Automatic material grabbing device

Abstract

The invention discloses an automatic material grabbing device which comprises a mechanical arm material grabbing mechanism, and the mechanical arm material grabbing mechanism comprises a supporting seat, a material grabbing mechanism and a material grabbing mechanism. The handle assembly is hinged to the supporting seat; the clamping jaws are arranged in pairs, are hinged to the supporting seat and are connected with the handle assembly; the sensing button is arranged at the position, corresponding to the middle of the clamping jaws arranged in pairs, of the supporting seat, and the sensing button is arranged to bear clamped parts and generate a trigger signal when sensing the parts; and the driving element is connected with the induction button to receive the trigger signal, the driving element acts based on the trigger signal to drive the handle assembly to act, and the action of the handle assembly drives the clamping jaws arranged in pairs to be relatively closed so as to clamp parts.

Description

Technical Field

[0001] The invention relates to a material grabbing device, in particular to an automatic clamping and grabbing device. Background Art

[0002] With the development of production automation, material grabbing has gradually moved away from manual grabbing and adopted automated grabbing.

[0003] At present, industrial robots are mostly used for automatic material grabbing. However, the six-axis robot for automatic material grabbing has the following disadvantages in practical applications:

[0004] High cost: The equipment is expensive to purchase and requires relevant software licenses. Due to its complex structure, the subsequent maintenance cost is also high, involving repair services by professional technicians and expensive parts replacement.

[0005] Long production preparation time: A lot of programming and computer simulation work is required before use to plan the robot's motion trajectory and task flow, which will take a lot of time and delay the start of production.

[0006] Space and flexibility limitations: Although the six-axis robot is highly flexible, its joint movement may be limited in some narrow spaces or special layout working environments, making it difficult to reach specific positions or angles for material grabbing. Compared with some more compact and targeted grabbing devices, it has shortcomings in space utilization and adaptability to special scenarios.

[0007] High energy consumption: The movement of multiple joint axes requires the coordinated work of multiple motors and other drive devices, which consumes more electricity during operation. For automated grasping tasks that require long-term continuous operation, the energy cost is relatively high. Summary of the invention

[0008] The object of the present invention is to provide an automatic material grabbing device, which can quickly and conveniently clamp and grab parts, and the device has a simple structure, is easy to use and has low cost.

[0009] In order to achieve the above object, the present invention proposes an automatic material grabbing device, which includes a manipulator material grabbing mechanism, and the manipulator material grabbing mechanism includes:

[0010] Support seat;

[0011] A handle assembly, which is hinged to the support seat;

[0012] Clamping jaws arranged in pairs, which are hinged to the support seat and connected to the handle assembly;

[0013] A sensing button, which is arranged on the support seat at a position corresponding to the middle of the pair of clamping jaws, and the sensing button is arranged to carry the clamped part and generate a trigger signal when the part is sensed;

[0014] A driving element is connected to the sensing button to receive the trigger signal. The driving element is actuated based on the trigger signal to drive the handle assembly to move. The movement of the handle assembly drives the paired clamps to close relative to each other to clamp the parts.

[0015] Furthermore, in the automatic material grabbing device of the present invention, an arc portion is provided on the outer side of the clamping jaw, and the handle assembly includes:

[0016] A handle body, which is hinged to the support seat via a handle shaft;

[0017] The roller is rotatably arranged on the handle body and is in contact with the arc-shaped portion of the clamping jaw. The roller can drive the clamping jaw to rotate around the clamping jaw rotating shaft as the handle body rotates.

[0018] Furthermore, in the automatic material gripping device described in the present invention, a first spring is provided between the pair of clamping jaws, and the first spring applies a force to the clamping jaws to resist the relative opening or closing thereof.

[0019] Furthermore, in the automatic material gripping device described in the present invention, the sensing button is movably disposed on the supporting seat, and is configured to move along the gravity direction of the clamped part and generate the trigger signal based on the movement.

[0020] Furthermore, in the automatic material gripping device described in the present invention, a second spring is provided between the sensing button and the support seat, and the second spring is configured to reset the sensing button when the clamped parts are removed.

[0021] Furthermore, in the automatic material grabbing device described in the present invention, the driving element includes a cylinder, and a sliding pin is provided on the cylinder rod of the cylinder, which is cooperatively connected with the sliding groove of the handle assembly.

[0022] Furthermore, in the automatic material gripping device described in the present invention, a gasket is provided at the gripping portion where the gripping claw contacts the part.

[0023] Furthermore, the automatic material grabbing device described in the present invention also includes a position adjustment mechanism, which is connected to the manipulator material grabbing mechanism to adjust the position of the manipulator material grabbing mechanism.

[0024] Furthermore, in the automatic material grabbing device of the present invention, the position adjustment mechanism comprises:

[0025] A bottom plate connected to the support seat;

[0026] A fixed mounting bracket for fixed settings;

[0027] A crank, the lower end of which is hinged to the fixing frame;

[0028] A connecting rod, the lower end of which is hinged to the upper end of the crank, and the upper end of which is hinged to the base plate;

[0029] The lower end of the rocker is hinged to the fixing frame, and the rocker is also movably connected to the connecting rod.

[0030] Furthermore, in the automatic material grabbing device described in the present invention, a screw rod with the same extension direction as the rocker is provided inside the rocker, and a slider threadedly connected to the screw rod is provided on the screw rod. The slider can move along the length direction of the screw rod as the screw rod rotates, and the slider is rotatably connected to the rotating block, and the rotating block is connected to the connecting rod.

[0031] The automatic material grabbing device described in the present invention can replace industrial robots in situations where the requirements for the degree of freedom of automatic material grabbing are not high, and can quickly and conveniently clamp and grab parts. The device has a simple structure, is easy to use, and is low in cost. Compared with traditional robots, it reduces costs, reduces the number of joints of traditional robots, and reduces the failure rate. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 A schematic diagram of the three-dimensional structure of the automatic material grabbing device described in the present invention in one embodiment is shown.

[0033] Figure 2 A schematic diagram showing the relative closure of the clamping jaws of the automatic material gripping device described in the present invention in one embodiment is shown.

[0034] Figure 3 A schematic diagram showing the automatic material gripping device of the present invention with the jaws relatively open in one embodiment.

[0035] Figure 4 A schematic diagram of the three-dimensional structure of the automatic material grabbing device described in the present invention in another embodiment is shown.

[0036] Figure 5 A three-dimensional structural schematic diagram of a position adjustment mechanism of the automatic material gripping device described in the present invention in another embodiment is shown.

[0037] Figure 6 A front view of a position adjustment mechanism of the automatic material gripping device according to another embodiment of the present invention is shown.

[0038] Figure 7 for Figure 6 Cross-sectional view at the middle BB.

[0039] Figure 8 Two extreme positions of the rocker relative to the connecting rod are shown in a specific embodiment. DETAILED DESCRIPTION

[0040] The automatic material grabbing device of the present invention will be further explained and illustrated below in conjunction with the accompanying drawings and specific embodiments of the specification. However, such explanation and illustration do not constitute an improper limitation on the technical solution of the present invention.

[0041] Figure 1 A schematic diagram of the three-dimensional structure of the automatic material grabbing device described in the present invention in one embodiment is shown.

[0042] like Figure 1 As shown, in some embodiments, the automatic material grabbing device may include a robot material grabbing mechanism 100 .

[0043] The material grasping mechanism of the manipulator may include: a fixed support base 101; a handle assembly 102, which is hinged to the support base 101; and claws 103 arranged in pairs, which are hinged to the support base 101 through claw rotating shafts 104 and connected to the handle assembly 102.

[0044] Figure 2 A schematic diagram showing the relative closure of the clamping jaws of the automatic material gripping device described in the present invention in one embodiment is shown.

[0045] Figure 3 A schematic diagram showing the automatic material gripping device of the present invention with the jaws relatively open in one embodiment.

[0046] like Figure 2 and Figure 3 As shown, the manipulator gripping mechanism 100 may further include a sensing button 105, which is disposed on the support seat 101 at a position corresponding to the middle of the paired clamping jaws. The sensing button 105 is configured to carry the gripped part P and generate a trigger signal when the part is sensed.

[0047] like Figure 1 , Figure 2 and Figure 3 As shown, the manipulator grasping mechanism 100 may also include a driving element 106, which is connected to the sensing button signal to receive a trigger signal from the sensing button 105. The driving element 106 is actuated based on the trigger signal to drive the handle assembly 102 to move. The movement of the handle assembly 102 in turn drives the paired jaws 103 to close relative to each other to grasp the part P.

[0048] Continue reading Figure 2 and Figure 3 In some more specific embodiments, an arc-shaped portion 1031 is provided on the outer side of the clamping jaw.

[0049] Additionally, the handle assembly 102 may include:

[0050] A handle body 1021, which is hinged to the support base 101 via a handle shaft 1022;

[0051] The roller 1023 is rotatably disposed on the handle body 1021 via the roller shaft 1024 and is in contact with the arc portion 1031 of the clamping jaw 103. The roller 1023 can rotate with the rotation of the handle body 1021 to drive the clamping jaw 103 to rotate around the clamping jaw shaft 104, thereby realizing the relative closing and opening of the two clamping jaws.

[0052] In some more specific embodiments, Figure 2 and Figure 3 As shown, a first spring 107 may be further provided between the pair of clamping jaws. In some more specific embodiments, the first spring 107 may be configured to apply a force to the clamping jaws to resist their relative opening to help the clamping jaws reset. In other more specific embodiments, the first spring 107 may be configured to apply a force to the clamping jaws to resist their relative closing to help the clamping jaws reset.

[0053] In some more specific embodiments, Figure 2 and Figure 3 As shown, the sensing button 105 can be movably disposed on the support base 101 and is configured to move along the gravity direction of the clamped part and generate a trigger signal based on the movement.

[0054] like Figure 2 and Figure 3 As shown, in some more specific embodiments, a second spring 108 may be provided between the sensing button 105 and the support seat, and the second spring is configured to: when the clamped part P is removed, for example, Figure 3 As shown, the sensing button 105 is reset.

[0055] like Figure 1 , Figure 2 and Figure 3 As shown, in some more specific embodiments, the driving element 106 may include a cylinder 1061, and a sliding pin 1063 is provided on the cylinder rod 1062 of the cylinder 1061, which is cooperated with the sliding groove of the handle assembly 102, so as to realize the linear movement of the cylinder rod 1062 to drive the handle body 1021 to rotate around the handle shaft 1022.

[0056] In some more specific embodiments, Figure 2 As shown, in order to further increase the friction force and provide protection for the parts, a gasket 109 may be provided at the clamping portion where the clamping jaw 103 contacts the parts.

[0057] Figure 4 A schematic diagram of the three-dimensional structure of the automatic material grabbing device described in the present invention in another embodiment is shown.

[0058] like Figure 4 As shown, in this embodiment, the automatic material grabbing device of the present invention further includes a position adjustment mechanism 200, which is connected to the manipulator material grabbing mechanism 100 to adjust the position of the manipulator material grabbing mechanism.

[0059] Figure 5 A three-dimensional structural schematic diagram of a position adjustment mechanism of the automatic material gripping device described in the present invention in another embodiment is shown.

[0060] like Figure 5 As shown, in some specific embodiments, the position adjustment mechanism 200 may include:

[0061] A bottom plate 201 connected to the support base 101 of the manipulator material grabbing mechanism 100, for example, by bolts;

[0062] The fixed frame 202 is fixedly arranged, for example, Figure 5 In the illustrated embodiment, four fixing brackets 202 are provided;

[0063] The lower end of the crank 203 is hinged to the corresponding fixing frame, for example, Figure 5 In the embodiment shown, two cranks 203 are provided;

[0064] A connecting rod 204, whose lower end is hinged to the upper end of the corresponding crank 203, and whose upper end is hinged to the bottom plate 201;

[0065] The lower end of the rocker 205 is hinged to the corresponding fixing frame, and the rocker 205 is also movably connected to the corresponding connecting rod 204.

[0066] Figure 6 A front view of a position adjustment mechanism of the automatic material gripping device according to another embodiment of the present invention is shown.

[0067] Figure 7 for Figure 6 Cross-sectional view at BB in the middle.

[0068] like Figure 6 and Figure 7As shown, in some more specific embodiments, the relative position of the rocker and the connecting rod can be adjusted. A screw rod 206 with the same extension direction as the rocker is provided in the rocker 205. A slider 207 threadedly connected to the screw rod is provided on the screw rod 206. The slider 207 can move along the length direction of the screw rod as the screw rod rotates. The slider 207 is rotatably connected to the rotating block 208, and the rotating block 208 is connected to the connecting rod 204. In this way, when it is necessary to adjust the position of the manipulator grasping mechanism 100, force is applied to the crank 203 to rotate around the corresponding fixed frame 202, thereby driving the connecting rod 204 to drive the bottom plate 201 to move, thereby driving the manipulator grasping mechanism 100 to move. The action of the connecting rod will also drive the rocker 205 to rotate around the fixed frame, and the rotation of the connecting rod will drive the rotating block to rotate around the slider. When it is necessary to adjust the relative position of the rocker and the screw rod, force is applied to the screw rod to rotate the screw rod. The rotation of the screw rod will drive the slider to move to the appropriate position along the screw rod. In some more specific embodiments, such as Figure 8 As shown, the slide can be moved between two extreme positions P1 and P2.

[0069] The automatic material grabbing device described in the present invention can replace industrial robots in situations where the requirements for the degree of freedom of automatic material grabbing are not high, and can quickly and conveniently clamp and grab parts. The device has a simple structure, is easy to use, and is low in cost. Compared with traditional robots, it reduces costs, reduces the number of joints of traditional robots, and reduces the failure rate.

[0071] It should be noted that the prior art in the protection scope of the present invention is not limited to the embodiments given in the present application documents. All prior art that does not contradict the solutions of the present invention, including but not limited to prior patent documents, prior public publications, prior public uses, etc., can be included in the protection scope of the present invention.

[0072] In addition, the combination of the various technical features in this case is not limited to the combination described in the claims of this case or the combination described in the specific embodiments. All technical features recorded in this case can be freely combined or combined in any way unless there is a contradiction between them.

[0073] It should also be noted that the above-listed embodiments are only specific embodiments of the present invention. Obviously, the present invention is not limited to the above embodiments, and similar changes or modifications made therewith can be directly derived or easily associated with by those skilled in the art from the contents disclosed in the present invention, and all should belong to the protection scope of the present invention.

Claims

1. An automatic material grabbing device, characterized in that: It includes a manipulator material grabbing mechanism, and the manipulator material grabbing mechanism includes: Support seat; A handle assembly, which is hinged to the support seat; Clamping jaws arranged in pairs, which are hinged to the support seat and connected to the handle assembly; A sensing button, which is arranged on the support seat at a position corresponding to the middle of the pair of clamping jaws, and the sensing button is arranged to carry the clamped part and generate a trigger signal when the part is sensed; A driving element is connected to the sensing button to receive the trigger signal. The driving element is actuated based on the trigger signal to drive the handle assembly to move. The movement of the handle assembly drives the paired clamps to close relative to each other to clamp the parts.

2. The automatic material grabbing device according to claim 1, characterized in that: The outer side of the clamping jaw is provided with an arc portion, and the handle assembly comprises: A handle body, which is hinged to the support seat via a handle rotating shaft; The roller is rotatably arranged on the handle body and is in contact with the arc-shaped portion of the clamping jaw. The roller can drive the clamping jaw to rotate around the clamping jaw rotating shaft as the handle body rotates.

3. The automatic material grabbing device according to claim 1, characterized in that: A first spring is arranged between the pair of clamping jaws, and the first spring applies a force to the clamping jaws to resist the relative opening or closing thereof.

4. The automatic material grabbing device according to claim 1, characterized in that: The sensing button is movably arranged on the supporting seat, and is configured to move along the gravity direction of the clamped part and generate the trigger signal based on the movement.

5. The automatic material grabbing device according to claim 1, characterized in that: A second spring is arranged between the sensing button and the supporting seat, and the second spring is arranged to reset the sensing button when the clamped part is removed.

6. The automatic material grabbing device according to claim 1, characterized in that: The driving element comprises a cylinder, and a sliding pin is provided on the cylinder rod of the cylinder, and the sliding pin is matched and connected with the sliding groove of the handle assembly.

7. The automatic material grabbing device according to claim 1, characterized in that: A gasket is provided on the clamping portion where the clamping claw contacts the part.

8. The automatic material grabbing device according to any one of claims 1 to 7, characterized in that: It also includes a position adjustment mechanism, which is connected to the manipulator material grabbing mechanism to adjust the position of the manipulator material grabbing mechanism.

9. The automatic material grabbing device according to claim 8, characterized in that: The position adjustment mechanism comprises: A bottom plate connected to the support seat; A fixed mount for fixed settings; A crank, the lower end of which is hinged to the fixing frame; A connecting rod, the lower end of which is hinged to the upper end of the crank, and the upper end of which is hinged to the base plate; The lower end of the rocker is hinged to the fixing frame, and the rocker is also movably connected to the connecting rod.

10. The automatic material grabbing device according to claim 9, characterized in that: A screw rod with the same extension direction as the rocker is provided in the rocker, and a slider connected to the screw rod thread is provided on the screw rod. The slider can move along the length direction of the screw rod as the screw rod rotates. The slider is rotatably connected to the rotating block, and the rotating block is connected to the connecting rod.

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