Grabbing mechanism and grabbing device

Abstract

The utility model discloses a grabbing mechanism and a grabbing device, and belongs to the technical field of automatic packaging, the grabbing mechanism comprises a base, a first grabbing seat, a second grabbing seat and a driver; the base is provided with a first guide rail and a second guide rail, the first guide rail and the second guide rail are arranged at intervals, and the distance between the first guide rail and the second guide rail is gradually increased or decreased along the extending path of the first guide rail or the second guide rail; the first grabbing seat is arranged on the first guide rail in a sliding mode and provided with a first bearing part, the second grabbing seat is arranged on the second guide rail in a sliding mode and provided with a second bearing part, the driver is installed on the base, and the driver is in transmission connection with the first grabbing seat and / or the second grabbing seat so that the first bearing part and the second bearing part can get close to each other or get away from each other. According to the grabbing mechanism, the cup body with the cup cover can be grabbed, meanwhile, the cup cover is prevented from being separated from the cup body, and the production and conveying efficiency of the cup body with the cup cover is improved.

Description

Technical Field

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

[0002] With the continuous improvement of the quality of life, people's demand for liquid foods such as coffee, milk tea, and tea drinks is also increasing, and the use of cups with cup lids to hold liquid foods is becoming more and more common. For the convenience of use, the existing cup body is provided with a clamping ring on the edge of the cup mouth, and the cup lid is clamped on the clamping ring to fasten with the cup body. On some backward production lines, when producing and packaging cup bodies with cup lids, the cup body and cup lid are first processed and produced separately, and then the cup lid is clamped on the cup body to form a set of products, and finally the products are packaged. When packaging, it is often necessary to manually put the products into paper trays or cartons to facilitate subsequent transportation. There are also some production lines that use robots to drive vacuum suction cups or sponge suction cups to absorb the cup lids of the products to load the products into paper trays or cartons. Since the cups and cup lids of the products are fastened together, the vacuum suction cups or sponge suction cups only absorb the top of the cup lids. Therefore, due to the shaking caused by the movement of the robot and the fact that the cup lids are not fastened, the cup lids are separated from the cup body, causing the cups to fall off frequently, resulting in reduced production efficiency of the production line. Utility Model Content

[0003] The purpose of the embodiment of the utility model is to provide a grasping mechanism and a grasping device, wherein the grasping mechanism can grasp a cup body with a cup cover while preventing the cup cover from being separated from the cup body, thereby improving the production and conveying efficiency of the cup body with the cup cover.

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

[0005] On the one hand, a gripping mechanism is provided, comprising:

[0006] The base is provided with a first guide rail and a second guide rail; the first guide rail and the second guide rail are arranged at intervals, and the distance between the first guide rail and the second guide rail gradually increases or decreases;

[0007] A first grabbing seat is slidably disposed on the first guide rail; the first grabbing seat has a first supporting portion;

[0008] A second grabbing seat is slidably disposed on the second guide rail; the second grabbing seat has a second supporting portion;

[0009] as well as

[0010] A driver is installed on the base; the driver is transmission-connected with the first grabbing seat and / or the second grabbing seat so as to make the first supporting part and the second supporting part approach each other or move away from each other.

[0011] Optionally, the first grasping seat is provided with first lifting claws, there are at least two first lifting claws which are arranged at intervals, a first socket is formed between two adjacent first lifting claws, and the first supporting part is located on the first lifting claws;

[0012] The second grasping seat is provided with second lifting claws, there are at least two second lifting claws which are arranged at intervals, a second socket is formed between two adjacent second lifting claws, and the second supporting part is located on the second lifting claws; the first socket and the second socket correspond to each other one by one.

[0013] Optionally, the first lifting claw is provided with a first supporting platform extending towards the inside of the first socket, the second lifting claw is provided with a second supporting platform extending towards the inside of the second socket, the first supporting part is located on the first supporting platform, and the second supporting part is located on the second supporting platform.

[0014] Optionally, the first guide rail is a first guide groove opened on the base, the second guide rail is a second guide groove opened on the base, the first guide groove and the second guide groove are arranged at intervals and the distance between the first guide groove and the second guide groove gradually increases or decreases, the first grasping seat is provided with a first guide wheel, the second grasping seat is provided with a second guide wheel, and the first grasping seat is slidably arranged on the first guide groove through the first guide wheel, and the second grasping seat is slidably arranged on the second guide groove through the second guide wheel.

[0015] Optionally, the grasping mechanism further includes a linear bearing and a guide shaft; the linear bearing is provided on the first grasping seat and / or the first grasping seat, and the guide shaft sequentially passes through each linear bearing.

[0016] Optionally, the base is provided with a first limiting plate and a second limiting plate, the first limiting plate and the second limiting plate are arranged at intervals, there are multiple first grasping seats and second grasping seats, and the first grasping seats and the second grasping seats are alternately arranged between the first limiting plate and the second limiting plate.

[0017] Optionally, a first pressing cover plate is provided on the first grasping seat and / or a second pressing cover plate is provided on the second grasping seat.

[0018] Optionally, the base includes a base plate and a guide plate; the base plate and the guide plate are arranged at intervals, the first guide rail and the second guide rail are both arranged on the guide plate, the driver is installed on the base plate and is located between the base plate and the guide plate, and the driver is in transmission connection with the guide plate to make the first supporting part and the second supporting part approach or separate from each other.

[0019] Optionally, a first slide rail is provided on the substrate, a first slider is provided on the guide plate, and the first slider is slidably disposed on the first slide rail.

[0020] On the other hand, a grasping device is provided, including a robot and the above-mentioned grasping mechanism; the base is installed at the execution end of the robot.

[0021] The beneficial effects of the present utility model are as follows: The grasping mechanism of the present utility model is provided with a first guide rail and a second guide rail arranged at intervals, and the distance between the first guide rail and the second guide rail gradually increases or decreases. The first grasping seat and the second grasping seat are respectively installed on the first guide rail and the second guide rail. When the driver drives the first grasping seat and the second grasping seat to slide along the first guide rail and the second guide rail respectively, the first grasping seat and the second grasping seat can approach or move away from each other. When the first grasping seat and the second grasping seat approach each other, the first supporting portion of the first grasping seat and the second supporting portion of the second grasping seat jointly support and hold the snap ring and the cup lid of the cup body, thereby avoiding the separation of the cup body and the cup lid and improving the production and conveying efficiency of the cup body with a cup lid.

[0022] By adopting the above-mentioned grasping mechanism, the grasping device of the present utility model can carry and load the cup body with a cup lid into a paper tray or a cardboard box, realizing the packaging of the cup body with a cup lid. During the packaging process, the grasping device can avoid the separation of the cup lid and the cup body, and improve the production and conveying efficiency of the cup body with a cup lid. Description of the Drawings

[0023] The following further describes the present utility model in detail according to the drawings and embodiments.

[0024] Figure 1 It is a schematic structural view of the grasping mechanism, in which there are four first grasping seats and second grasping seats in the figure;

[0025] Figure 2 It is a schematic structural view of the grasping mechanism, in which there are two first grasping seats and second grasping seats in the figure;

[0026] Figure 3 For Figure 2 an exploded view of the grasping mechanism of

[0027] Figure 4 It is a working principle diagram of the first grasping seat and the second grasping seat;

[0028] Figure 5 For Figure 4 a side view of

[0029] Figure 6 It is a schematic structural view of the cup body with a cup lid.

[0030] Explanation of the reference numerals in the drawings, in the figure:

[0031] 11. Base; 12. First grasping seat; 13. Second grasping seat; 14. Driver; 15. Guide shaft; 16. Linear bearing; 19. First pressing cover plate; 20. Second pressing cover plate; 21. First sliding rail; 22. First slider; 23. Pushing shaft; 24. Fixed block; 30. Cup body; 31. Cup lid; 32. Snap ring;

[0032] 111. Substrate; 112. Guide plate; 113. First guide groove; 114. Second guide groove; 115. First limiting plate; 116. Second limiting plate; 117. Connecting plate;

[0033] 121. First lifting claw; 122. First supporting part; 123. First socket; 124. First guide wheel;

[0034] 131. Second lifting claw; 132. Second supporting part; 133. Second socket; 134. Second guide wheel. Detailed implementation manners

[0035] To make the technical problems solved, the technical solutions adopted, and the achieved technical effects of the present utility model clearer, the technical solutions of the embodiments of the present utility model will be further described in detail below with reference to the accompanying drawings. 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 skilled in the art without creative efforts belong to the scope of protection of the present utility model.

[0036] In the description of the present utility model, unless otherwise clearly defined and limited, terms such as "connected", "fixed", "connected", "communicated", "abutted", "clamped", etc. shall be understood in a broad sense. For example, it can be a fixed connection, a detachable connection or integrated; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present utility model can be understood according to specific situations.

[0037] In the present utility model, unless otherwise clearly defined and limited, the first feature being "above" or "below" the second feature may include the direct contact between the first and second features, or may include the situation where the first and second features are not in direct contact but in contact through other features therebetween. Moreover, the first feature being "above", "over" and "on" the second feature includes that the first feature is directly above and obliquely above the second feature, or only indicates that the horizontal height of the first feature is higher than that of the second feature. The first feature being "below", "under" and "beneath" the second feature includes that the first feature is directly below and obliquely below the second feature, or only indicates that the horizontal height of the first feature is lower than that of the second feature.

[0038] In the description of this article, it should be understood that the orientation or positional relationships such as "upper", "lower", "left", "right", etc. are based on the orientation or positional relationships shown in the drawings, and are only for the convenience of description and simplifying the operation, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, so it cannot be understood as a limitation to the present utility model. In addition, the terms "first" and "second" are only used for distinction in description and have no special meaning.

[0039] In the description of this specification, the description referring to terms such as "one embodiment", "example", etc. means that the specific features, structures, materials or characteristics described in connection with that embodiment or example are included in at least one embodiment or example of the present utility model. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example.

[0040] In addition, it should be understood that although this specification is described according to embodiments, not every embodiment only contains an independent technical solution. This narrative way of the specification is only for clarity. Those skilled in the art should regard the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

[0041] Unless otherwise specified or defined, the term "and / or" used in the present utility model includes any and all combinations of one or more of the related listed items.

[0042] For the convenience of narration, unless otherwise stated, the up and down directions mentioned below are Figure 2 consistent with the up and down directions of itself, the front and back directions mentioned below are Figure 2 consistent with the left and right directions of itself, and the left and right directions mentioned below are Figure 5 consistent with the left and right directions of itself.

[0043] As Figures 1 to 6 shown, this embodiment provides a grasping mechanism, including a base 11, a first grasping seat 12, a second grasping seat 13, and a driver 14.

[0044] The base 11 is provided with a first guide rail and a second guide rail. The first guide rail and the second guide rail are ridges or grooves provided on the base 11. The first guide rail and the second guide rail are arranged at intervals, and the first guide rail and the second guide rail both extend from front to back. Along the extension path of the first guide rail or the second guide rail, the distance between the first guide rail and the second guide rail gradually increases or decreases, and the first guide rail and the second guide rail are distributed in an eight-shaped shape. The first grabbing seat 12 is slidably provided on the first guide rail, and the first grabbing seat 12 can slide relative to the first guide rail along the extension path of the first guide rail. The first grabbing seat 12 has a first supporting portion 122, and the first supporting portion 122 is used to support the cup cover 31 and the cup body 30. The retaining ring 32 of the cup cover 31 and the cup body 30 can both abut against the first supporting portion 122 from top to bottom. The second grabbing seat 13 is slidably provided on the second guide rail, and the second grabbing seat 13 can slide relative to the second guide rail along the extension path of the second guide rail. The second grab seat 13 has a second supporting portion 132, and the second supporting portion 132 is used to support the cup cover 31 and the cup body 30. The clamping ring 32 of the cup cover 31 and the cup body 30 can be abutted on the second supporting portion 132 from top to bottom. The driver 14 is installed on the base 11, and the driver 14 is connected to the first grab seat 12 and / or the second grab seat 13 in a transmission connection so that the first supporting portion 122 and the second supporting portion 132 are close to each other or away from each other. The driver 14 is connected to the first grab seat 12 and / or the second grab seat 13 in a transmission connection, which can be directly driving the first grab seat 12 and the second grab seat 13 to move relative to the first guide rail and the second guide rail respectively so that the first supporting portion 122 and the second supporting portion 132 are close to each other or away from each other, or it can be indirectly driving the first grab seat 12 and the second grab seat 13 to move relative to the first guide rail and the second guide rail respectively so that the first supporting portion 122 and the second supporting portion 132 are close to each other or away from each other. The first grab seat 12 and the second grab seat 13 are arranged at intervals from left to right, and the first grab seat 12 and the second grab seat 13 remain parallel to each other when they are close to or away from each other.

[0045] Before the grasping mechanism grasps the product, the driver 14 drives the first grasping seat 12 and the second grasping seat 13 to move relative to the first guide rail and the second guide rail respectively, so that the first supporting portion 122 and the second supporting portion 132 move away from each other. The distance between the first grasping seat 12 and the second grasping seat 13 allows the product to enter. The grasping mechanism moves downward, so that the cup lid 31 of the product and the snap ring 32 of the cup body 30 enter between the first grasping seat 12 and the second grasping seat 13, and the cup lid 31 and the snap ring 32 of the cup body 30 are located below the first supporting portion 122 and the second supporting portion 132. When the grasping mechanism grasps the product, the driver 14 drives the first grasping seat 12 and the second grasping seat 13 to move relative to the first guide rail and the second guide rail respectively, so that the first supporting portion 122 and the second supporting portion 132 move closer to each other. The first supporting portion 122 and the second supporting portion 132 jointly support the snap ring 32 of the cup lid 31 and the cup body 30. By driving the grasping mechanism to move, the handling of the product can be realized. After the product is moved to the designated cup holder or packing box, by driving the first supporting portion 122 and the second supporting portion 132 to move away from each other, the product can be placed in the cup holder or packing box, completing a handling process. During the handling process, since the first supporting portion 122 and the second supporting portion 132 jointly support the snap ring 32 of the cup lid 31 and the cup body 30, even if there is jitter and the cup lid 31 is not tightly fastened, the cup lid 31 and the cup body 30 will not separate, and neither the cup lid 31 nor the cup body 30 will fall from the grasping mechanism, ensuring the qualified rate of product packaging. By repeating the above handling process, the high-efficiency automatic packaging or high-efficiency automatic boxing of the product can be realized, improving the production and conveying efficiency of the cup body 30 with the cup lid 31.

[0046] In one embodiment, the first grasping seat 12 is provided with first lifting claws 121. There are at least two first lifting claws 121 and they are arranged at intervals. The plurality of first lifting claws 121 are arranged at intervals in sequence from front to back. A first socket 123 is formed between two adjacent first lifting claws 121. The first supporting portion 122 is located on the first lifting claws 121. The first supporting portion 122 is close to the lower end of the first lifting claws 121. There is at least one first supporting portion 122 on the first lifting claws 121. Specifically, the first lifting claws 121 at the front and rear ends have a first supporting portion 122 facing the first socket 123, and there is a first supporting portion 122 on both the front and rear sides of the remaining first lifting claws 121.

[0047] The second grasping seat 13 is provided with second lifting claws 131. There are at least two second lifting claws 131 which are arranged at intervals. The multiple second lifting claws 131 are arranged at intervals in sequence from front to back. A second socket 133 is formed between two adjacent second lifting claws 131. The second supporting portion 132 is located on the second lifting claws 131. The structure of the second grasping seat 13 is the same as that of the first grasping seat 12, which will not be elaborated here. The multiple first sockets 123 correspond to the multiple second sockets 133 one by one. A first socket 123 and a second socket 133 cooperate to sleeved on a product together to realize the grasping of one product. The multiple first sockets 123 and the multiple second sockets 133 cooperate respectively to realize the simultaneous grasping of multiple products.

[0048] When the grasping mechanism clamps the product, the first grasping seat 12 and the second grasping seat 13 approach each other, so that the left part of the cup lid 31 is inserted into the first socket 123, and the right part of the cup lid 31 is inserted into the second socket 133. The first supporting portion 122 and the second supporting portion 132 jointly support the cup lid 31 and the cup body 30. After the clamping is completed, the grasping mechanism is moved to realize transportation.

[0049] Furthermore, a first supporting platform extending along the inside of the first socket 123 is provided on the first lifting claw 121, and a second supporting platform extending along the inside of the second socket 133 is provided on the second lifting claw 131. The first supporting portion 122 is located on the first supporting platform, and the second supporting portion 132 is located on the second supporting platform. By providing a first supporting platform at the lower end of the first lifting claw 121 and a second supporting platform at the lower end of the second lifting claw 131, there are first supporting platforms on the front and rear sides of each first socket 123, and second supporting platforms on the front and rear sides of each second socket 133. The width of the first socket 123 in the front-rear direction at the lower end is smaller than the diameter of the cup lid 31, and the width of the first socket 123 in the front-rear direction at the lower end is also smaller than the diameter of the snap ring 32 of the cup body 30. The width of the second socket 133 in the front-rear direction at the lower end is smaller than the diameter of the cup lid 31, and the width of the second socket 133 in the front-rear direction at the lower end is also smaller than the diameter of the snap ring 32 of the cup body 30. Under the supporting and limiting effects of the first supporting platform and the second supporting platform, the snap ring 32 of the cup lid 31 and the cup body 30 can be stuck in the first socket 123 and the second socket 133 without falling off.

[0050] It can be understood that the width of the first socket 123 and the second socket 133 can also be gradually reduced from top to bottom by processing inclined surfaces on the front and rear sides of the first lifting claw 121 and the second lifting claw 131, so that the snap ring 32 of the cup lid 31 and the cup body 30 can be stuck in the first socket 123 and the second socket 133 without falling off.

[0051] In one embodiment, both the first guide rail and the second guide rail are grooves, that is, the first guide rail is the first guide groove 113 formed on the base 11, and the second guide rail is the second guide groove 114 formed on the base 11. The first guide groove 113 and the second guide groove 114 are arranged at intervals from left to right, and the distance between the first guide groove 113 and the second guide groove 114 gradually increases or decreases. The first gripper seat 12 is provided with a first guide wheel 124, and the second gripper seat 13 is provided with a second guide wheel 134. The first gripper seat 12 is slidably arranged in the first guide groove 113 through the first guide wheel 124, and the second gripper seat 13 is slidably arranged in the second guide groove 114 through the second guide wheel 134. The first guide wheel 124 moves back and forth along the first guide groove 113, and the second guide wheel 134 moves back and forth along the second guide groove 114, so that the first gripper seat 12 and the second gripper seat 13 can move away from or close to each other. Both the first guide wheel 124 and the second guide wheel 134 are cam followers, reducing the sliding friction between the first guide wheel 124 and the base 11 and between the second guide wheel 134 and the base 11.

[0052] Optionally, the gripping mechanism further includes a linear bearing 16 and a guide shaft 15; the first gripper seat 12 and / or the first gripper seat 12 is provided with a linear bearing 16, and the guide shaft 15 sequentially passes through each linear bearing 16. Specifically, in this embodiment, there are multiple first gripper seats 12 and second gripper seats 13, and the first gripper seats 12 and the second gripper seats 13 are alternately distributed from left to right. The gripping mechanism further includes multiple bearing groups, and each bearing group includes multiple coaxially arranged linear bearings 16. The linear bearings 16 of each bearing group can be arranged on the first gripper seat 12 or on the second gripper seat 13. Each linear bearing 16 of each bearing group is located on the moving path of the guide shaft 15, and the guide shaft 15 sequentially passes through each linear bearing 16 of each bearing group. In this way, when the first gripper seat 12 and the second gripper seat 13 approach each other, guiding is achieved under the cooperation of the linear bearing 16 and the guide shaft 15, so that the first gripper seat 12 and the second gripper seat 13 can move horizontally in the left-right direction while remaining parallel, thereby realizing the approach and separation of the first gripper seat 12 and the second gripper seat 13.

[0053] Further, the first gripper seat 12 and the second gripper seat 13 are provided with avoidance holes for the guide shaft 15 to pass through.

[0054] Optionally, the base 11 is provided with a first limiting plate 115 and a second limiting plate 116, and the first limiting plate 115 and the second limiting plate 116 are located on the left and right sides of the base 11 respectively. The first limiting plate 115 and the second limiting plate 116 are arranged at intervals. There are multiple first gripper seats 12 and second gripper seats 13, and the first gripper seats 12 and the second gripper seats 13 are alternately arranged between the first limiting plate 115 and the second limiting plate 116 to realize the limit of the acting direction movement of the first gripper seat 12 and the second gripper seat 13.

[0055] In one embodiment, a first pressing cover plate 19 is provided on the first grasping seat 12 and / or a second pressing cover plate 20 is provided on the second grasping seat 13. The first pressing cover plate 19 and the first supporting portion 122 are arranged at intervals from top to bottom, and the second pressing cover plate 20 and the second supporting portion 132 are arranged at intervals from top to bottom. The first pressing cover plate 19 is mounted on the first grasping seat 12 through a fixing block 24, and the second pressing cover plate 20 is mounted on the second grasping seat 13 through the fixing block 24. The fixing block 24 is sleeved on the guide shaft 15. When the first lifting claw 121 on the first grasping seat 12 and the second lifting claw 131 on the second grasping seat 13 jointly grasp the cup lid 31 and the cup body 30, both the first pressing cover plate 19 and the second pressing cover plate 20 can press the cup lid 31 to further fasten the cup body 30 and the cup lid 31, so that the cup lid 31 and the cup body 30 are kept engaged, thereby making it more difficult for the cup body 30 and the cup lid 31 of the product to separate and fall off.

[0056] In one embodiment, the base 11 includes a base plate 111 and a guide plate 112. The base plate 111 is used for mounting on a robot. The base plate 111 and the guide plate 112 are arranged at intervals from top to bottom, and components such as a driver 14 can be accommodated between the base plate 111 and the guide plate 112. Both the first guide rail and the second guide rail are provided on the guide plate 112. Specifically, the first guide groove 113 and the second guide groove 114 are both opened on the guide plate 112 and penetrate through the guide plate 112 from top to bottom. The driver 14 is mounted on the base plate 111 and is located between the base plate 111 and the guide plate 112. The output end of the driver 14 is in transmission connection with the guide plate 112 to make the first supporting portion 122 and the second supporting portion 132 approach or move away from each other. When the driver 14 pushes the guide plate 112 to slide back and forth, the first grasping seat 12 and the second grasping seat 13 can both move relative to the guide plate 112. The first grasping seat 12 slides along the first guide groove 113, and the second grasping seat 13 slides along the second guide groove 114. Under the guiding action of the first guide groove 113 and the second guide groove 114, the first grasping seat 12 and the second grasping seat 13 can approach or move away from each other to realize the grasping and releasing of the product.

[0057] Optionally, the driver 14 is a linear drive module such as a cylinder or an electric telescopic rod. The output end of the driver 14 is connected to the guide plate 112 through a push shaft 23. By the driver 14, the guide plate 112 can be pushed to move back and forth, so that the first grasping seat 12 and the second grasping seat 13 can approach or move away from each other to realize the grasping and releasing of the product.

[0058] Further, a first slide rail 21 is provided on the substrate 111, and a first slider 22 is provided on the guide plate 112. The first slider 22 is slidably disposed on the first slide rail 21. There may be multiple drivers 14 which are arranged at intervals from left to right. By means of the multiple drivers 14, a more stable driving force can be provided. With the cooperation of the first slide rail 21 and the first slider 22, the front-back sliding guidance of the guide plate 112 is realized, making the movement of the guide plate 112 smoother.

[0059] Optionally, there are multiple first grasping seats 12 and multiple second grasping seats 13 respectively. The first grasping seats 12 and the second grasping seats 13 cooperate in pairs to jointly clamp multiple products, enabling the grasping mechanism to grasp multiple products with different quantities. Different combinations of product quantities form different permutation and combination specifications. For example, it can grasp products with a 4X4 permutation and combination specification, or products with a 2X8 permutation and combination specification, etc.

[0060] This embodiment also provides a grasping device, including a robot and the grasping mechanism of any one of the above embodiments. The base 11 is installed at the execution end of the robot. The robot mainly includes a robotic arm. The base 11 further includes a connecting plate 117 provided on the substrate 111, and the connecting plate 117 is connected to the execution end of the robotic arm. The robot can drive the grasping mechanism to move, realizing the transportation of the product into the cup holder or the packing box.

[0061] The technical principle of the present utility model has been described in combination with specific embodiments above. These descriptions are only for explaining the principle of the present utility model and cannot be construed in any way as a limitation to the protection scope of the present utility model. Based on the explanations herein, those skilled in the art can readily conceive of other specific embodiments of the present utility model without creative efforts, and these embodiments will fall within the protection scope of the present utility model.

Claims

1. A grasping mechanism, characterized in that, Comprising: A base (11) provided with a first guide rail and a second guide rail; the first guide rail and the second guide rail are arranged at intervals, and the distance between the first guide rail and the second guide rail gradually increases or decreases; A first gripping seat (12) slidably arranged on the first guide rail; the first gripping seat (12) has a first supporting portion (122); A second gripping seat (13) slidably arranged on the second guide rail; the second gripping seat (13) has a second supporting portion (132); And A driver (14) installed on the base (11); the driver (14) is in transmission connection with the first gripping seat (12) and / or the second gripping seat (13) so that the first supporting portion (122) and the second supporting portion (132) approach or move away from each other.

2. The grasping mechanism according to claim 1, characterized in that, The first gripping seat (12) is provided with first lifting claws (121), there are at least two first lifting claws (121) arranged at intervals, a first socket (123) is formed between two adjacent first lifting claws (121), and the first supporting portion (122) is located on the first lifting claws (121); The second gripping seat (13) is provided with second lifting claws (131), there are at least two second lifting claws (131) arranged at intervals, a second socket (133) is formed between two adjacent second lifting claws (131), and the second supporting portion (132) is located on the second lifting claws (131); the first socket (123) corresponds to the second socket (133) one by one.

3. The grasping mechanism according to claim 2, characterized in that The first lifting claws (121) are provided with first supporting platforms extending towards the inside of the first socket (123), the second lifting claws (131) are provided with second supporting platforms extending towards the inside of the second socket (133), the first supporting portion (122) is located on the first supporting platform, and the second supporting portion (132) is located on the second supporting platform.

4. The grasping mechanism according to any one of claims 1 to 3, characterized in that, The first guide rail is a first guide groove (113) formed on the base (11), the second guide rail is a second guide groove (114) formed on the base (11), the first guide groove (113) and the second guide groove (114) are arranged at intervals and the distance between the first guide groove (113) and the second guide groove (114) gradually increases or decreases, the first gripping seat (12) is provided with a first guide wheel (124), the second gripping seat (13) is provided with a second guide wheel (134), and the first gripping seat (12) is slidably arranged on the first guide groove (113) through the first guide wheel (124), and the second gripping seat (13) is slidably arranged on the second guide groove (114) through the second guide wheel (134).

5. The grasping mechanism according to any one of claims 1 to 3, characterized in that, It further includes a linear bearing (16) and a guide shaft (15); the linear bearing (16) is provided on the first gripping seat (12) and / or the first gripping seat (12), and the guide shaft (15) sequentially passes through each linear bearing (16).

6. The grasping mechanism according to any one of claims 1 to 3, characterized in that, A first limiting plate (115) and a second limiting plate (116) are provided on the base (11). The first limiting plate (115) and the second limiting plate (116) are arranged at intervals. There are multiple first grasping seats (12) and multiple second grasping seats (13). The first grasping seats (12) and the second grasping seats (13) are alternately arranged between the first limiting plate (115) and the second limiting plate (116).

7. The grasping mechanism according to any one of claims 1 to 3, characterized in that, A first pressing cover plate (19) is provided on the first grasping seat (12) and / or a second pressing cover plate (20) is provided on the second grasping seat (13).

8. The grasping mechanism according to any one of claims 1 to 3, characterized in that, The base (11) includes a base plate (111) and a guiding plate (112); the base plate (111) and the guiding plate (112) are arranged at intervals. The first guide rail and the second guide rail are both provided on the guiding plate (112). The driver (14) is installed on the base plate (111) and is located between the base plate (111) and the guiding plate (112). The driver (14) is in driving connection with the guiding plate (112) so that the first supporting portion (122) and the second supporting portion (132) approach or move away from each other.

9. The grasping mechanism according to claim 8, characterized in that A first sliding rail (21) is provided on the base plate (111), and a first sliding block (22) is provided on the guiding plate (112). The first sliding block (22) slides on the first sliding rail (21).

10. A grasping device, characterized in that, It includes a robot and a grasping mechanism as described in any one of claims 1 to 9; the base (11) is installed at the execution end of the robot.

Images