Grabbing assembly

Abstract

The invention provides a grabbing assembly, and belongs to the technical field of machinery. The problem of poor stability in the prior art is solved. The grabbing assembly comprises a flat-plate-shaped body and further comprises a grabbing ring, a guide block, a driving part, a transmission belt and a pressing wheel assembly, the two ends of the guide block are provided with connecting parts protruding upwards, the connecting parts are fixedly connected to the lower portion of the body through fasteners, the grabbing ring is in an arc shape of 3 / 5-3 / 4 circles, the lower portion of each connecting part is provided with a guide part protruding towards the side portion of the connecting part, and the pressing wheel assembly is fixedly connected to the driving part. The guide part is matched with the inner side of the grabbing ring and makes contact with the inner side face of the grabbing ring, the two ends of the transmission belt are fixedly connected to the two ends of the grabbing ring respectively, and the transmission belt is attached to the outer side of the grabbing ring. The grabbing assembly is high in stability.

Description

Technical Field

[0001] The invention belongs to the field of mechanical technology and relates to a grabbing component. Background Art

[0002] Heavy workpieces are usually grasped using a robot, but the existing robot structure is too complex, and the robot's action program needs to be pre-set, which not only makes it too expensive, but also requires additional work to program.

[0003] In addition, due to its own characteristics, the robot is mainly used for small and medium-sized workpieces. Existing robots are not suitable for heavy workpieces. Therefore, long-term heavy-load operation can easily cause the robot to be damaged too quickly, and its stability is relatively poor.

[0004] The Chinese patent publication number CN203650515U provides a rotary hydraulic manipulator of a hydraulic large manipulator, which includes a connecting seat, a rotating oil cylinder, an outer cavity of a manipulator oil cylinder, an earring-type manipulator oil cylinder piston rod, a manipulator finger seat and a manipulator finger. The left end of the outer shell of the rotating oil cylinder is fixed to the connecting seat by screws, the rotating shaft of the rotating oil cylinder is integrated with the outer cavity of the manipulator oil cylinder, a manipulator finger seat is fixed to the right end of the outer cavity of the manipulator oil cylinder, the manipulator finger seat is movably connected to the middle part of the manipulator finger, the left end of the manipulator finger is connected to the earring-type manipulator oil cylinder piston rod, and a plurality of anti-slip thorns are provided on the manipulator finger.

[0005] Through the above method, the utility model adopts pure hydraulic drive, each active joint has a large active torque, can be used in harsh industrial environments, has low protection level requirements, and has a much higher working force than the same level of electric-driven manipulators, but its cost is much lower.

[0006] It can be seen that the robot finger will bear a great load when grasping heavy workpieces, the workpiece may fall off during use, and it also has the problem of poor stability. Summary of the invention

[0007] The purpose of the present invention is to provide a gripping assembly with high stability and compact structure in view of the above problems existing in the prior art.

[0008] The purpose of the present invention can be achieved by the following technical solutions:

[0009] A grabbing assembly comprises a flat plate-shaped body, characterized in that it also comprises a grab ring, a guide block, a driving member, a transmission belt and a pressure wheel assembly, wherein both ends of the guide block have upwardly protruding connecting parts, and the connecting parts are fixedly connected to the lower part of the body by fasteners, the grab ring is an arc of 3 / 5-3 / 4 circle, and the lower part of the connecting part has a guiding part protruding to its side, and the guiding part matches the inner side of the grab ring and the guiding part contacts the inner side surface of the grab ring, the two ends of the transmission belt are respectively fixedly connected to the two ends of the grab ring and the transmission belt is attached to the outside of the grab ring, and each connection part has a pressure wheel assembly, and under the action of the pressure wheel assembly, the transmission belt can be tightly attached to the outside of the grab ring, and the driving member is fixedly connected to one of the connecting parts and the driving member can pull the transmission belt to translate.

[0010] In the above grabbing assembly, the top of the connecting portion is in the shape of a flat plate, the connecting portion is in surface contact with the main body and the two are connected by a fastener.

[0011] In the above-mentioned grabbing assembly, the pressure wheel assembly includes pressure wheel one and pressure wheel two movably connected at the lower part of the connecting part, the pressure wheel one and pressure wheel two are located at the two ends of the connecting part and both are tightly pressed against the upper part of the transmission belt, the driving member is fixedly connected to the side of the guide block and the driving member can pull the transmission belt between pressure wheel one and pressure wheel two.

[0012] In the above-mentioned grabbing assembly, the driving member is a motor, and a transmission wheel is fixedly connected to the rotating shaft of the motor. The transmission wheel is located at the upper part between the pressure wheel one and the pressure wheel two. Under the action of the pressure wheel one and the pressure wheel two, the transmission belt is wrapped around the transmission wheel.

[0013] In the above grabbing assembly, the above driving member, transmission belt and grabbing ring form a grabbing unit, the number of the grabbing units is two, and the grabbing units also include a connecting rod, which is located between the two grabbing rings and the ends of the connecting rod are fixedly connected to the corresponding grabbing rings.

[0014] In the above grabbing assembly, the number of the connecting rods is a plurality, and the plurality of connecting rods are evenly distributed along the arc direction of the grabbing ring.

[0015] In the above grab assembly, among the connecting rods arranged in sequence along the front and rear of the grab rings, the frontmost connecting rod is fixedly connected between the front ends of the two grab rings, and the rearmost connecting rod is fixedly connected between the rear ends of the two grab rings.

[0016] In the above grabbing assembly, the frontmost connecting rod and the rearmost connecting rod are both fixedly connected with protruding claws.

[0017] In the above-mentioned grabbing assembly, the connecting rods at the front end and the rear end are provided with a plurality of claws, and the plurality of claws are adjacently arranged along the length direction of the connecting rod.

[0018] In the above-mentioned grabbing assembly, the side of the guide block is movably connected with a roller, and the roller abuts against the side of the grab ring.

[0019] Compared with the prior art, when the driving member in the grabbing assembly pulls the transmission belt, the grab ring can move relative to the guide block, thereby realizing the rotation of the grab ring relative to the body. In the initial state, the opening of the grab ring faces downward, and once the grab ring rotates, its opening position changes from the bottom to the side. It can be seen that after the above action, the grab ring can be stably embedded in the workpiece with a hole structure, thereby stably grabbing the corresponding workpiece, and the grab ring can be rotated during the grabbing operation. Therefore, the grabbing assembly is not only simple in structure, but also simple in the grabbing process.

[0020] The workpiece can be grasped and put down only by rotating the grasping ring. There is no complicated driving structure to realize the above actions. The cost is relatively low, the structure is compact, and it has high practical value. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a three-dimensional structural schematic diagram of the grabbing component.

[0022] Figure 2 It is a schematic diagram of the three-dimensional structure of the grabbing assembly after the main body is disassembled.

[0023] Figure 3 This is a schematic diagram of the main structure of this grabbing component.

[0024] Figure 4 It is a schematic diagram of the top view of the structure of the grabbing component.

[0025] In the figure, 1, main body; 2, grab ring; 3, guide block; 3a, connecting part; 3b, guide part; 4, transmission belt; 5, pressure wheel 1; 6, pressure wheel 2; 7, motor; 7a, transmission wheel; 8, connecting rod; 9, claw; 10, roller. DETAILED DESCRIPTION

[0026] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0027] It should be noted that when a component is referred to as being "mounted on" another component, it may be directly mounted on the other component or there may be a central component. When a component is considered to be "set on" another component, it may be directly set on the other component or there may be a central component at the same time. When a component is considered to be "fixed to" another component, it may be directly fixed on the other component or there may be a central component at the same time.

[0028] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used herein in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "or / and" used herein includes any and all combinations of one or more related listed items.

[0029] like Figure 1 and Figure 2 and Figure 3 and Figure 4 As shown, the grabbing assembly is connected to a sling, and the lifting and lowering of the grabbing assembly is controlled by the sling.

[0030] The grabbing assembly includes a flat plate-shaped body 1, a grab ring 2, a guide block 3, a driving member, a transmission belt 4 and a pressure wheel assembly. Both ends of the guide block 3 have upwardly protruding connecting parts 3a, and the connecting parts 3a are fixedly connected to the lower part of the body 1 by fasteners. The grab ring 2 is an arc of 3 / 5 circle.

[0031] Of course, according to actual conditions, it is also feasible for the grab ring 2 to be in the shape of a 3 / 4 circle arc.

[0032] The grab ring 2 is connected to the lower part of the body 1 through the guide block 3, and the transmission belt 4 is fixedly connected to the grab ring 2. At the same time, under the action of the pressure wheel assembly, the driving member is in stable contact with the transmission belt 4. Therefore, after the driving member is actuated, the transmission belt 4 can be stably pulled, and the grab ring 2 will rotate when the transmission belt 4 is pulled.

[0033] It can be seen that the opening of the grip ring 2 faces downward in the initial state, and once the grip ring 2 rotates, the opening of the grip ring 2 faces its side. In this process, one end of the grip ring 2 is embedded in the workpiece with a hole structure, and finally the corresponding workpiece can be stably grasped.

[0034] The lower part of the above-mentioned connecting part 3a has a guiding part 3b protruding to its side, and the guiding part 3b matches the inner side of the grab ring 2 and the guiding part 3b contacts the inner side surface of the grab ring 2. The two ends of the above-mentioned transmission belt 4 are respectively fixedly connected at the two ends of the grab ring 2 and the transmission belt 4 is attached to the outer side of the grab ring 2. Each connecting part 3a has a pressure wheel assembly, and under the action of the pressure wheel assembly, the transmission belt 4 can be tightly attached to the outer side of the grab ring 2. The above-mentioned driving member is fixedly connected to one of the connecting parts 3a and the driving member can pull the transmission belt 4 to translate.

[0035] The guide portion 3 b maintains surface contact with the inner side of the grip ring 2 . Such a structure can effectively improve the connection stability between the guide block 3 and the grip ring 2 .

[0036] The top of the connecting portion 3a is in a flat plate shape, and the connecting portion 3a is in surface contact with the main body 1 and the two are connected by a fastener.

[0037] This can effectively improve the connection stability between the guide block 3 and the body 1 .

[0038] The pressure wheel assembly includes a pressure wheel 1 5 and a pressure wheel 2 6 movably connected at the lower part of the connecting part 3a. The pressure wheel 1 5 and the pressure wheel 2 6 are located at both ends of the connecting part 3a and both are tightly pressed against the upper part of the transmission belt 4. The driving member is fixedly connected to the side of the guide block 3 and the driving member can pull the transmission belt 4 between the pressure wheel 1 5 and the pressure wheel 2 6.

[0039] The driving member is a motor 7, and a transmission wheel 7a is fixedly connected to the rotating shaft of the motor 7. The transmission wheel 7a is located at the upper part between the pressure wheel 1 5 and the pressure wheel 2 6. Under the action of the pressure wheel 1 5 and the pressure wheel 2 6, the transmission belt 4 is covered on the transmission wheel 7a.

[0040] Since the pressure wheel 1 5 and the pressure wheel 2 6 are adjacent to the transmission wheel 7a and the pressure wheel 1 5 and the pressure wheel 2 6 are located on both sides of the transmission wheel 7a, the transmission belt 4 can be stably wrapped around the transmission wheel 7a, and the motor 7 can effectively and stably pull the transmission belt to move during the rotation of the transmission wheel 7a.

[0041] Since the transmission belt 4 is fixedly connected to the grab ring 2, the grab ring 2 is eventually driven to swing.

[0042] The driving member, the transmission belt 4 and the grab ring 2 form a grab unit. The grab unit is two in number and further includes a connecting rod 8 . The connecting rod 8 is located between the two grab rings 2 and the ends of the connecting rod 8 are fixedly connected to the corresponding grab ring 2 .

[0043] Such a structure can increase the width of the entire grasping assembly and grasp the workpiece stably.

[0044] There are a plurality of connecting rods 8 , and the connecting rods 8 are evenly distributed along the arc direction of the grab ring 2 .

[0045] The provision of multiple connecting rods 8 can effectively improve the connection stability between the two grabbing units.

[0046] Among the connecting rods 8 arranged in sequence front and back along the grab ring 2 , the frontmost connecting rod 8 is fixedly connected between the front ends of the two grab rings 2 , and the rearmost connecting rod 8 is fixedly connected between the rear ends of the two grab rings 2 .

[0047] Such a structure can avoid the formation of an unnecessary gap between the ends of the two gripping rings 2 .

[0048] The frontmost connecting rod 8 and the rearmost connecting rod 8 are both fixedly connected with protruding claws 9 .

[0049] The claw 9 has two functions:

[0050] First, the claw 9 will block the side of the guide block 3 to prevent the grab ring 2 from swinging excessively;

[0051] Secondly, the claw 9 can further improve the gripping stability of the workpiece.

[0052] The connecting rod 8 at the front end and the rear end is provided with a plurality of claws 9 , and the plurality of claws 9 are adjacently arranged along the length direction of the connecting rod 8 .

[0053] The provision of multiple claws 9 can further improve the grasping stability.

[0054] The side of the guide block 3 is movably connected with a roller 10 , and the roller 10 abuts against the side of the grab ring 2 .

[0055] Under the action of the roller 10, the friction resistance between the grab ring 2 and the guide block 3 can be effectively reduced, and finally the grab ring 2 can be ensured to swing smoothly.

[0056] When the driving member in the grabbing assembly pulls the transmission belt 4, the grab ring can move relative to the guide block 3, thereby realizing the rotation of the grab ring 2 relative to the body 1. In the initial state, the opening of the grab ring 2 faces downward. Once the grab ring 2 rotates, its opening position changes from the bottom to the side. It can be seen that after the above action, the grab ring 2 can be stably embedded in the workpiece with a hole structure, thereby stably grabbing the corresponding workpiece. The grab ring 2 can be rotated during the grabbing operation. Therefore, the grabbing assembly is not only simple in structure, but also simple in the grabbing process.

[0057] The workpiece can be grasped and put down only by rotating the grasping ring 2. There is no complicated driving structure to realize the above-mentioned actions. The cost is relatively low, the structure is compact, and it has high practical value.

[0058] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0059] Those skilled in the art should recognize that the above embodiments are only used to illustrate the present invention, and are not intended to limit the present invention. As long as they are within the spirit of the present invention, appropriate changes and modifications to the above embodiments are within the scope of protection claimed by the present invention.

Claims

1. A gripping assembly, comprising a flat plate-shaped body, characterized in that: It also includes a grab ring, a guide block, a driving member, a transmission belt and a pressure wheel assembly, the two ends of the guide block have upwardly protruding connecting parts, the connecting part is fixedly connected to the lower part of the main body by fasteners, the above-mentioned grab ring is an arc of 3 / 5-3 / 4 circle, the lower part of the above-mentioned connecting part has a guiding part protruding to its side, the guiding part matches the inner side of the grab ring and the guiding part contacts the inner side surface of the grab ring, the two ends of the above-mentioned transmission belt are respectively fixedly connected at the two ends of the grab ring and the transmission belt is attached to the outside of the grab ring, each connection part has a pressure wheel assembly, under the action of the pressure wheel assembly, the transmission belt can be tightly attached to the outside of the grab ring, the above-mentioned driving member is fixedly connected to one of the connection parts and the driving member can pull the transmission belt to translate.

2. The gripping assembly according to claim 1, characterized in that: The top of the connecting part is in a flat plate shape, the connecting part is in contact with the main body surface and the two are connected by a fastener.

3. The grab assembly according to claim 2, characterized in that: The pressure wheel assembly includes pressure wheel one and pressure wheel two which are movably connected at the lower part of the connection part. The pressure wheel one and pressure wheel two are located at the two ends of the connection part and both are tightly pressed against the upper part of the transmission belt. The driving member is fixedly connected to the side of the guide block and the driving member can pull the transmission belt between pressure wheel one and pressure wheel two.

4. The grab assembly according to claim 3, characterized in that: The driving member is a motor, and a transmission wheel is fixedly connected to the rotating shaft of the motor. The transmission wheel is located at the upper part between the first pressing wheel and the second pressing wheel. Under the action of the first pressing wheel and the second pressing wheel, the transmission belt is wrapped around the transmission wheel.

5. The gripping assembly according to claim 4, characterized in that: The driving member, the transmission belt and the grab ring form a grab unit. The grab units are two in number and further include a connecting rod. The connecting rod is located between the two grab rings and the ends of the connecting rod are fixedly connected to the corresponding grab rings.

6. The gripping assembly according to claim 5, characterized in that: The number of the connecting rods is several, and the several connecting rods are evenly distributed along the arc direction of the grab ring.

7. The gripping assembly according to claim 6, characterized in that: Among the connecting rods arranged in sequence along the front and rear of the grab ring, the frontmost connecting rod is fixedly connected between the front ends of the two grab rings, and the rearmost connecting rod is fixedly connected between the rear ends of the two grab rings.

8. The gripping assembly according to claim 7, characterized in that: The frontmost connecting rod and the rearmost connecting rod are both fixedly connected with protruding claws.

9. The gripping assembly according to claim 8, characterized in that: The connecting rods at the front end and the rear end are provided with a plurality of claws, and the plurality of claws are adjacently arranged along the length direction of the connecting rod.

10. The gripping assembly according to claim 9, characterized in that The side of the guide block is movably connected with a roller, and the roller abuts against the side of the grab ring.

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