Grabbing device

Abstract

The utility model belongs to the field of grabbing equipment, particularly relates to a grabbing device, and aims to solve the problems that the surface roughness of different workpieces is different, and when a mechanical arm encounters a workpiece with a smooth surface, the friction force between the workpiece and a clamp is not enough, so that the workpiece possibly slides off, the workpiece is damaged, and the product quality of the workpiece is influenced. According to the technical scheme, the manipulator comprises a mechanical arm, a grabbing mechanism is installed on one side of the mechanical arm, a first electric push rod drives a sliding plate to move up and down, drives a connecting rod to rotate and stretch out and draw back, and drives two rotating blocks to rotate, so that a clamping jaw can clamp and release a workpiece, and a second electric push rod drives a rack to move; under the action of the gear, the rotating shaft rotates to drive the L-shaped baffle to rotate to the position below the clamping jaw, the clamped workpiece is shielded, and the situation that the workpiece is damaged and the quality of the workpiece is affected due to falling caused by the fact that the surface of the workpiece is too smooth and friction force between the clamping jaw and the workpiece is reduced is avoided.

Description

Technical Field

[0001] The utility model relates to the technical field of grabbing equipment, in particular to a grabbing device. Background Art

[0002] In the industrial production process, many production processes require the grasping of workpieces. In many cases, multiple workpieces are placed together and different workpieces need to be grasped separately. The surface roughness of different workpieces is different. When the robotic arm encounters a workpiece with a relatively smooth surface, due to insufficient friction between the workpiece and the fixture, the workpiece may slip, causing damage to the workpiece and affecting the product quality of the workpiece. Utility Model Content

[0003] The purpose of the utility model is to solve the problem in the prior art that the surface roughness of different workpieces is different. When the robot arm encounters a workpiece with a relatively smooth surface, the friction between the workpiece and the fixture is insufficient, which may cause the workpiece to slip, causing damage to the workpiece and affecting the product quality of the workpiece. A gripping device is proposed.

[0004] In order to achieve the above purpose, the utility model adopts the following technical solutions:

[0005] A grasping device, comprising: a mechanical arm, a grasping mechanism installed on one side of the mechanical arm, the grasping mechanism comprising a top plate, two fixed plates are fixedly connected to the lower surface of the top plate, and the bottoms of the two fixed plates are rotatably connected to a rotating block for grasping an object;

[0006] An electric push rod 1, the electric push rod 1 is fixedly connected to the lower surface of the top plate for enabling the rotating block to grab the material, the telescopic end of the electric push rod 1 is fixedly connected to a slide plate, the two fixed plates slide through the slide plate, one side of the two rotating blocks is rotatably connected to a connecting rod, and the telescopic ends of the two connecting rods are rotatably connected to the lower surface of the slide plate;

[0007] A shielding mechanism is located on one side of the top plate and is used to shield the grabbed material.

[0008] Furthermore, the shielding mechanism includes an L-shaped mounting plate, the L-shaped mounting plate is fixedly mounted on one side of one of the fixed plates, one side of the L-shaped mounting plate is rotatably connected to a rotating shaft, and an outer wall of the rotating shaft is fixedly connected to an L-shaped baffle for shielding materials during grabbing;

[0009] A driving assembly is located on one side of the top plate and is used to drive the shielding assembly to move.

[0010] Furthermore, the driving assembly includes a fixed block 1, which is fixedly connected to one side of the top plate, one side of the fixed block 1 is fixedly connected to an electric push rod 2, the telescopic end of the electric push rod 2 is fixedly connected to a rack, the outer wall of the rotating shaft is fixedly connected to a gear, and the rack is meshed with the gear.

[0011] Furthermore, a fixed block three is fixedly connected to one side of the top plate, a guide rod is fixedly connected between the fixed block one and the fixed block three, a fixed block two is fixedly connected to one side of the rack, and one end of the guide rod slides through the fixed block two.

[0012] Furthermore, the bottoms of the two rotating blocks are fixedly connected with a plurality of clamping claws.

[0013] Furthermore, outer walls of the plurality of clamping jaws are all covered with rubber sleeves.

[0014] In the present application, when in use, the grasping mechanism is moved to the position of the workpiece to be grasped, and then the electric push rod 1 is started, and the electric push rod is extended and retracted to drive the slide plate to descend, so that the connecting rod rotates and contracts, thereby driving the two rotating blocks to rotate, so that the clamping claw grasps the workpiece to be grasped. After grasping, the grasped workpiece is raised by the mechanical arm, and then the electric push rod 2 is started, and the electric push rod 2 is extended and retracted to drive the rack to move horizontally, thereby driving the gear to rotate, thereby driving the rotating shaft to rotate synchronously, and driving the L-shaped baffle to rotate. When the L-shaped baffle rotates to the bottom of the clamping claw, the electric push rod 2 is closed, and the L-shaped baffle is It can shield the workpiece grasped in the clamp to prevent the workpiece from falling due to the too smooth surface, which reduces the friction between the clamp and the workpiece and causes damage to the workpiece, affecting the quality of the workpiece. When the workpiece is moved to the desired position by the robotic arm, the electric push rod 2 is started in reverse to make the rack move in the opposite direction, thereby driving the gear and the gear to rotate in the opposite direction, driving the L-shaped baffle to rotate in the opposite direction and no longer shielding the workpiece. Then the electric push rod 1 is started in reverse to drive the slide plate to rise, causing the connecting rod to rotate and retract, driving the rotating block to rotate in the opposite direction, and placing the workpiece clamped in the clamp at the desired position.

[0015] In the utility model, the grabbing device can drive the slide plate to move up and down through the setting of the electric push rod, thereby driving the connecting rod to rotate and telescope, driving the two rotating blocks to rotate, so that the clamping claw can clamp the workpiece;

[0016] In the utility model, the gripping device can drive the rack to move through the setting of the electric push rod 2, and drive the rotating shaft to rotate under the action of the gear, so as to drive the L-shaped baffle to rotate to the bottom of the clamping claw to shield the clamped workpiece, so as to prevent the workpiece from falling due to the friction between the clamping claw and the workpiece being too smooth, resulting in damage to the workpiece and affecting the quality of the workpiece;

[0017] In the utility model, the first electric push rod drives the slide plate to move up and down, drives the connecting rod to rotate and telescope, drives the two rotating blocks to rotate, so that the clamping claw can clamp the workpiece, and the second electric push rod drives the rack to move. Under the action of the gear, the rotating shaft rotates, driving the L-shaped baffle to rotate to the bottom of the clamping claw to shield the clamped workpiece, avoid the workpiece surface being too smooth, reduce the friction between the clamping claw and the workpiece, cause it to fall, cause damage to the workpiece, and affect the quality of the workpiece. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 A three-dimensional structural schematic diagram of a grabbing device proposed by the utility model;

[0019] Figure 2 A schematic diagram of a three-dimensional structure of a gripping device proposed by the utility model in another state;

[0020] Figure 3 A schematic diagram of the three-dimensional structure of a grabbing mechanism of a grabbing device proposed by the utility model;

[0021] Figure 4 This is a schematic diagram of the rotating block structure of a grabbing device proposed by the utility model;

[0022] Figure 5 A partial cross-sectional structural schematic diagram of a grabbing device proposed by the utility model;

[0023] Figure 6 The utility model is a schematic diagram of the rotating shaft installation structure of a grabbing device proposed by the utility model.

[0024] In the figure: 1. Robotic arm; 2. Grasping mechanism; 3. Top plate; 4. Fixed block 1; 5. Electric push rod 1; 6. Electric push rod 2; 7. Rack; 8. Gear; 9. L-shaped mounting plate; 10. L-shaped baffle; 11. Fixed plate; 12. Rotating shaft; 13. Slide plate; 14. Guide rod; 15. Fixed block 2; 16. Fixed block 3; 17. Connecting rod; 18. Rotating block. DETAILED DESCRIPTION

[0025] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments.

[0026] Example 1

[0027] Reference Figure 1-Figure 6A grasping device, which is used in the field of machinery, comprises: a mechanical arm 1, a grasping mechanism 2 is installed on one side of the mechanical arm 1, the grasping mechanism 2 comprises a top plate 3, the top plate 3 is fixedly connected to one side of the mechanical arm 1, the lower surface of the top plate 3 is fixedly connected to two fixed plates 11, the bottoms of the two fixed plates 11 are rotatably connected to a rotating block 18 for grasping an object, an electric push rod 5, the electric push rod 5 is fixedly connected to the lower surface of the top plate 3 for enabling the rotating block 18 to grasp the material, and the telescopic end of the electric push rod 5 is fixedly connected There is a slide plate 13, two fixed plates 11 slide through the slide plate 13, one side of the two rotating blocks 18 are rotatably connected with a connecting rod 17, the telescopic ends of the two connecting rods 17 are rotatably connected to the lower surface of the slide plate 13, and a shielding mechanism is located on one side of the top plate 3 for shielding the material after grasping. Through the setting of the electric push rod 5, the slide plate 13 can be driven to move up and down, thereby driving the connecting rod 17 to rotate and telescope, and driving the two rotating blocks 18 to rotate, so that the clamping claws can clamp the workpiece.

[0028] Reference Figure 3 The shielding mechanism includes an L-shaped mounting plate 9, which is fixedly mounted on one side of one of the fixed plates 11. One side of the L-shaped mounting plate 9 is rotatably connected to a rotating shaft 12, and the outer wall of the rotating shaft 12 is fixedly connected to an L-shaped baffle 10 for shielding materials during grabbing. The driving component is located on one side of the top plate 3 and is used to drive the shielding component to move.

[0029] Example 2

[0030] refer to Figure 1-Figure 6 , an improvement based on Example 1: the driving component includes a fixed block 4, the fixed block 4 is fixedly connected to one side of the top plate 3, one side of the fixed block 4 is fixedly connected to an electric push rod 2 6, the telescopic end of the electric push rod 2 6 is fixedly connected to a rack 7, the outer wall of the rotating shaft 12 is fixedly connected to a gear 8, the rack 7 is meshed with the gear 8, the electric push rod 2 6 drives the rack 7 to move, under the action of the gear 8, the rotating shaft 12 rotates, driving the L-shaped baffle 10 to rotate to the bottom of the clamping claw, shielding the clamped workpiece, preventing the workpiece surface from being too smooth, reducing the friction between the clamping claw and the workpiece, causing it to fall, causing damage to the workpiece, and affecting the quality of the workpiece.

[0031] Reference Figure 5 A fixed block three 16 is fixedly connected to one side of the top plate 3, a guide rod 14 is fixedly connected between the fixed block one 4 and the fixed block three 16, a fixed block two 15 is fixedly connected to one side of the rack 7, one end of the guide rod 14 slides through the fixed block two 15, and the guide rod 14 can guide the rack 7.

[0032] Reference Figure 3The bottoms of the two rotating blocks 18 are fixedly connected with a plurality of clamping claws for grabbing the workpieces. The outer walls of the clamping claws are covered with rubber sleeves for protecting the clamped workpieces.

[0033] However, as is well known to those skilled in the art, the working principles and wiring methods of the electric push rod 1 5 and the electric push rod 2 6 are commonplace, and are conventional means or common knowledge, and will not be elaborated here. Those skilled in the art can make any selections according to their needs or convenience.

[0034] 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 gripping device, characterized in that: include: A mechanical arm (1), wherein a gripping mechanism (2) is installed on one side of the mechanical arm (1), wherein the gripping mechanism (2) comprises a top plate (3), wherein the top plate (3) is fixedly connected to one side of the mechanical arm (1), wherein two fixed plates (11) are fixedly connected to the lower surface of the top plate (3), and wherein the bottoms of the two fixed plates (11) are rotatably connected to a rotating block (18) for gripping an object; An electric push rod (5), the electric push rod (5) is fixedly connected to the lower surface of the top plate (3) for enabling a rotating block (18) to grab materials, the telescopic end of the electric push rod (5) is fixedly connected to a slide plate (13), the two fixed plates (11) slide through the slide plate (13), one side of the two rotating blocks (18) is rotatably connected to a connecting rod (17), and the telescopic ends of the two connecting rods (17) are rotatably connected to the lower surface of the slide plate (13); A shielding mechanism is located on one side of the top plate (3) and is used to shield the grabbed material.

2. A gripping device according to claim 1, characterized in that: The shielding mechanism comprises an L-shaped mounting plate (9), wherein the L-shaped mounting plate (9) is fixedly mounted on one side of one of the fixed plates (11), one side of the L-shaped mounting plate (9) is rotatably connected to a rotating shaft (12), and an outer wall of the rotating shaft (12) is fixedly connected to an L-shaped shielding plate (10) for shielding materials during grabbing; A driving component is located on one side of the top plate (3) and is used to drive the shielding component to move.

3. A gripping device according to claim 2, characterized in that: The driving assembly comprises a fixing block (4), wherein the fixing block (4) is fixedly connected to one side of the top plate (3), an electric push rod (6) is fixedly connected to one side of the fixing block (4), a telescopic end of the electric push rod (6) is fixedly connected to a rack (7), an outer wall of the rotating shaft (12) is fixedly connected to a gear (8), and the rack (7) is meshed with the gear (8).

4. A gripping device according to claim 3, characterized in that: A fixing block three (16) is fixedly connected to one side of the top plate (3), a guide rod (14) is fixedly connected between the fixing block one (4) and the fixing block three (16), a fixing block two (15) is fixedly connected to one side of the rack (7), and one end of the guide rod (14) slides through the fixing block two (15).

5. A gripping device according to claim 4, characterized in that: The bottoms of the two rotating blocks (18) are both fixedly connected with a plurality of clamping claws.

6. A gripping device according to claim 5, characterized in that: The outer walls of the plurality of clamping jaws are all covered with rubber sleeves.

Images