Multi-degree-of-freedom adjustable grabbing mechanism based on truss manipulator
Patent Information
- Application Number
- CN202420879845.1
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-04-26
- Publication Date
- 2025-01-10
- Estimated Expiration
- 2034-04-26
Smart Images
Figure CN222328230U_ABST
Abstract
Description
Technical Field
[0001] The utility model belongs to the technical field of material grabbing, and in particular relates to a multi-freedom adjustable grabbing mechanism based on a truss manipulator. Background Art
[0002] In the metal manufacturing industry, the current domestic truss electric permanent magnetic suction cups are all for alloy steel and structural steel materials with smooth surfaces. For alloy steel and structural steel materials with irregular surfaces and steps, the existing electric permanent magnetic suction cups cannot complete automatic transportation, loading, stacking and other tasks, so they can only be manually handled or assembled, which is obviously inefficient. The demand for automatic assembly of trusses in various industries is increasing. Therefore, in order to cope with materials with uneven surfaces and alloy steel and structural steel materials with steps on the production line, it is necessary to design a gripping mechanism that can meet the work needs. Utility Model Content
[0003] The purpose of the utility model is to solve the defects and shortcomings in the prior art and to design a multi-degree-of-freedom adjustable grasping mechanism based on a truss manipulator which is simple in structure, stable and reliable, convenient and effective, improves production efficiency, and saves manpower and material resources.
[0004] To achieve the above-mentioned purpose, the technical solution adopted by the utility model is: a multi-degree-of-freedom adjustable grasping mechanism based on a truss manipulator, including a grasping bracket, one end of which is connected to a rotating mechanism and can perform circular rotation under the action of the rotating mechanism, and a plurality of grasping components are arranged at the other end, the grasping component includes an electro-permanent magnetic suction block hingedly arranged with the grasping bracket, and at least one electro-permanent magnetic suction block can move up and down under the action of a transmission component, and there is also an elastic buffer between the electro-permanent magnetic suction block and the grasping bracket.
[0005] Preferably, the grabbing components are provided in two groups, which are respectively arranged on the left and right sides of the grabbing bracket, and a transmission component is provided at one group of the grabbing components.
[0006] Preferably, the transmission assembly includes a slider slidably connected to a slide rail on the grabbing bracket, the slider is connected to a brake screw, and the brake screw can drive the slider to move up and down along the slide rail under the action of a transmission motor.
[0007] Preferably, the electro-permanent magnetic suction block connected to the transmission assembly is hinged on the slider.
[0008] Preferably, a buffer spring is provided between the electro-permanent magnetic suction block and the grabbing bracket or the sliding block.
[0009] Preferably, the electro-permanent magnetic suction block is hinged to the end of the buffer spring away from the grabbing bracket.
[0010] After adopting the above technical solution, the multi-degree-of-freedom adjustable grasping mechanism based on the truss manipulator provided by the utility model has the following beneficial effects:
[0011] Through the design of the transmission component, the utility model can realize the adjustable up and down movement of the electric permanent magnetic suction block, which can cope with the uneven surface of the material on the production line, the alloy steel with steps, and the structural steel material. Within the weight of 200KG, it can complete the adjustment work of the grabbing with multiple degrees of freedom, realize the flat placement and stacking of the material, improve the adaptability of the grabber to grab the material, and expand the application range of the grabber in various working conditions; through the hinged connection design of the electric permanent magnetic suction block, it can realize the front and back swing, prevent rigid contact with the material, reduce material damage, and improve the use efficiency and service life of the electric permanent magnetic suction block. Therefore, the utility model has a simple structure and is easy to operate. It realizes the handling and assembly functions of materials with uneven surfaces, alloy steel with steps, and structural steel materials. It has the advantages of high grabbing efficiency, low cost, wide adaptability, high flexibility, and long service life. BRIEF DESCRIPTION OF THE DRAWINGS
[0012] Figure 1 The utility model is a structural schematic diagram of a multi-degree-of-freedom adjustable grasping mechanism based on a truss manipulator.
[0013] Among them: a grabbing bracket 1, an electric permanent magnetic suction block 2, a buffer spring 3, a slide rail 4, a slide block 5, and a brake screw 6. DETAILED DESCRIPTION
[0014] The present invention is further described clearly and completely below in conjunction with the accompanying drawings and specific embodiments. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and is by no means intended to limit the present invention and its application or use. 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.
[0015] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.
[0016] Unless otherwise specifically stated, the relative arrangement, numerical expressions and numerical values of the parts and steps described in these embodiments do not limit the scope of the utility model. At the same time, it should be understood that, for ease of description, the sizes of the various parts shown in the accompanying drawings are not drawn according to the actual proportional relationship. The technology, methods and equipment known to ordinary technicians in the relevant field may not be discussed in detail, but in appropriate cases, the technology, methods and equipment should be regarded as a part of the authorization specification. In all examples shown and discussed here, any specific value should be interpreted as merely exemplary, rather than as a limitation. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters represent similar items in the following drawings, so once a certain item is defined in an accompanying drawing, it does not need to be further discussed in subsequent drawings.
[0017] In the description of the present utility model, it needs to be understood that the directions or positional relationships indicated by directional words such as "front, back, up, down, left, right", "lateral, vertical, perpendicular, horizontal" and "top, bottom" are usually based on the directions or positional relationships shown in the drawings, and are only for the convenience of describing the present utility model and simplifying the description. Unless otherwise specified, these directional words do not indicate or imply that the device or element referred to must have a specific direction or be constructed and operated in a specific direction, and therefore cannot be understood as limiting the scope of protection of the present utility model; the directional words "inside and outside" refer to the inside and outside relative to the contours of each component itself.
[0018] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used here to describe the spatial positional relationship between a device or feature and other devices or features as shown in the figure. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figure. For example, if the device in the accompanying drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below other devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.
[0019] In addition, it should be noted that the use of terms such as "first" and "second" to limit components is only for the convenience of distinguishing the corresponding components. If not otherwise stated, the above terms have no special meaning and therefore cannot be understood as limiting the scope of protection of the utility model.
[0020] The utility model discloses a multi-degree-of-freedom adjustable grasping mechanism based on a truss manipulator, such as Figure 1 As shown, it includes a grabbing bracket 1, one end of which is connected to a rotating mechanism (not shown in the figure) and can perform a 360° circular rotation under the action of the rotating mechanism, and a plurality of grabbing components are arranged at the other end. Specifically, the grabbing components are provided with two groups, which are respectively arranged on the left and right sides of the grabbing bracket 1, and a transmission component is provided at one group of the grabbing components. The grabbing components include an electric permanent magnetic suction block 2 hingedly arranged with the grabbing bracket 1, and one of the electric permanent magnetic suction blocks 2 can move up and down under the action of the transmission assembly, and an elastic buffer is also provided between the electric permanent magnetic suction block 2 and the grabbing bracket 1.
[0021] The transmission assembly includes a slider 5 slidably connected to the slide rail 4 on the grabbing bracket 1, and the slider 5 is connected to a brake screw 6. The brake screw 6 can drive the slider 5 to move up and down along the slide rail 4 under the action of a transmission motor (not shown in the figure). The electric permanent magnetic suction block 2 connected to the transmission assembly is hinged on the slider 5. The design of the electric permanent magnetic suction block that can adjust the up and down movement can cope with materials with uneven surfaces on the production line, alloy steel with stepped properties, and structural steel materials. The adjustment work of the grabbing can be completed with multiple degrees of freedom, and the materials can be placed flatly for stacking, which improves the adaptability of the gripper to grab materials and expands the application range of the gripper in various working conditions. Furthermore, a buffer spring 3 is provided between the electric permanent magnetic suction block 2 and the grabbing bracket 1 or the slider 5. The electric permanent magnetic suction block 2 is hinged at the end of the buffer spring 3 away from the grabbing bracket 1, and can swing back and forth to prevent rigid contact with the material, reduce material damage, and improve the use efficiency and service life of the electric permanent magnetic suction block.
[0022] The utility model discloses a multi-degree-of-freedom adjustable grabbing mechanism based on a truss manipulator. When the mechanism is used, it is driven by the truss to start working. In working condition one, when the surface of the material is flat, the transmission component does not work and is adjusted to a predetermined position for grabbing the material. The material is grabbed downward and the electric permanent magnetic suction block 2 contacts the surface of the material. Due to the buffer spring 3 and the hinge design, the electric permanent magnetic suction block 2 has a buffering effect with the surface of the material. The electric permanent magnetic suction block 2 absorbs the material for transportation, assembly, placement, loading, etc. In working condition two, if a material with an uneven surface or a stepped material is encountered, the transmission component is adjusted up and down under the action of the transmission motor to make the material in a horizontal position, which is convenient for assembling and placing the material.
[0023] To sum up, the utility model provides a multi-degree-of-freedom adjustable grasping mechanism based on a truss manipulator, which has a simple structure and is easy to operate. It realizes the handling and assembly functions of materials with uneven surfaces, alloy steel with steps, and structural steel materials. It has the advantages of high grasping efficiency, low cost, wide adaptability, high flexibility, and long service life. It has great market value and deserves to be widely promoted and applied.
[0024] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes within the technical scope disclosed by the present invention according to the technical scheme and the utility model concept of the present invention, which should be covered by the protection scope of the present invention.
Claims
1. A multi-degree-of-freedom adjustable grasping mechanism based on a truss manipulator, characterized in that: The invention comprises a grabbing bracket (1), one end of which is connected to a rotating mechanism and can perform circular rotation under the action of the rotating mechanism, and the other end is provided with a plurality of grabbing components, the grabbing components comprising an electric permanent magnetic suction block (2) hingedly arranged with the grabbing bracket (1), and at least one electric permanent magnetic suction block (2) can move up and down under the action of a transmission component, and an elastic buffer is also provided between the electric permanent magnetic suction block (2) and the grabbing bracket (1).
2. The multi-degree-of-freedom adjustable grasping mechanism based on a truss manipulator according to claim 1, characterized in that: The grabbing components are provided in two groups, which are respectively arranged on the left and right sides of the grabbing bracket (1), and a transmission component is provided at one group of the grabbing components.
3. The multi-degree-of-freedom adjustable grasping mechanism based on a truss manipulator according to claim 1, characterized in that: The transmission assembly comprises a slider (5) slidably connected to a slide rail (4) on the grabbing bracket (1); the slider (5) is connected to a brake screw (6); and the brake screw (6) can drive the slider (5) to move up and down along the slide rail (4) under the action of a transmission motor.
4. The multi-degree-of-freedom adjustable grasping mechanism based on a truss manipulator according to claim 3, characterized in that: The electric permanent magnetic suction block (2) connected with the transmission assembly is hinged on the slide block (5).
5. The multi-degree-of-freedom adjustable grasping mechanism based on a truss manipulator according to claim 3, characterized in that: A buffer spring (3) is provided between the electric permanent magnetic suction block (2) and the grabbing bracket (1) or the sliding block (5).
6. The multi-degree-of-freedom adjustable grasping mechanism based on a truss manipulator according to claim 5, characterized in that: The electro-permanent magnetic suction block (2) is hinged to the end of the buffer spring (3) away from the grabbing bracket (1).