of the locking groove (611), and the limiting locking is achieved through the cooperation between the limiting block (614) and the limiting groove (613).

6. A combined grabbing device according to claim 1, characterized in that: The clamping mechanism (63) comprises an inner clamping plate (631), an outer clamping plate (632) and a clamping plate support (633), wherein the inner clamping plate (631) is connected to the lower end of the outer clamping plate (632), and the upper ends of the inner clamping plate (631) and the outer clamping plate (632) are respectively connected to the two sides of the third gear (62), and the inner clamping plate (631), the outer clamping plate (632) and the third gear (62) form a hollow triangular area, and a first clamping plate support portion (634) is provided on the inner side wall of the inner clamping plate (631), and a second clamping plate support portion (635) is provided on the inner side wall of the outer clamping plate (632), and the two ends of the clamping plate support (633) are respectively plugged into the first clamping plate support portion (634) and the second clamping plate support portion (635).

7. A combined grabbing device according to claim 6, characterized in that: The inner clamping plate (631) and the outer clamping plate (632) are made of flexible material, and the clamping plate support (633) is a metal part.

8. A combined grabbing device according to claim 6, characterized in that: A bending portion (636) is provided on the free end of the clamping plate support member (633) passing through the first clamping plate support portion (634) and the second clamping plate support portion (635), thereby achieving stable plug-in connection.

9. A combined grabbing device according to claim 6, characterized in that: When the inner clamping plate (631) is in a vertical position, the clamping plate support members (633) located in the same clamping mechanism (63) are parallel to each other, and the angle between each clamping plate support member (633) and the inner clamping plate (631) is 60°-85°, and the angle between the outer clamping plate (632) and the inner clamping plate (631) is 10°-20°.

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