Multipurpose mechanical automatic grabbing and clamping device

Abstract

The invention relates to the technical field of grabbing and clamping devices, and discloses a multipurpose mechanical automatic grabbing and clamping device which comprises a vertical frame, a lifting table is slidably connected to the vertical frame, an angle adjusting mechanism is rotatably connected to the upper end of the lifting table, and a grabbing mechanism is slidably connected to the angle adjusting mechanism; the lifting table comprises a lifting plate, the lifting plate is slidably connected with the vertical frame, first electric telescopic rods are fixedly connected to the front side and the rear side of the upper end of the lifting plate, the two first electric telescopic rods are fixedly installed on the top of the vertical frame, a fixing frame is fixedly connected to the lower end of the lifting plate, and the angle adjusting mechanism is movably installed in the middle of the lifting plate. The multipurpose mechanical automatic grabbing and clamping device has the multi-degree-of-freedom adjusting capacity, can achieve precise positioning and posture adjustment, integrates the adsorption function and the clamping function at the same time, is suitable for grabbing objects of various shapes and materials and improves the grabbing stability, in addition, a modular clamping structure is convenient to rapidly replace and maintain, and the practicability is high. And the operation flexibility is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of grabbing and clamping devices, and in particular to a multi-purpose mechanical automated grabbing and clamping device. Background Art

[0002] In modern industrial automated production and intelligent logistics systems, the grasping and handling of materials, as a key link, places increasingly higher demands on the flexibility, stability, and adaptability of equipment. Mechanical clamping devices in existing technologies generally have the problems of single function and insufficient freedom. Most of them only have simple opening and closing movements, which are difficult to adapt to the complex and changeable shapes and placement of workpieces. Some equipment lacks effective adsorption auxiliary structures, and is prone to unstable grasping and slipping when facing objects with smooth, fragile or irregular surfaces. In addition, traditional clamping components are mostly fixed in design, difficult to replace, and have high maintenance costs, which limits the versatility and flexibility of the equipment. At the same time, most devices have a low degree of automation and require manual assistance in positioning or adjustment, which affects the overall work efficiency and safety. Therefore, we propose a multi-purpose mechanical automated grasping and clamping device. Summary of the Invention

[0003] The main purpose of the present invention is to provide a multi-purpose mechanical automated grasping and clamping device that can effectively solve the problems in the background technology.

[0004] To achieve the above object, the technical solution adopted by the present invention is:

[0005] A multi-purpose mechanical automated grasping and clamping device comprises a vertical frame, a lifting platform is slidably connected to the vertical frame, an angle adjustment mechanism is rotatably connected to the upper end of the lifting platform, and a grasping mechanism is slidably connected to the angle adjustment mechanism;

[0006] The lifting platform includes a lifting plate, which is slidably connected to the vertical frame. The front and rear sides of the upper end of the lifting plate are fixedly connected to a No. 1 electric telescopic rod. The two No. 1 electric telescopic rods are fixedly installed on the top of the vertical frame. The lower end of the lifting plate is fixedly connected to a fixed frame, and the fixed frame is a U-shaped structure. The angle adjustment mechanism is movably installed in the middle of the lifting plate.

[0007] The angle adjustment mechanism includes a crossbeam, the grabbing mechanism is slidably connected to the crossbeam, a rotating rod is fixedly connected to one side of the crossbeam, the rotating rod is movably connected to the lifting plate through a bearing, the lower end of the rotating rod is fixedly connected to a transmission half gear, one side of the transmission half gear is meshedly connected to a driving half gear, the lower end of the driving half gear is fixedly connected to a forward and reverse motor No. 1 through a rotating shaft, and the forward and reverse motor No. 1 is fixedly installed in a fixed frame.

[0008] As a further improvement of the above solution, vertical plates are fixedly installed on both sides of the upper end of the beam, and a second forward and reverse motor is fixedly installed on one side of one of the vertical plates. The output end of the second forward and reverse motor is fixedly connected to a screw rod, and the screw rod is movably connected to the two vertical plates.

[0009] Through the above scheme: the motor drives the screw to rotate, driving the transmission ear and movable sleeve threadedly connected to it to slide along the beam, thereby realizing the left and right movement of the grasping mechanism in the direction of the beam, ensuring that it is accurately positioned directly above the object to be grasped.

[0010] As a further improvement of the above scheme, the grabbing mechanism includes a movable sleeve, which is sleeved on the crossbeam and slidably connected to the crossbeam, the upper end of the movable sleeve is fixedly connected with a transmission ear, the transmission ear is sleeved on the screw rod and threadedly connected to the screw rod, and a drive motor is fixedly installed in the middle of the lower end of the movable sleeve, and the lower end of the drive motor is fixedly connected to a grabbing base plate, and the lower end of the grabbing base plate is provided with an adsorption component and a clamping component.

[0011] This solution integrates two gripping methods: an adsorption component and a clamping component. In practical applications, users can choose between adsorption alone, clamping alone, or a combination of both, depending on the material, shape, and weight of the object being grasped. The adsorption component uses an air pump to provide negative pressure, making it suitable for workpieces with smooth surfaces. The clamping component, on the other hand, uses removable clamping parts to provide stable gripping of irregular or easily slippable objects. This combination of the two not only improves the grasping success rate but also broadens the device's application range.

[0012] As a further improvement of the above scheme, the adsorption assembly includes a No. 2 electric telescopic rod and an air pump. The No. 2 electric telescopic rod is provided with two and fixedly installed on the left and right sides of the upper end of the grabbing base plate. The output ends of the two No. 2 electric telescopic rods are commonly fixedly connected to the adsorption plate, and the adsorption plate is slidably connected to the lower end of the grabbing base plate. A number of evenly distributed air holes are opened at the lower end of the adsorption plate. The air pump is fixedly installed on one side of the upper end of the grabbing base plate, and a connecting air pipe is connected between the air pump and the adsorption plate.

[0013] Through the above solution: start the air pump, and transmit negative pressure to the air holes of the adsorption plate through the connecting air pipe, so that a vacuum adsorption force is formed on its lower surface. At the same time, the No. 2 electric telescopic rod extends downward, pushing the adsorption plate to slide out of the storage slot of the grasping bottom plate and stick to the surface of the object to complete the adsorption grasping.

[0014] As a further improvement of the above solution, a receiving groove for receiving the adsorption plate is opened at the lower end of the grabbing bottom plate.

[0015] As a further improvement of the above solution, two slide rails are provided at the lower end of the grabbing base plate, and the two slide rails are distributed front to back and are respectively located on both sides of the adsorption component.

[0016] As a further improvement of the above scheme, the clamping assembly includes a No. 1 movable plate and a No. 2 movable plate, and the No. 1 movable plate and the No. 2 movable plate are distributed on the left and right. The upper ends of the No. 1 movable plate and the No. 2 movable plate are fixedly connected with a sliding sleeve that is slidably connected to the slide rail, and the lower ends of the No. 1 movable plate and the No. 2 movable plate are fixedly connected with a clamping block, and the lower ends of the No. 1 movable plate and the No. 2 movable plate are detachably installed with a detachable clamping part through the clamping block.

[0017] As a further improvement of the above scheme, one end of the No. 1 movable plate is fixedly connected to two No. 1 transmission racks, and one end of the No. 2 movable plate is fixedly connected to two No. 2 transmission racks, the No. 1 transmission rack and the No. 2 transmission rack are arranged opposite to each other, and the No. 1 transmission rack and the No. 2 transmission rack located at the rear are jointly meshed with an active drive gear, and the No. 1 transmission rack and the No. 2 transmission rack located at the front are jointly meshed with a driven transmission gear, and the No. 1 movable plate and the No. 2 movable plate are both provided with avoidance grooves for accommodating the No. 1 transmission rack or the No. 2 transmission rack.

[0018] Through the above scheme: the active drive gear and the driven transmission gear cooperate with each other to drive the No. 1 transmission rack and the No. 2 transmission rack to move toward each other, thereby pushing the No. 1 moving plate and the No. 2 moving plate toward the center along the slide rail, and the detachable clamping parts connected by the card block are used to clamp and fix the object, thereby improving the grasping stability.

[0019] As a further improvement of the above-mentioned scheme, the detachable clamping part includes a No. 1 clamping claw, which is an L-shaped structure and is provided with two No. 1 clamping claws. The two No. 1 clamping claws are symmetrically distributed on the left and right and the opposite ends are arc-shaped structures. The upper end of the No. 1 clamping claw is provided with a No. 1 clamping groove which is slidably connected to the clamping block, and a No. 1 fixing screw which is threadedly connected to the clamping block is inserted into the No. 1 clamping groove.

[0020] Through the above solution: when performing the clamping operation, the user can select the appropriate clamping claw according to the specific shape of the object to be grasped, and fix it to the clamping block with a No. 1 fixing screw.

[0021] As a further improvement of the above-mentioned scheme, the detachable clamping part includes a No. 2 clamping claw, which is an L-shaped structure and is provided with two No. 2 clamping claws. The two No. 2 clamping claws are symmetrically distributed on the left and right and the opposite ends are straight-face structures. The upper end of the No. 2 clamping claw is provided with a No. 2 clamping groove that is slidably connected to the clamping block, and a No. 2 fixing screw that is threadedly connected to the clamping block is inserted into the No. 2 clamping groove.

[0022] Through the above solution: the design of the improved detachable clamping piece, the opposite ends of which are designed with arc-shaped structures, is suitable for grasping objects with cylindrical or other curved surface features, and the grasping is more stable and not easy to slip.

[0023] Compared with the prior art, the present invention has the following beneficial effects:

[0024] 1. The present invention realizes the lifting function by setting up a No. 1 electric telescopic rod, cooperates with the No. 1 forward and reverse motor to drive the half-gear transmission mechanism to complete the crossbeam rotation, and combines the screw transmission to realize the lateral movement of the grasping mechanism. At the same time, the drive motor is integrated on the grasping base plate to realize posture fine-tuning, so that the entire grasping system has multiple adjustment capabilities in height, angle and posture. This multi-degree-of-freedom design greatly enhances the adaptability of the device to complex environments and objects in different placement positions, and is suitable for grasping and handling tasks in various industrial automation scenarios.

[0025] 2. This invention integrates two gripping modes: suction and clamping. In practical applications, the device can be used in a single-action, single-action, or combined-action gripping mode, depending on the material, shape, and weight of the object being gripped. The suction component uses an air pump to provide negative pressure, making it suitable for workpieces with smooth surfaces. The clamping component, on the other hand, uses detachable clamping parts to provide stable gripping of irregular or easily slippable objects. This combination of the two not only improves the gripping success rate but also broadens the device's application range.

[0026] 3. The clamping assembly of the present invention adopts a modular design. The clamping claws are slidably connected to the clamping block through the card slot and are locked and fixed by fixing screws, which makes it easy to quickly replace clamps of different shapes and sizes according to different grasping requirements. This design not only improves the equipment's adaptability to objects of specific shapes, but also simplifies daily maintenance and replacement processes, significantly improving the equipment's flexibility and operating efficiency.

[0027] 4. The present invention uses a control system to coordinate and control each actuator in a unified manner, and can automatically complete the entire process of lifting, rotating, positioning, adsorption and clamping, etc., and can achieve accurate grasping and transportation of target objects without human intervention. This highly automated operation method not only reduces manual labor intensity and lowers the error rate of human operation, but also improves production rhythm and operation safety to a certain extent. It is particularly suitable for high-end application scenarios such as unmanned production lines, intelligent warehousing and robot collaboration systems. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0029] Figure 1This is a schematic diagram of the overall structure of a multi-purpose mechanical automated grasping and clamping device of the present invention;

[0030] Figure 2 This is a partial structural diagram of a multi-purpose mechanical automated grasping and clamping device of the present invention;

[0031] Figure 3 This is a schematic structural diagram of an angle adjustment mechanism of a multi-purpose mechanical automated grasping and clamping device of the present invention;

[0032] Figure 4 This is a structural schematic diagram of a gripping mechanism of a multi-purpose mechanical automated gripping and clamping device of the present invention;

[0033] Figure 5 This is a schematic diagram of the bottom structure of a gripping base plate of a multi-purpose mechanical automated gripping and clamping device of the present invention;

[0034] Figure 6 This is a schematic structural diagram of a clamping assembly of a multi-purpose mechanical automated grasping and clamping device of the present invention;

[0035] Figure 7 This is a schematic structural diagram of an adsorption component of a multi-purpose mechanical automated grasping and clamping device of the present invention;

[0036] Figure 8 This is a schematic structural diagram of a detachable clamping member according to a second embodiment of the present invention;

[0037] Figure 9 Schematic diagram of the structure of the detachable clamping member according to the first embodiment of the present invention.

[0038] In the figure: 1. Stand; 2. Lifting platform; 3. Angle adjustment mechanism; 31. Crossbeam; 32. Rotating rod; 33. Transmission half gear; 34. No. 1 forward and reverse motor; 35. Driving half gear; 36. Stand; 37. No. 2 forward and reverse motor; 38. Screw; 4. Grabbing mechanism; 41. Moving sleeve; 42. Transmission ear; 43. Driving motor; 44. Grabbing bottom plate; 441. Storage slot; 45. Adsorption component; 451. No. 2 electric telescopic rod; 452. Adsorption plate; 453. Air hole; 454. Air pump; 455. Connecting air pipe; 46. Sliding Rail; 47, clamping assembly; 471, movable plate No. 1; 472, movable plate No. 2; 473, sliding sleeve; 474, clamping block; 475, detachable clamping part; 4751, clamping claw No. 1; 4752, card slot No. 1; 4753, fixing screw No. 1; 4754, clamping claw No. 2; 4755, card slot No. 2; 4756, fixing screw No. 2; 476, transmission rack No. 1; 477, transmission rack No. 2; 478, active drive gear; 479, driven drive gear; 5, lifting plate; 6, electric telescopic rod No. 1; 7, fixed frame. DETAILED DESCRIPTION

[0039] In order to make the technical means, creative features, objectives and effects achieved by the present invention easier to understand, the present invention is further described below in conjunction with specific implementation methods.

[0040] In the description of the present invention, it should be noted that the terms "upper," "lower," "inner," "outer," "front end," "rear end," "both ends," "one end," "the other end," and the like, indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are intended solely to facilitate and simplify the description of the present invention. They are not intended to indicate or imply that the devices or components referred to must have, be constructed, or operate in a specific orientation, and therefore should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0041] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "installed," "provided with," "connected," etc., should be understood in a broad sense. For example, "connected" may refer to a fixed connection, a detachable connection, or an integral connection; it may refer to a mechanical connection or an electrical connection; it may refer to a direct connection or an indirect connection through an intermediate medium; it may refer to internal communication between two components. Those skilled in the art will be able to understand the specific meanings of the above terms in the present invention based on the specific circumstances.

[0042] The technical solution of the present invention is further described below with reference to the accompanying drawings.

[0043] Example 1

[0044] like Figure 1-7 and Figure 9 As shown, a multi-purpose mechanical automated grasping and clamping device includes a vertical frame 1, a lifting platform 2 is slidably connected to the vertical frame 1, the upper end of the lifting platform 2 is rotatably connected to an angle adjustment mechanism 3, and a grasping mechanism 4 is slidably connected to the angle adjustment mechanism 3.

[0045] In this embodiment, the lifting platform 2 includes a lifting plate 5, which is slidably connected to the stand 1, and the front and rear sides of the upper end of the lifting plate 5 are fixedly connected to the No. 1 electric telescopic rod 6. The two No. 1 electric telescopic rods 6 are fixedly installed on the top of the stand 1. The lower end of the lifting plate 5 is fixedly connected to the fixed frame 7, and the fixed frame 7 is a U-shaped structure. The angle adjustment mechanism 3 is movably installed in the middle of the lifting plate 5; the angle adjustment mechanism 3 includes a crossbeam 31, and the grasping mechanism 4 is slidably connected to the crossbeam 31. One side of the crossbeam 31 is fixedly connected to a rotating rod 32, and the rotating rod 32 is movably connected to the lifting plate 5 through a bearing. The lower end of the rotating rod 32 is fixedly connected to a transmission half gear 33, and one side of the transmission half gear 33 is meshed with a driving half gear 35. The lower end of the driving half gear 35 is fixedly connected to the No. 1 forward and reverse through a rotating shaft. Motor 34, and the forward and reverse motor 34 is fixedly installed in the fixed frame 7; vertical plates 36 are fixedly installed on the left and right sides of the upper end of the beam 31, and the forward and reverse motor 37 is fixedly installed on one side of one of the vertical plates 36, and the output end of the forward and reverse motor 37 is fixedly connected to the screw rod 38, and the screw rod 38 is movably connected to the two vertical plates 36; the grasping mechanism 4 includes a movable sleeve 41, the movable sleeve 41 is sleeved on the beam 31 and slidably connected to the beam 31, the upper end of the movable sleeve 41 is fixedly connected with a transmission ear 42, the transmission ear 42 is sleeved on the screw rod 38 and is threadedly connected to the screw rod 38, and a driving motor 43 is fixedly installed in the middle of the lower end of the movable sleeve 41, and the lower end of the driving motor 43 is fixedly connected to the grasping base plate 44, and the lower end of the grasping base plate 44 is provided with an adsorption component 45 and a clamping component 47.

[0046] Through the above scheme: when it is necessary to raise or lower the grabbing height, the No. 1 electric telescopic rod 6 will extend or shorten accordingly according to the command issued by the control system, driving the lifting plate 5 connected thereto to move up and down along the stand 1, thereby realizing precise control of the height of the grabbing mechanism 4; then, after determining the grabbing height, if it is necessary to adjust the overall orientation of the grabbing mechanism 4, the control system will start the No. 1 forward and reverse motor 34, which drives the driving half gear 35 fixedly connected to its output shaft to rotate. Since the driving half gear 35 is engaged with the transmission half gear 33 below, the transmission half gear 33 rotates synchronously therewith and drives the rotating rod 32 fixed thereto to rotate together. The upper end of the rotating rod 32 is connected to the crossbeam 31, so that the entire angle adjustment mechanism 3 rotates together with the grabbing mechanism 4 around the bearing to realize the angle adjustment of the grabbing mechanism 4 in the horizontal plane. Through this action, the grabbing mechanism 4 can It can approach the target object in a more appropriate direction, which is especially suitable for situations where the object is placed in an irregular direction or the grasping path is limited. At the same time, in order to further accurately align the grasping position, the control system will also start the second forward and reverse motor 37, which drives the screw rod 38 to rotate, driving the transmission ear 42 and the movable sleeve 41 threadedly connected to it to slide along the beam 31, thereby realizing the left and right movement of the grasping mechanism 4 in the direction of the beam, ensuring that it is accurately positioned directly above the object to be grasped; in addition, when it is necessary to fine-tune the specific posture of the clamping component 47, that is, to adapt to the inclination angle or surface features of the object, the control system can also start the drive motor 43 installed at the bottom of the grasping mechanism 4, which drives the grasping base plate 44 to rotate through the reducer. Since the adsorption component 45 and the clamping component 47 are both fixed to the lower end of the grasping base plate 44, they will rotate with the grasping base plate 44, thereby realizing fine adjustment of the grasping posture.

[0047] In this embodiment, the adsorption component 45 includes a No. 2 electric telescopic rod 451 and an air pump 454. Two No. 2 electric telescopic rods 451 are provided and fixedly installed on the left and right sides of the upper end of the grabbing base plate 44. The output ends of the two No. 2 electric telescopic rods 451 are commonly fixedly connected to the adsorption plate 452, and the adsorption plate 452 is slidably connected to the lower end of the grabbing base plate 44. A number of evenly distributed air holes 453 are provided at the lower end of the adsorption plate 452. The air pump 454 is fixedly installed on one side of the upper end of the grabbing base plate 44. A connecting air pipe 455 is connected between the air pump 454 and the adsorption plate 452; a storage groove 441 for accommodating the adsorption plate 452 is provided at the lower end of the grabbing base plate 44.

[0048] Through the above scheme: the control system starts the air pump 454, and transmits negative pressure to the air hole 453 of the adsorption plate 452 through the connecting air pipe 455, so that a vacuum adsorption force is formed on its lower surface. At the same time, the second electric telescopic rod 451 extends downward, pushing the adsorption plate 452 to slide out of the storage groove 441 of the grasping bottom plate 44, so that the adsorption plate 452 can cling to and firmly adsorb the surface of the object, completing the adsorption grasping.

[0049] The two levers 476 are connected to the lever 474 at the bottom and are fixedly connected to the lever 475 at the bottom. The racks 477 are arranged opposite to each other, and the No. 1 transmission rack 476 and the No. 2 transmission rack 477 at the rear are jointly meshed with an active drive gear 478, and the No. 1 transmission rack 476 and the No. 2 transmission rack 477 at the front are jointly meshed with a driven transmission gear 479. The No. 1 movable plate 471 and the No. 2 movable plate 472 are both provided with avoidance grooves for accommodating the No. 1 transmission rack 476 or the No. 2 transmission rack 477; the detachable clamping part 475 includes a No. 2 clamping claw 4754, the No. 2 clamping claw 4754 is an L-shaped structure and is provided with two, the two No. 2 clamping claws 4754 are symmetrically distributed on the left and right and the opposite ends are straight-face structures, the upper end of the No. 2 clamping claw 4754 is provided with a No. 2 clamping groove 4755 that is slidably connected to the clamping block 474, and the No. 2 clamping groove 4755 is inserted with a No. 2 fixing screw 4756 that is threadedly connected to the clamping block 474.

[0050] Through the above scheme: the control system drives the active drive gear 478, and through the cooperation between the active drive gear 478 and the driven transmission gear 479, the No. 1 transmission rack 476 and the No. 2 transmission rack 477 are driven to move toward each other, thereby pushing the No. 1 moving plate 471 and the No. 2 moving plate 472 along the slide rail 46 to approach the center, and the detachable clamping part 475 connected by the clamping block 474 is clamped and fixed to improve the grasping stability.

[0051] During the specific use of this embodiment, the control system issues corresponding control instructions based on the position information of the object to be grasped, and starts the mechanical automatic grasping and clamping device. First, the height of the entire grasping mechanism 4 is adjusted by the operation of the No. 1 electric telescopic rod 6. Specifically, when it is necessary to raise or lower the grasping height, the No. 1 electric telescopic rod 6 will extend or shorten accordingly according to the instructions issued by the control system, driving the lifting plate 5 connected thereto to move up and down along the stand 1, thereby realizing precise control of the height of the grasping mechanism 4; then, after determining the grasping height, if it is necessary to adjust the overall orientation of the grasping mechanism 4, the control system will start the No. 1 forward and reverse motor 34, which drives the driving half gear 35 fixedly connected to its output shaft to rotate, and the No. 1 electric telescopic rod 6 will rotate. Because the driving half gear 35 is engaged with the transmission half gear 33 below, the transmission half gear 33 rotates synchronously therewith and drives the rotating rod 32 fixed thereto to rotate together. The upper end of the rotating rod 32 is connected to the crossbeam 31, so that the entire angle adjustment mechanism 3 rotates together with the grasping mechanism 4 around the bearing to achieve the angle adjustment of the grasping mechanism 4 in the horizontal plane. Through this action, the grasping mechanism 4 can approach the target object in a more appropriate direction, which is especially suitable for situations where the object is placed in an irregular direction or the grasping path is limited. At the same time, in order to further accurately align the grasping position, the control system will also start the second forward and reverse motor 37, which drives the screw rod 38 to rotate, driving the transmission ear 42 and the movable sleeve 41 threadedly connected thereto to slide along the crossbeam 31, thereby achieving The left and right movement of the grasping mechanism 4 in the direction of the crossbeam ensures that it is accurately positioned above the object to be grasped. In addition, when it is necessary to fine-tune the specific posture of the clamping component 47, that is, to adapt to the tilt angle or surface characteristics of the object, the control system can also start the driving motor 43 installed at the bottom of the grasping mechanism 4, and the motor drives the grasping base plate 44 to rotate through the reducer. Since the adsorption component 45 and the clamping component 47 are both fixed to the lower end of the grasping base plate 44, they will rotate with the grasping base plate 44, thereby achieving fine adjustment of the grasping posture. After the grasping base plate 44 is accurately aligned with the top of the target object, the adsorption function is first performed, and the control system starts the air pump 454 and transmits negative pressure to the air hole 453 of the adsorption plate 452 through the connecting air pipe 455, so that it moves downward A vacuum adsorption force is formed on the surface. At the same time, the second electric telescopic rod 451 extends downward, pushing the adsorption plate 452 to slide out of the storage groove 441 of the grasping bottom plate 44 and close to the surface of the object to complete the adsorption grasping. If the target object is large and the stability cannot be guaranteed by adsorption alone, the system can further start the clamping assembly 47. At this time, the control system drives the active driving gear 478, and the active driving gear 478 and the driven transmission gear 479 cooperate with each other to drive the No. 1 transmission rack 476 and the No. 2 transmission rack 477 to move toward each other, thereby pushing the No. 1 moving plate 471 and the No. 2 moving plate 472 to move closer to the center along the slide rail 46, and the detachable clamping member 475 connected by the block 474 clamps and fixes the object to improve the grasping stability;After the grasping action is completed, the entire device can be adjusted again in terms of height, angle, or lateral direction according to the task requirements to move the object to the target location; then the suction pressure is released or the second clamping claw 4754 is released to complete the placement task.

[0052] Example 2

[0053] like Figure 1-8 As shown, this embodiment shows a multi-purpose mechanical automated grasping and clamping device. The working principle is basically the same as that of the first embodiment. The main difference lies in the design of the detachable clamping member 475. The detachable clamping member 475 includes a No. 1 clamping claw 4751. The No. 1 clamping claw 4751 has an L-shaped structure and is provided with two. The two No. 1 clamping claws 4751 are symmetrically distributed and have arc-shaped structures at opposite ends. The upper end of the No. 1 clamping claw 4751 is provided with a No. 1 clamping slot 4752 that is slidably connected to the clamping block 474. The No. 1 clamping slot 4752 is inserted into the No. 1 fixing screw 4753 that is threadedly connected to the clamping block 474. The No. 1 clamping claw 4751 in this embodiment adopts an L-shaped structure with arc-shaped opposite ends to accommodate the need to grasp objects of specific shapes.

[0054] During the specific use of this embodiment, when performing the clamping operation, the user can select a suitable clamping claw according to the specific shape of the object to be grasped, and fix it to the clamping block 474 through the No. 1 fixing screw 4753, and then perform the grasping action according to the steps of the above-mentioned embodiment one. In the clamping and grasping stage, this embodiment adopts an improved detachable clamping part 475, which includes two L-shaped No. 1 clamping claws 4751 distributed symmetrically on the left and right, and the opposite ends thereof are designed as an arc structure, which is suitable for grasping objects with cylindrical or other curved surface features. Since the arc structure of the No. 1 clamping claw 4751 is more matched with the shape of the clamped object, the grasping is more stable and not easy to slip.

[0055] The basic principles, main features, and advantages of the present invention are shown and described above. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The above embodiments and descriptions are merely illustrative of the principles of the present invention. Various changes and modifications may be made to the present invention without departing from the spirit and scope of the present invention. Such changes and modifications are intended to fall within the scope of the present invention. The scope of protection claimed in the present invention is defined by the appended claims and their equivalents.

Claims

1. A multi-purpose mechanical automated grasping and clamping device, characterized in that: It comprises a stand (1), a lifting platform (2) is slidably connected to the stand (1), an upper end of the lifting platform (2) is rotatably connected to an angle adjustment mechanism (3), and a grabbing mechanism (4) is slidably connected to the angle adjustment mechanism (3); The lifting platform (2) includes a lifting plate (5), the lifting plate (5) is slidably connected to the stand (1), the front and rear sides of the upper end of the lifting plate (5) are fixedly connected to a No. 1 electric telescopic rod (6), the two No. 1 electric telescopic rods (6) are fixedly installed on the top of the stand (1), the lower end of the lifting plate (5) is fixedly connected to a fixed frame (7), and the fixed frame (7) is a U-shaped structure, and the angle adjustment mechanism (3) is movably installed in the middle of the lifting plate (5); The angle adjustment mechanism (3) comprises a crossbeam (31), the grabbing mechanism (4) is slidably connected to the crossbeam (31), a rotating rod (32) is fixedly connected to one side of the crossbeam (31), the rotating rod (32) is movably connected to the lifting plate (5) through a bearing, the lower end of the rotating rod (32) is fixedly connected to a transmission half gear (33), one side of the transmission half gear (33) is meshedly connected to a driving half gear (35), the lower end of the driving half gear (35) is fixedly connected to a first forward and reverse motor (34) through a rotating shaft, and the first forward and reverse motor (34) is fixedly installed in a fixed frame (7).

2. The multi-purpose mechanical automated grasping and clamping device according to claim 1, characterized in that: Vertical plates (36) are fixedly mounted on both left and right sides of the upper end of the crossbeam (31), and a second forward and reverse motor (37) is fixedly mounted on one side of one of the vertical plates (36). The output end of the second forward and reverse motor (37) is fixedly connected to a screw rod (38), and the screw rod (38) is movably connected to the two vertical plates (36).

3. The multi-purpose mechanical automated grasping and clamping device according to claim 1, characterized in that: The grabbing mechanism (4) comprises a movable sleeve (41), the movable sleeve (41) being sleeved on the crossbeam (31) and being slidably connected to the crossbeam (31), the upper end of the movable sleeve (41) being fixedly connected to a transmission ear (42), the transmission ear (42) being sleeved on the screw rod (38) and being threadedly connected to the screw rod (38), a driving motor (43) being fixedly mounted at the middle of the lower end of the movable sleeve (41), the lower end of the driving motor (43) being fixedly connected to a grabbing base plate (44), and the lower end of the grabbing base plate (44) being provided with an adsorption component (45) and a clamping component (47).

4. The multi-purpose mechanical automated grasping and clamping device according to claim 3, characterized in that: The adsorption assembly (45) includes a second electric telescopic rod (451) and an air pump (454). Two second electric telescopic rods (451) are provided and fixedly mounted on the left and right sides of the upper end of the grabbing base plate (44). The output ends of the two second electric telescopic rods (451) are fixedly connected to an adsorption plate (452), and the adsorption plate (452) is slidably connected to the lower end of the grabbing base plate (44). The lower end of the adsorption plate (452) is provided with a plurality of evenly distributed air holes (453). The air pump (454) is fixedly mounted on one side of the upper end of the grabbing base plate (44). A connecting air pipe (455) is connected between the air pump (454) and the adsorption plate (452).

5. The multi-purpose mechanical automated grasping and clamping device according to claim 3, characterized in that: The lower end of the grabbing bottom plate (44) is provided with a receiving groove (441) for receiving the adsorption plate (452).

6. The multi-purpose mechanical automated grasping and clamping device according to claim 3, characterized in that: Two slide rails (46) are provided at the lower end of the grabbing bottom plate (44), and the two slide rails (46) are distributed front to back and are respectively located on both sides of the adsorption component (45).

7. The multi-purpose mechanical automated grasping and clamping device according to claim 3, characterized in that: The clamping assembly (47) includes a first movable plate (471) and a second movable plate (472), and the first movable plate (471) and the second movable plate (472) are distributed left and right. The upper ends of the first movable plate (471) and the second movable plate (472) are fixedly connected with a sliding sleeve (473) slidably connected to the slide rail (46), and the lower ends of the first movable plate (471) and the second movable plate (472) are fixedly connected with a clamping block (474). The lower ends of the first movable plate (471) and the second movable plate (472) are detachably mounted with a detachable clamping member (475) through the clamping block (474).

8. The multi-purpose mechanical automated grasping and clamping device according to claim 7, characterized in that: One end of the No. 1 movable plate (471) is fixedly connected to two No. 1 transmission racks (476), and one end of the No. 2 movable plate (472) is fixedly connected to two No. 2 transmission racks (477). The No. 1 transmission rack (476) and the No. 2 transmission rack (477) are arranged opposite to each other, and the No. 1 transmission rack (476) and the No. 2 transmission rack (477) at the rear are jointly meshed with an active drive gear (478), and the No. 1 transmission rack (476) and the No. 2 transmission rack (477) at the front are jointly meshed with a driven transmission gear (479). The No. 1 movable plate (471) and the No. 2 movable plate (472) are both provided with an avoidance groove for accommodating the No. 1 transmission rack (476) or the No. 2 transmission rack (477).

9. The multi-purpose mechanical automated grasping and clamping device according to claim 7, characterized in that: The detachable clamping member (475) includes a No. 1 clamping claw (4751), which is an L-shaped structure and is provided with two No. 1 clamping claws (4751). The two No. 1 clamping claws (4751) are symmetrically distributed on the left and right sides and have arc-shaped structures at opposite ends. The upper end of the No. 1 clamping claw (4751) is provided with a No. 1 clamping groove (4752) that is slidably connected to the clamping block (474), and a No. 1 fixing screw (4753) that is threadedly connected to the clamping block (474) is inserted into the No. 1 clamping groove (4752).

10. The multi-purpose mechanical automated grasping and clamping device according to claim 7, characterized in that: The detachable clamping member (475) includes a No. 2 clamping claw (4754), which is an L-shaped structure and is provided with two No. 2 clamping claws (4754). The two No. 2 clamping claws (4754) are symmetrically distributed on the left and right, and the opposite ends are straight-faced structures. The upper end of the No. 2 clamping claw (4754) is provided with a No. 2 clamping groove (4755) slidably connected to the clamping block (474), and the No. 2 fixing screw (4756) threadedly connected to the clamping block (474) is inserted into the No. 2 clamping groove (4755).

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