Rapid grabbing mechanism

Abstract

The invention provides a rapid grabbing mechanism. The rapid grabbing mechanism comprises a base plate, and a first mounting plate and a second mounting plate are arranged on the base plate; one part of the arc-shaped track is arranged on the first mounting plate, and the other opposite part of the arc-shaped track is arranged on the second mounting plate; the driving device is arranged on one side of the base plate; the grabbing device is arranged on the base plate; one end of the transmission part is connected with the driving device, the other end of the transmission part is connected with the grabbing device, and the grabbing device moves on the arc-shaped track through the driving device; wherein the first mounting plate and the second mounting plate are movably arranged on the substrate; the technical problems that due to the fact that a grabbing mechanism repeatedly works on an independent mounting plate, the mounting plate is frequently replaced, and stability and precision are poor are solved.

Description

Technical Field

[0001] The invention relates to the technical field of robot end grasping, and in particular to a quick grasping mechanism. Background Art

[0002] Gripping mechanisms are usually used as additional devices for machine tools or other machines, such as loading, unloading and transferring workpieces on automatic machine tools or automatic production lines, changing tools in machining centers, etc.

[0003] One of the drawbacks of the related art is that the grabbing mechanism repeatedly works on a single mounting plate, which results in frequent replacement of the mounting plate, and has poor stability and accuracy. Therefore, it is necessary to provide a fast grabbing mechanism with a long service life and good accuracy and stability. Summary of the invention

[0004] The problem solved by the present invention is that repeated operation of the gripping mechanism on a single plate position leads to frequent replacement of the mounting plate and poor stability and accuracy.

[0005] To solve the above problems, an embodiment of the present invention provides a quick grasping mechanism, including: a base plate, on which a first mounting plate and a second mounting plate are provided; an arc track, a portion of the arc track is provided on the first mounting plate, and the other opposite portion is provided on the second mounting plate; a driving device, the driving device is provided on one side of the base plate; a grasping device, the grasping device is provided on the base plate; a transmission member, one end of the transmission member is connected to the driving device and the other opposite end is connected to the grasping device, and the grasping device is moved on the arc track through the driving device; wherein the first mounting plate and the second mounting plate are movably provided on the base plate.

[0006] Compared with the prior art, the technical effect achieved by adopting this technical solution is as follows: the base plate is used to fix the first mounting plate and the second mounting plate, and the first mounting plate and the second mounting plate are respectively provided with arc tracks, which are spliced ​​to form an arc track, and the arc track is the range of motion of the grabbing device. By not using a single mounting plate, the service life is increased, and there is no need to frequently replace new mounting plates, which saves production costs.

[0007] In one embodiment of the present invention, the quick grabbing mechanism further includes: a plurality of waist-shaped grooves, which are sequentially arranged on the first mounting plate and the second mounting plate; wherein the distance between the first mounting plate and the second mounting plate is adjusted by the plurality of waist-shaped grooves.

[0008] Compared with the existing technology, the technical effect achieved by adopting this technical solution is as follows: a plurality of waist-shaped grooves are provided on the first mounting plate and the second mounting plate, and the waist-shaped grooves are hollow elliptical shapes. The waist-shaped grooves can adjust the distance between the first mounting plate and the second mounting plate on the substrate, thereby changing the grasping range.

[0009] In one embodiment of the present invention, the first mounting plate comprises: a first mounting plate body; at least one first protrusion, the at least one first protrusion is arranged on a side of the first mounting plate body away from the substrate, and the at least one first protrusion cover is arranged on the second mounting plate.

[0010] Compared with the prior art, the technical effect achieved by adopting this technical solution is as follows: the first mounting plate is composed of a first mounting plate body and a first protruding piece on the first mounting plate, and the first protruding piece is used to cover the second mounting plate, so that the first mounting plate and the second mounting plate are more stable when spliced.

[0011] In one embodiment of the present invention, the second mounting plate includes: a second mounting plate body; at least one first groove, wherein the at least one first groove is arranged on a side of the first mounting plate body away from the substrate; wherein the at least one first protrusion and the at least one first groove are arranged in sequence in correspondence with each other.

[0012] Compared with the prior art, the technical effect achieved by adopting this technical solution is as follows: the second mounting plate is composed of a second mounting plate body and a first groove, and the first groove is for mutual adaptation with the first protrusion on the first mounting plate, so that the first mounting plate and the second mounting plate are more stable when spliced.

[0013] In one embodiment of the present invention, the arc track in the quick grab mechanism includes: a second protrusion, which is arranged on the second mounting plate; a second groove, which is arranged on the first mounting plate; wherein the second protrusion and the second groove are arranged in coordination.

[0014] Compared with the prior art, the technical effect achieved by adopting this technical solution is as follows: a second protrusion is provided on the second mounting plate, and a second groove is provided on the first mounting plate. The second protrusion can be spliced ​​with the second groove on the first mounting plate, and the mutual adaptation of the two increases the stability of the first mounting plate and the second mounting plate.

[0015] In one embodiment of the present invention, the quick grasping mechanism further includes: a first sensor, which is disposed on the first mounting plate; wherein the angle of the arc track is greater than 180°, and the first sensor is not disposed at the bottom end of the arc track.

[0016] Compared with the prior art, the technical effect achieved by adopting this technical solution is as follows: a first sensor is provided on the first mounting plate, the angle of the arc track is greater than 180°, the first sensor is not provided at the bottom end of the arc track, and the function of the first sensor is zero position calibration, so as to observe whether the grasping device operates within a normal range.

[0017] In one embodiment of the present invention, the quick grasping mechanism further includes: two second sensors, which are arranged on the first mounting plate and the second mounting plate; wherein the angle of the arc track is greater than 180°, and the two second sensors are arranged at both ends of the arc track.

[0018] Compared with the prior art, the technical effect achieved by adopting this technical solution is as follows: a second sensor is respectively arranged on the first mounting plate and the second mounting plate, the angle of the arc track is greater than 180°, and the second sensors are respectively arranged at both ends of the arc track. The function of the second sensor is a soft limit, and if the gripping device fails when the gripping device is operating, it can prevent the gripping device from frequently touching the bottom end of the arc track and causing damage to the gripping device.

[0019] In one embodiment of the present invention, the quick grabbing mechanism further comprises: a slide rail, which is arranged at one end of the first mounting plate and the second mounting plate, and one end of the grabbing device is connected to the slide rail.

[0020] Compared with the prior art, the technical effect achieved by adopting this technical solution is as follows: the slide rail is fixed on one end of the first mounting plate and the second mounting plate, one end of the grabbing device is arranged on the slide rail, and the slide rail allows the grabbing device to move left and right.

[0021] In one embodiment of the present invention, the grabbing device includes: a first slider, the first slider is arranged on the slide rail; a second slider, the second slider is arranged on the first slider; a grabbing component, the grabbing component is arranged on the second slider, and a plurality of mounting positions are arranged on the grabbing component.

[0022] Compared with the prior art, the technical effect achieved by adopting this technical solution is as follows: the grabbing device includes a first slider, a second slider and a grabbing assembly, the first slider is arranged on the slide rail, and mainly plays the role of driving the grabbing device. The second slider is arranged on the first slider, and is used to fix the grabbing assembly. The grabbing assembly is also provided with multiple installation positions, and can be connected to a variety of devices.

[0023] In one embodiment of the present invention, the grabbing device further comprises: a fixing member, which is arranged on the grabbing assembly and one end of which is arranged on the arc track.

[0024] Compared with the prior art, the technical effect achieved by adopting this technical solution is as follows: the fixing part and the grabbing assembly are connected to each other, the fixing part is arranged on the arc track, and the fixing part can make the grabbing device more stable during operation, preventing accidents such as the grabbing device falling off during rapid grabbing. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 A schematic diagram of the structure of a quick grabbing mechanism provided in Embodiment 1 of the present invention; Figure 2A schematic diagram of the right extreme position of a quick grabbing mechanism provided in Embodiment 1 of the present invention; Figure 3 A schematic diagram of the left extreme position of a quick grabbing mechanism provided in the first embodiment of the present invention; Figure 4 A schematic diagram of the upper limit position of a quick grasping mechanism provided in Embodiment 1 of the present invention.

[0026] Description of reference numerals: 10. Quick gripping mechanism; 50. Base plate; 60. Arc track; 61. Second protrusion; 62. Second groove; 100. Driving device; 200. Grabbing device; 210. First slider; 220. Second slider; 230. Grabbing assembly; 240. Fixing member; 300. Transmission member; 400. Waist-shaped groove; 500. First mounting plate; 510. First mounting plate body; 520. First protrusion; 600. Second mounting plate; 610. Second mounting plate body; 620. First groove; 700. First sensor; 800. Second sensor; 900. Slide rail. DETAILED DESCRIPTION

[0027] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, specific embodiments of the present invention will be described in detail below.

[0028] Embodiment 1: See also Figure 1 The present embodiment provides a quick grabbing mechanism 10, comprising: a substrate 50, on which a first mounting plate 500 and a second mounting plate 600 are provided; an arc track 60, a portion of the arc track 60 is provided on the first mounting plate 500, and the other portion opposite thereto is provided on the second mounting plate 600; a driving device 100, the driving device 100 is provided on one side of the substrate 50; a grabbing device 200, the grabbing device 200 is provided on the substrate 50; a transmission member 300, one end of the transmission member 300 is connected to the driving device 100 and the other end opposite thereto is connected to the grabbing device 200, and the grabbing device 200 is moved on the arc track 60 by the driving device 100; wherein the first mounting plate 500 and the second mounting plate 600 are movably provided on the substrate 50.

[0029] Combination Figure 2-Figure 4Specifically, the quick grabbing mechanism 10 of the present invention is provided with a first mounting plate 500, a second mounting plate 600 and a base plate 50. The first mounting plate 500 and the second mounting plate 600 can be spliced ​​with each other and then fixed on the base plate 50. The first mounting plate 500 and the second mounting plate 600 are provided with an arc track 60, and the grabbing device 200 can operate in the arc track 60. The quick grabbing mechanism 10 is also provided with a driving device 100, a grabbing device 200 and a transmission member 300. The driving device 100 drives the transmission member 300, and the transmission member 300 drives the grabbing device 200, so that the grabbing device 200 can operate back and forth in the arc track 60.

[0030] Preferably, the quick grasping mechanism 10 further includes: a plurality of waist-shaped grooves 400, which are sequentially arranged on the first mounting plate 500 and the second mounting plate 600; wherein the distance between the first mounting plate 500 and the second mounting plate 600 is adjusted by the plurality of waist-shaped grooves 400.

[0031] Specifically, a plurality of waist-shaped grooves 400 are provided on the first mounting plate 500 and the second mounting plate 600. The waist-shaped grooves 400 are hollow elliptical shapes. The waist-shaped grooves 400 can adjust the distance between the first mounting plate 500 and the second mounting plate 600 on the substrate 50, thereby changing the gripping range of the gripping device 200.

[0032] Preferably, the first mounting plate 500 includes: a first mounting plate body 510; at least one first protrusion 520, at least one first protrusion 520 is arranged on a side of the first mounting plate body 510 away from the substrate 50, and at least one first protrusion 520 is covered on the second mounting plate 600.

[0033] Specifically, the first mounting plate 500 is composed of a first mounting plate body 510 and a first protrusion 520 on the first mounting plate 500. The first protrusion 520 is arranged on the side of the first mounting plate 500 away from the substrate 50. The first protrusion 520 is covered on the second mounting plate 600. In order to make the first mounting plate 500 and the second mounting plate 600 adapt to each other, the first mounting plate 500 and the second mounting plate 600 are more stable when spliced.

[0034] Preferably, the second mounting plate 600 includes: a second mounting plate body 610; at least one first groove 620, the first groove 620 being arranged on a side of the first mounting plate body 510 away from the substrate 50; wherein at least one first protrusion 520 and at least one first groove 620 are arranged in correspondence with each other in sequence.

[0035] Specifically, the second mounting plate 600 is composed of a second mounting plate body 610 and at least one first groove 620. The first groove 620 is arranged on the side of the first mounting plate body 510 away from the substrate 50. The first groove 620 on the second mounting plate 600 and the first protrusion 520 on the first mounting plate 500 are adapted to each other, so that the first mounting plate 500 and the second mounting plate 600 can be more stable when spliced.

[0036] Preferably, the arc track 60 includes: a second protrusion 61, which is disposed on the second mounting plate 600; and a second groove 62, which is disposed on the first mounting plate 500; wherein the second protrusion 61 and the second groove 62 are matched with each other.

[0037] Specifically, after the first mounting plate 500 and the second mounting plate 600 are spliced, an arc track 60 is formed, and a second protrusion 61 and a second groove 62 are provided in the arc track 60. The second protrusion 61 is provided on the second mounting plate 600, and the second groove 62 is provided on the first mounting plate 500. The second protrusion 61 and the second groove 62 are adapted to each other, so that the splicing of the first mounting plate 500 and the second mounting plate 600 is more stable.

[0038] Preferably, the quick grasping mechanism 10 further includes: a first sensor 700 , which is disposed on the first mounting plate 500 ; wherein the angle of the arc track 60 is greater than 180°, and the first sensor 700 is not disposed at the bottom end of the arc track 60 .

[0039] Specifically, a first sensor 700 is provided on the first mounting plate 500, the angle of the arc track 60 is greater than 180°, and the first sensor 700 is not provided at the bottom end of the arc track 60. The function of the first sensor 700 is zero position calibration to ensure whether the grasping device 200 is within the normal operating range when operating in the arc track 60.

[0040] Preferably, the quick grasping mechanism 10 further includes: two second sensors 800 , which are disposed on the first mounting plate 500 and the second mounting plate 600 ; wherein the angle of the arc track 60 is greater than 180°, and the two second sensors 800 are disposed at both ends of the arc track 60 .

[0041] Specifically, the second sensors 800 are respectively arranged on the first mounting plate 500 and the second mounting plate 600. The angle of the arc track 60 is greater than 180°, and the second sensors 800 are respectively arranged at the bottom ends of both sides of the arc track 60. The second sensors 800 function as soft limiters. If the gripping device 200 fails during operation, the gripping device 200 is prevented from frequently touching the bottom end of the arc track 60, which may cause damage to the gripping device 200.

[0042] Preferably, the quick grabbing mechanism 10 further includes: a slide rail 900 , which is disposed at one end of the first mounting plate 500 and the second mounting plate 600 , and one end of the grabbing device 200 is connected to the slide rail 900 .

[0043] Specifically, the slide rail 900 is fixed to one end of the first mounting plate 500 and the second mounting plate 600 , and one end of the grabbing device 200 is disposed on the slide rail 900 . The slide rail 900 allows the grabbing device 200 to move left and right.

[0044] Preferably, the grabbing device 200 includes: a first slider 210, which is disposed on the slide rail 900; a second slider 220, which is disposed on the first slider 210; and a grabbing assembly 230, which is disposed on the second slider 220, and a plurality of mounting positions are provided on the grabbing assembly 230.

[0045] Specifically, the grabbing device 200 includes a first slider 210, a second slider 220 and a grabbing assembly 230. The first slider 210 is disposed on the slide rail 900 and mainly plays the role of driving the grabbing device 200. The second slider 220 is disposed on the first slider 210 and is used to fix the grabbing assembly 230. The grabbing assembly 230 is also provided with multiple mounting positions, which can be connected to devices of different structures.

[0046] Preferably, the grabbing device 200 further includes: a fixing member 240 , which is disposed on the grabbing assembly 230 and one end of which is disposed on the arc track 60 .

[0047] Specifically, the fixing member 240 is connected to the grabbing assembly 230, and the fixing member 240 is arranged on the arc track 60. The fixing member 240 can make the grabbing device 200 more stable during operation and prevent the grabbing device 200 from falling off due to rapid operation during rapid grabbing.

[0048] In the present invention, terms such as "connection" should be understood in a broad sense. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to the specific circumstances. In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "upper" and "lower" is based on the orientation or positional relationship shown in the accompanying drawings, which is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or unit referred to must have a specific direction, be constructed and operated in a specific orientation, and therefore, it cannot be understood as a limitation on the present invention. Although the present invention is disclosed as above, the present invention is not limited thereto. Any person skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the scope defined by the claims.

Claims

1. A quick grasping mechanism (10), characterized in that: include: A substrate (50), wherein a first mounting plate (500) and a second mounting plate (600) are provided on the substrate (50); An arc-shaped track (60), wherein a portion of the arc-shaped track (60) is disposed on the first mounting plate (500), and another portion thereof is disposed on the second mounting plate (600); A driving device (100), wherein the driving device (100) is arranged on one side of the substrate (50); A gripping device (200), wherein the gripping device (200) is arranged on a substrate (50); a transmission member (300), one end of the transmission member (300) being connected to the driving device (100) and the other end of the transmission member (300) being connected to the grabbing device (200), and the grabbing device (200) being moved on the arc track (60) through the driving device (100); The first mounting plate (500) and the second mounting plate (600) are movably disposed on the base plate (50).

2. The quick grabbing mechanism (10) according to claim 1, characterized in that: Also includes: A plurality of waist-shaped grooves (400), wherein the plurality of waist-shaped grooves (400) are sequentially arranged on the first mounting plate (500) and the second mounting plate (600); Wherein, the distance between the first mounting plate (500) and the second mounting plate (600) is adjusted by means of the plurality of waist-shaped slots (400).

3. The quick grabbing mechanism (10) according to claim 1, characterized in that: The first mounting plate (500) comprises: A first mounting plate body (510); At least one first protruding member (520), the at least one first protruding member (520) being arranged on a side of the first mounting plate body (510) away from the base plate (50), and the at least one first protruding member (520) being covered on the second mounting plate (600).

4. The quick grabbing mechanism (10) according to claim 3, characterized in that: The second mounting plate (600) comprises: A second mounting plate body (610); At least one first groove (620), the at least one first groove (620) being arranged on a side of the first mounting plate body (510) away from the base plate (50); Wherein, the at least one first protrusion (520) and the at least one first groove (620) are arranged in sequence and in a corresponding manner.

5. The quick grabbing mechanism (10) according to claim 1, characterized in that: The arc track (60) comprises: a second protruding member (61), wherein the second protruding member (61) is arranged on the second mounting plate (600); a second groove (62), the second groove (62) being provided on the first mounting plate (500); Wherein, the second protrusion (61) and the second groove (62) are arranged in cooperation.

6. The quick grabbing mechanism (10) according to claim 1, characterized in that: Also includes: A first sensor (700), wherein the first sensor (700) is arranged on the first mounting plate (500); The angle of the arc track (60) is greater than 180°, and the first sensor (700) is not arranged at the bottom end of the arc track (60).

7. The quick grabbing mechanism (10) according to claim 1, characterized in that: Also includes: Two second sensors (800), the two second sensors (800) being arranged on the first mounting plate (500) and the second mounting plate (600); The angle of the arc track (60) is greater than 180°, and the two second sensors (800) are arranged at two ends of the arc track (60).

8. The quick grabbing mechanism (10) according to claim 1, characterized in that: Also includes: A slide rail (900), wherein the slide rail (900) is arranged at one end of the first mounting plate (500) and the second mounting plate (600), and one end of the grabbing device (200) is connected to the slide rail (900).

9. The quick grabbing mechanism (10) according to claim 8, characterized in that: The grabbing device (200) comprises: A first sliding block (210), wherein the first sliding block (210) is arranged on the sliding rail (900); a second sliding block (220), the second sliding block (220) being arranged on the first sliding block (210); A grabbing component (230), wherein the grabbing component (230) is arranged on the second sliding block (220), and a plurality of mounting positions are arranged on the grabbing component (230).

10. The quick grabbing mechanism (10) according to claim 9, characterized in that: The grabbing device (200) further comprises: A fixing member (240), wherein the fixing member (240) is disposed on the grabbing assembly (230) and one end of the fixing member (240) is disposed on the arc track (60).

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