Grabbing device

Abstract

The utility model discloses a grabbing device which comprises a machine frame. The mechanical arm is assembled on the rack; the clamping module is mounted on the mechanical arm; the two clamping plates are both assembled on the clamping module, and the two clamping plates are arranged oppositely; the clamping structure is arranged on the two clamping plates; and the two adjusting structures are arranged on the clamping module. The clamping device can perfectly meet the clamping requirements of columnar materials or other curved-surface materials, compatibility of materials in various shapes is achieved, a worker can further ensure the best clamping effect by adjusting the radian of the elastic clamping pieces according to the size of the columnar materials, and the working efficiency is improved. The grabbing device can cope with materials of different specifications through the adjusting capacity, the adjusting process is simpler, more convenient and quicker through the design, and the adjusting accuracy and stability are greatly improved.

Description

Technical Field

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

[0002] A grasping device usually includes one or more jaws, which are driven mechanically, pneumatically or electrically to grasp, transport and release an object. Its main function is to move an object from one place to another on an automated production line.

[0003] A grasping device usually relies on two clamping plates that can approach each other to clamp a material. In traditional grasping devices, the shape of the clamping plates is generally fixed. For example, clamping plates with flat surfaces are usually used to clamp materials with flat surfaces, while clamping plates with arc surfaces are suitable for clamping cylindrical or other curved materials. Although this design meets the requirements of specific application scenarios to a certain extent, it also greatly limits the versatility of the grasping device. Since the shape of the clamping plates is not adjustable, when it is necessary to clamp materials of different shapes or sizes, it is often necessary to replace the clamping plates of different shapes, which not only increases the operation complexity but also raises the cost. Summary of the Utility Model

[0004] In order to overcome the above technical problems, the purpose of the utility model is to provide a grasping device.

[0005] The purpose of the utility model can be realized by the following technical solutions:

[0006] A grasping device, comprising:

[0007] A frame;

[0008] A robotic arm, assembled on the frame;

[0009] A clamping module, installed on the robotic arm;

[0010] Two clamping plates, both assembled on the clamping module, and the two clamping plates are arranged opposite to each other;

[0011] A clamping structure, arranged on the two clamping plates;

[0012] Two adjusting structures, both arranged on the clamping module.

[0013] As a further scheme of the utility model: The clamping structure includes:

[0014] Two mounting rods, respectively fixed on the opposite side surfaces of the two clamping plates;

[0015] Two elastic clips, respectively fixed at the mutually approaching ends of the two mounting rods.

[0016] As a further solution of the present utility model: The elastic clip is in an arc structure and is made of an elastic metal material.

[0017] As a further solution of the present utility model: The adjusting structure includes:

[0018] Two side plates, both fixed to the side surface of the clamping plate, and the two side plates are arranged vertically and oppositely;

[0019] A motor, installed on the upper side plate;

[0020] A driving shaft, rotatably installed between the two side plates, and one end of the driving shaft is connected to the output shaft of the motor;

[0021] Two winding wheels, both fixedly sleeved on the driving shaft;

[0022] Two pulling ropes, one ends of the two pulling ropes are respectively connected to the two winding wheels, and the other ends of the two pulling ropes are respectively connected to the two ends of the elastic clip.

[0023] As a further solution of the present utility model: Two guiding rings are fixed on the mounting rod, and the two pulling ropes respectively pass through the two guiding rings.

[0024] As a further solution of the present utility model: Anti-slip patterns are provided on the opposite side surfaces of the two elastic clips.

[0025] The beneficial effects of the present utility model:

[0026] When the elastic clips form a plate-like structure with a flat surface, the two elastic clips can be closely attached and clamp the materials with a flat surface, ensuring firm clamping and not easy to slip. Secondly, when the elastic clips are adjusted to have a certain curvature, they can perfectly adapt to the clamping requirements of columnar or other curved materials, realizing the compatibility with materials of various shapes. The staff can also adjust the curvature of the elastic clips according to the size of the columnar materials to ensure the best clamping effect. This adjustment ability enables the grasping device to handle materials of different specifications. This design not only makes the adjustment process simpler and faster, but also greatly improves the accuracy and stability of the adjustment;

[0027] In summary, the grasping device proposed by the present utility model realizes the wide compatibility and efficient clamping of materials of different shapes and sizes through its innovative elastic clip design and motor drive system, greatly improving the work efficiency and versatility. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] The following further describes the present utility model with reference to the drawings.

[0029] Figure 1It is a schematic diagram of the overall structure of the present utility model;

[0030] Figure 2 It is a schematic diagram of the clamping structure;

[0031] Figure 3 It is Figure 1 An enlarged view of the structure at position A of

[0032] In the figure: 1 frame, 2 robotic arm, 3 clamping module, 4 clamping plates, 51 mounting rods, 52 elastic clamping pieces, 61 side plates, 62 motor, 63 winding wheel, 64 pulling rope. Specific embodiments

[0033] Next, the technical solutions in the embodiments of the present utility model will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all the embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without making creative efforts belong to the protection scope of the present utility model.

[0034] As Figures 1-3 shown, a grasping device includes a frame 1; a robotic arm 2 assembled on the frame 1; a clamping module 3 installed on the robotic arm 2; two clamping plates 4 both assembled on the clamping module 3, and the two clamping plates 4 are arranged opposite to each other. The robotic arm 2 is used to control the movement of the clamping module 3. The specific structures and working principles of the robotic arm 2 and the clamping module 3 are not the innovative parts of this technical solution and are not shown in the figure and will not be elaborated here;

[0035] The grasping device further includes a clamping structure provided on the two clamping plates 4. The clamping structure includes: two mounting rods 51 respectively fixed on the opposite side surfaces of the two clamping plates 4; two elastic clamping pieces 52 respectively fixed at the mutually close ends of the two mounting rods 51. The elastic clamping pieces 52 are in an arc-shaped structure and are made of an elastic metal material. Anti-slip patterns are provided on the opposite side surfaces of the two elastic clamping pieces 52. Workers can clamp different materials by adjusting the shapes of the two elastic clamping pieces 52. When the elastic clamping pieces 52 form a plate-like structure with a flat surface, the two elastic clamping pieces 52 can clamp materials with a flat surface. When the elastic clamping pieces 52 have a certain curvature, the two elastic clamping pieces 52 can clamp columnar materials. In addition, workers can also adjust the curvature of the elastic clamping pieces 52 to clamp columnar materials with different sizes with the two elastic clamping pieces 52;

[0036] The grasping device further includes two adjusting structures, both of which are arranged on the clamping module 3. The adjusting structure includes: two side plates 61, both of which are fixed to the side surface of the clamping plate 4, and the two side plates 61 are arranged vertically opposite to each other; a motor 62, which is installed on the upper side plate 61; a driving shaft, which is rotatably installed between the two side plates 61, and one end of the driving shaft is connected to the output shaft of the motor 62; two winding wheels 63, both of which are fixedly sleeved on the driving shaft; two pulling ropes 64, one ends of the two pulling ropes 64 are respectively connected to the two winding wheels 63, and the other ends of the two pulling ropes 64 are respectively connected to the two ends of the elastic clip 52. Two guiding rings are fixed on the mounting rod 51, and the two pulling ropes 64 respectively pass through the two guiding rings.

[0037] The working principle of the present utility model:

[0038] When the grasping device proposed by the present utility model is in use, the staff can adjust the shapes of the two elastic clips 52 to grasp different materials. When the elastic clips 52 form a plate-like structure with a flat surface, the two elastic clips 52 can clamp the materials with a flat surface. When the elastic clips 52 have a certain curvature, the two elastic clips 52 can clamp the columnar materials. In addition, the staff can also adjust the curvature of the elastic clips 52 so that the two elastic clips 52 can clamp columnar materials with different sizes.

[0039] When adjusting the shape of the elastic clip 52, the staff can start the motor 62. When the motor 62 operates, it can drive the driving shaft to rotate. When the driving shaft rotates, it can drive the two winding wheels 63 to rotate. When the two winding wheels 63 rotate, they can wind up the two pulling ropes 64, so that the two pulling ropes 64 synchronously pull the two ends of the elastic clip 52. When the two ends of the elastic clip 52 move away from each other, the elastic clip 52 can tend to be flat, and the curvature of the elastic clip 52 will gradually decrease. When the motor 62 drives the two winding wheels 63 to rotate in the reverse direction, the two pulling ropes 64 no longer apply tension to the two ends of the elastic clip 52. At this time, the elastic clip 52 will recover under the action of its own elastic force, which makes the curvature of the elastic clip 52 gradually increase. In summary, the staff can adjust the curvature of the elastic clip 52 by controlling the forward and reverse rotation of the motor 62, so that the two elastic clips 52 can grasp materials with different shapes.

[0040] The above has described a detailed description of an embodiment of the present utility model, but the content described above is only the preferred embodiment of the present utility model and cannot be considered as used to limit the scope of implementation of the present utility model. All equivalent changes and improvements made according to the scope of the application of the present utility model should still fall within the scope covered by the patent of the present utility model.

Claims

1. A grasping device, characterized in that, Comprising: A frame (1); A robotic arm (2), assembled on the frame (1); A clamping module (3), mounted on the robotic arm (2); Two clamping plates (4), both assembled on the clamping module (3), and the two clamping plates (4) are arranged facing each other; A clamping structure, arranged on the two clamping plates (4); Two adjusting structures, both arranged on the clamping module (3).

2. The grasping device according to claim 1, characterized in that, The clamping structure includes: Two mounting rods (51), respectively fixed on the opposite side surfaces of the two clamping plates (4); Two elastic clips (52), respectively fixed at the ends of the two mounting rods (51) close to each other.

3. The grasping device according to claim 2, wherein, The elastic clip (52) is in an arc structure, and the elastic clip (52) is made of an elastic metal material.

4. The grasping device according to claim 2, wherein, The adjusting structure includes: Two side plates (61), both fixed on the side surface of the clamping plate (4), and the two side plates (61) are arranged vertically facing each other; A motor (62), mounted on the upper side plate (61); A drive shaft, rotatably mounted between the two side plates (61), and one end of the drive shaft is connected to the output shaft of the motor (62); Two winding wheels (63), both fixedly sleeved on the drive shaft; Two pull ropes (64), one ends of the two pull ropes (64) are respectively connected to the two winding wheels (63), and the other ends of the two pull ropes (64) are respectively connected to the two ends of the elastic clip (52).

5. The gripping device according to claim 4, characterized in that, Two guide rings are fixed on the mounting rod (51), and the two pull ropes (64) respectively pass through the two guide rings.

6. The grasping device according to claim 2, characterized in that, Anti-slip patterns are arranged on the opposite side surfaces of the two elastic clips (52).

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