Automatic grabbing equipment

Abstract

The utility model relates to the technical field of machinery, and discloses an automatic grabbing device which comprises a base and a chain, the top of the base is rotationally connected with an automatic rotating disc, the top of the automatic rotating disc is fixedly connected with a supporting plate, and the front side of the left end of the supporting plate is fixedly connected with a main swing arm. The rear side of the left end of the supporting plate is fixedly connected with a first motor, the output end of the first motor penetrates through the supporting plate and is fixedly connected with a first rotating shaft, the first rotating shaft penetrates through the main swing arm and is fixedly connected with a first gear, the top of the main swing arm is rotationally connected with a second rotating shaft, and the second gear communicates with the first gear through a chain. The front end of the second rotating shaft penetrates through the main swing arm and is rotationally connected with a rotating plate, and the rear side of the left end of the rotating plate is rotationally connected with a first rotating rod. According to the mechanical arm, the first rotating rod is driven by the second motor to rotate, the mechanical arm rotates to change the grabbing angle, and therefore the mechanical arm can meet more special machining requirements.

Description

Technical Field

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

[0002] Robotic equipment is widely used in automated production lines. Most of these devices can only move in the X-axis, Y-axis and Z-axis directions, that is, the so-called three-axis robots. Although this type of equipment can meet the automated production needs of most products, its flexibility is insufficient for some special processing requirements.

[0003] After searching, the Chinese patent publication number is: CN215401615U. The vertical four-axis manipulator device of the utility model is provided with a base, a lifting device, a swing arm device and a manipulator. When it is necessary to grab the product, the lifting motor drives the power to move the lifting block along the lifting rail to adjust the height position of the lifting block. At the same time, the starting drive module, the middle drive module and the end drive module respectively drive the starting swing arm, the middle swing arm and the end swing arm to rotate, and adjust the manipulator to the predetermined grabbing position to grab the product. The vertical four-axis manipulator device of this application has multiple position adjustments, which can greatly improve the grabbing flexibility of the vertical four-axis manipulator device and is compatible with most processing scenarios. In addition, since the counterweight chain connects the lifting block and the counterweight block at the same time, the overall force of the chain can be evenly distributed and not easy to break, so that the lifting motor can better and more easily drive the lifting block to perform lifting and lowering movements, ensuring the smooth operation of the lifting and lowering movements. However, in actual use, the manipulator can rotate left and right to adjust the direction but cannot grab the target on the front side, thus not being compatible with more special processing requirements. Utility Model Content

[0004] In order to make up for the above shortcomings, the utility model provides an automatic grasping device, which aims to improve the problem in the existing technology that the manipulator can rotate left and right to adjust the direction but cannot grasp the target on the front side, and thus cannot be compatible with more special processing requirements.

[0005] In order to achieve the above-mentioned purpose, the utility model adopts the following technical solutions: an automatic grasping device, including a base and a chain, the top of the base is rotatably connected to an automatic turntable, the top of the automatic turntable is fixedly connected to a support plate, the left front end of the support plate is fixedly connected to a main swing arm, the left rear end of the support plate is fixedly connected to a motor 1, the output end of the motor 1 passes through the support plate and is fixedly connected to a rotating shaft 1, the rotating shaft 1 passes through the main swing arm and is fixedly connected to a gear 1, the top of the main swing arm is rotatably connected to a rotating shaft 2, the rotating shaft 2 The outer wall of is fixedly connected with gear 2, and the gear 2 is connected with gear 1 through a chain, and the front end of the rotating shaft 2 passes through the main swing arm and is rotatably connected to the rotating plate, and the rear side of the left end of the rotating plate is rotatably connected to the rotating rod 1, and the rear side of the left end of the rotating rod 1 is fixedly connected to the rotating shaft 3, the rear end of the rotating shaft 2 passes through the main swing arm and is fixedly connected to the rotating rod 2, and the front side of the left end of the rotating rod 2 is fixedly connected to the rotating shaft 4, and one end of the rotating shaft 4 and the rotating shaft 3 are both rotatably connected to the connecting plate, and the bottom of the connecting plate is provided with a grabbing assembly, and the top of the base is provided with a tension mechanism.

[0006] Through the above technical solution: an automatic turntable is installed on the base through a rotating connecting device. The turntable can rotate 360 degrees, providing the equipment with a full range of working angles. A support plate is fixed on the top of the turntable to support and stabilize the entire mechanical structure. The main swing arm and motor 1 are fixed on the front and rear sides of the left end of the support plate respectively. Motor 1 serves as a power source, and its output end is linked with the support plate and the main swing arm through shaft 1 to drive the movement of the entire equipment. Gear 1 is fixed on shaft 1, and matched with shaft 2 and gear 2 at the top of the main swing arm. Gear 2 is connected to gear 1 through a chain. A grabbing assembly is provided at the bottom of the connecting plate. By adjusting the rotation of the shaft and the rotating rod, the opening and closing and movement of the grabbing assembly can be precisely controlled, thereby achieving accurate grabbing and placement of objects.

[0007] As a further description of the above technical solution:

[0008] The tension mechanism includes a moving groove, a moving rod is slidably connected inside the moving groove, the rear end of the moving rod is rotatably connected to gear three, the front end of the moving rod is fixedly connected to a push plate, the front side of the main swing arm is fixedly connected to an outer shell, the inner right side of the outer shell is fixedly connected to a telescopic rod, and the left end of the telescopic rod is fixedly connected to the right side of the push plate.

[0009] Through the above technical solution: the telescopic rod pushes and pulls the push plate to drive the moving rod to move, so that gear three moves back and forth on both sides of the chain. When the tension on one side of the chain is insufficient, gear five can be moved to engage the chain to increase the tension.

[0010] As a further description of the above technical solution:

[0011] The grabbing assembly includes a hollow column, which is fixedly connected to the rear side of the connecting plate, and the front side of the connecting plate is fixedly connected to the second motor, the output end of the second motor passes through the connecting plate and is fixedly connected to the first rotating rod, the rear end of the first rotating rod is fixedly connected to the driving bevel gear, the inner top of the hollow column is rotatably connected to the second rotating rod, the outer wall of the second rotating rod is fixedly connected to the driven bevel gear, the driven bevel gear is meshed with the driving bevel gear, and the bottom end of the second rotating rod is fixedly connected to the manipulator.

[0012] Through the above technical solution: the motor drives the rotating rod 1 and the active bevel gear, so that the driven bevel gear and the rotating rod 2 rotate accordingly, so that the manipulator can rotate and change the angle, making the manipulator more flexible.

[0013] As a further description of the above technical solution:

[0014] The right rear end of the support plate is fixedly connected to a support rod, the top front side of the support rod is fixedly connected to a rotating shaft five, the front end of the rotating shaft five is rotatably connected to an arc rod, and the top front side of the arc rod is rotatably connected to the right rear end of the rotating plate.

[0015] Through the above technical solution: by installing a rotating shaft five and an arc rod on the right side of the main swing arm, the supporting force of the manipulator during work is increased.

[0016] As a further description of the above technical solution:

[0017] The top of the second rotating rod is fixedly connected with a monitoring box, and the front side of the monitoring box is fixedly connected with a sensor.

[0018] Through the above technical solution: the sensor is used to monitor whether the chain tension is stable. When adjustment is needed, the monitoring box will issue instructions on how to adjust the chain tension according to the sensor.

[0019] As a further description of the above technical solution:

[0020] A switch is fixedly connected to the front side of the base, and the switch is electrically connected to the motor 1 and the motor 2 respectively.

[0021] Through the above technical solution: the switch can freely control whether motor 1 and motor 2 are working or not, and can make motor 1 and motor 2 stop quickly in an emergency.

[0022] As a further description of the above technical solution:

[0023] Slide grooves are provided on the upper and lower parts of the front side of the main swing arm, and sliders are fixedly connected to both ends of the rear side of the push plate, and the two sliders slide in the corresponding slide grooves respectively.

[0024] Through the above technical solution: the slide groove and the slider can make the push plate more stable and move more smoothly when moving left and right.

[0025] As a further description of the above technical solution:

[0026] The size of the moving rod is consistent with that of the moving groove, and the gear three is meshed and connected with the chain.

[0027] Through the above technical solution: the consistent sizes can better allow the moving rod to slide inside the moving groove, making it more stable, and the gear three and the chain can better drive the gear three to rotate, thereby increasing the tension of the chain.

[0028] The utility model has the following beneficial effects:

[0029] 1. In the present invention, the first motor drives the first gear to rotate, causing the second shaft to rotate, and the angle of the manipulator is changed by rotating the rotating plate and the second rotating rod. The second motor drives the first rotating rod to rotate, and the second rotating rod rotates accordingly, causing the manipulator to rotate and change the grasping angle, so that the manipulator can be compatible with more special processing requirements.

[0030] 2. In the present invention, the tension of the chains on both sides of the chain is monitored by sensors and a monitoring box, and the telescopic rod pushes the moving rod to move, driving gear three to engage with the chains on both sides, thereby increasing the tension and extending the service life of the chain. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 This is a three-dimensional diagram of an automatic grasping device proposed in the present utility model;

[0032] Figure 2 This is a rear view of an automatic grabbing device proposed by the utility model;

[0033] Figure 3 This is a partial structural diagram of an automatic grasping device proposed in the utility model;

[0034] Figure 4 This is a disassembled diagram of the main swing arm structure of an automatic gripping device proposed in the utility model;

[0035] Figure 5 for Figure 4 Enlarged view of point A in the middle.

[0036] Legend:

[0037] 1. Base; 2. Tension mechanism; 201. Moving groove; 202. Moving rod; 203. Gear three; 204. Push plate; 205. Housing; 206. Telescopic rod; 3. Automatic turntable; 4. Support plate; 5. Motor one; 6. Rotating shaft one; 7. Main swing arm; 8. Gear one; 9. Rotating shaft two; 10. Gear two; 11. Chain; 12. Turntable; 13. Rotating rod one; 14. Rotating rod two; 15. Rotating shaft three; 16. Rotating shaft four; 17. Connecting plate; 18. Hollow column; 19. Motor two; 20. Rotating rod one; 21. Driving bevel gear; 22. Rotating rod two; 23. Driven bevel gear; 24. Manipulator; 25. Support rod; 26. Rotating shaft five; 27. Arc rod; 28. Monitoring box; 29. Sensor; 30. Switch; 31. Slide; 32. Slider. DETAILED DESCRIPTION

[0038] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0039] Reference Figure 1 、 Figure 2 and Figure 3The utility model provides an embodiment: an automatic grabbing device, including a base 1 and a chain 11, the top of the base 1 is rotatably connected to an automatic turntable 3, the top of the automatic turntable 3 is fixedly connected to a support plate 4, the left front end of the support plate 4 is fixedly connected to a main swing arm 7, the left rear end of the support plate 4 is fixedly connected to a motor 5, the output end of the motor 5 passes through the support plate 4 and is fixedly connected to a rotating shaft 6, the rotating shaft 6 passes through the main swing arm 7 and is fixedly connected to a gear 8, the top of the main swing arm 7 The outer wall of the rotating shaft 29 is fixedly connected to the gear 2 10, and the gear 2 10 is connected to the gear 1 8 through the chain 11. The front end of the rotating shaft 29 passes through the main swing arm 7 and is rotatably connected to the rotating plate 12. The left rear end of the rotating plate 12 is rotatably connected to the rotating rod 13. The left rear end of the rotating rod 13 is fixedly connected to the rotating shaft 3 15. The rear end of the rotating shaft 29 passes through the main swing arm 7 and is fixedly connected to the rotating rod 2 14. The left front end of the rotating rod 2 14 is fixedly connected to the rotating shaft 4 16. 16 and one end of the rotating shaft 3 15 are rotatably connected to a connecting plate 17, a grab assembly is provided at the bottom of the connecting plate 17, a tension mechanism 2 is provided on the top of the base 1, and the grab assembly includes a hollow column 18, the hollow column 18 is fixedly connected to the rear side of the connecting plate 17, the front side of the connecting plate 17 is fixedly connected to the motor 2 19, the output end of the motor 2 19 passes through the connecting plate 17 and is fixedly connected to the rotating rod 1 20, the rear end of the rotating rod 1 20 is fixedly connected to the active bevel gear 21, the inner of the hollow column 18 The top of the side is rotatably connected to a rotating rod 22, the outer wall of the rotating rod 22 is fixedly connected to a driven bevel gear 23, the driven bevel gear 23 is meshed with the active bevel gear 21, the bottom end of the rotating rod 22 is fixedly connected to a manipulator 24, the right rear end of the support plate 4 is fixedly connected to a support rod 25, the top front side of the support rod 25 is fixedly connected to a rotating shaft 5 26, the front end of the rotating shaft 5 26 is rotatably connected to an arc rod 27, and the top front side of the arc rod 27 is rotatably connected to the right rear end of the rotating plate 12;

[0040] Specifically, it is necessary to first operate the automatic turntable 3 so that it adjusts the manipulator 24 to be directly above the item, and then start the switch 30 to start the motor 15. The motor will drive the rotating shaft 16 to rotate, and then the gear 18 will rotate. The gear 18 drives the gear 2 10 through the chain 11, and the rotating shaft 2 9 will rotate at the same time, thereby driving the rotating plate 12 and the rotating rod 2 14 to rotate. The left end of the rotating plate 12 will rise, driving the rotating rod 13 to rotate, and together with the rotating rod 2 14, the connecting plate 17 will rotate to the left, thereby adjusting the angle of the manipulator 24. The right end of the rotating plate 12 will drive the arc rod 27 to rotate to the right, causing the rotating shaft 5 26 to rotate accordingly, activate the switch 30, start the motor 2 19, and its rotating rod 1 20 will start to rotate, driving the active bevel gear 21 to rotate. The active bevel gear 21 will cause the driven bevel gear 23 and the rotating rod 2 22 to rotate accordingly. At the same time, the manipulator 24 rotates and continues to adjust its angle to achieve accurate grasping of the item.

[0041] Reference Figure 4 and Figure 5 The tension mechanism 2 includes a moving groove 201, a moving rod 202 is slidably connected inside the moving groove 201, the rear end of the moving rod 202 is rotatably connected to the gear three 203, the front end of the moving rod 202 is fixedly connected to the push plate 204, the front side of the main swing arm 7 is fixedly connected to the shell 205, the right side of the inside of the shell 205 is fixedly connected to the telescopic rod 206, the left end of the telescopic rod 206 is fixedly connected to the right side of the push plate 204, the top of the rotating rod 214 is fixedly connected to the monitoring box 28, the front side of the monitoring box 28 is fixedly connected to the sensor 29, the size of the moving rod 202 is consistent with that of the moving groove 201, and the gear three 203 is meshed with the chain 11;

[0042] Specifically, when the chain 11 is running, there is a difference in the tension on both sides thereof. At this time, the chain 11 is accurately monitored by the sensor 29 and the monitoring box 28. If it is detected that the tension of the left chain 11 drops, the telescopic rod 206 will start, pushing the push plate 204 together with the moving rod 202 to the left in the moving groove 201, so that the gear three 203 moves to the left and engages with the left chain 11, thereby increasing the tension of the left chain 11. On the contrary, if the tension of the right chain 11 is insufficient, the telescopic rod 206 will contract, so that the gear three 203 engages with the right chain 11, thereby increasing the tension of the chain 11.

[0043] Reference Figure 1 and Figure 5 A switch 30 is fixedly connected to the front side of the base 1, and the switch 30 is electrically connected to the motor 1 5 and the motor 2 19 respectively. A slide groove 31 is provided on the upper and lower parts of the front side of the main swing arm 7. Both ends of the rear side of the push plate 204 are fixedly connected to sliders 32. The two sliders 32 slide in the corresponding slide grooves 31 respectively.

[0044] Specifically, the switch 30 can freely control the operation of motor 1 5 and motor 2 19, so that motor 1 5 and motor 2 19 can stop working quickly in an emergency. The consistent size can better allow the moving rod 202 to slide inside the moving groove 201, making it more stable. Gear three 203 and chain 11 can better drive gear three 203 to rotate, thereby increasing the tension of the chain 11.

[0045] Working principle: When using the automatic grasping equipment, you must first let the automatic turntable 3 rotate the manipulator 24 to the top of the item. At this time, turn on the switch 30, let the motor 15 work to drive the shaft 16 to rotate, so that the gear 18 rotates and drives the gear 2 10 to rotate through the chain 11. At the same time, the shaft 2 9 rotates to drive the rotating plate 12 and the rotating rod 2 14 to rotate. At this time, the left end of the rotating plate 12 rotates upward to rotate the rotating rod 13 and the rotating rod 2 14 to drive the connecting plate 17 to move upward, so that the connecting plate 17 rotates to the left and drives the manipulator 24 to rotate to the left to change the angle. At the same time, the right end of the rotating plate 12 rotates downward to drive the arc rod 27 to rotate right and the rotating shaft 5 26 rotates accordingly. At this time, turn on the switch 30 to let the motor 2 19 work to drive the rotation When rod 1 20 rotates, the active bevel gear 21 rotates, and the driven bevel gear 23 and the rotating rod 2 22 rotate accordingly. At the same time, the manipulator 24 rotates to change the grasping angle to grasp the object. When the chain 11 rotates, the tension of the chains 11 on both sides is different. The chain 11 is detected by the sensor 29 and the monitoring box 28. When the tension of the left chain 11 is insufficient, the telescopic rod 206 works to push the push plate 204 to drive the moving rod 202 to move to the left inside the moving groove 201, so that the gear three 203 moves to the left and meshes with the chain 11 to increase the tension of the left chain 11. When the tension of the right chain 11 is insufficient, the telescopic rod 206 contracts to make the gear three 203 mesh with the right chain 11 to increase the tension.

[0046] Finally, it should be noted that the above is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or make equivalent replacements for some of the technical features therein. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. An automatic grasping device, comprising a base (1) and a chain (11), characterized in that: The top of the base (1) is rotatably connected to an automatic turntable (3), the top of the automatic turntable (3) is fixedly connected to a support plate (4), the front side of the left end of the support plate (4) is fixedly connected to a main swing arm (7), the rear side of the left end of the support plate (4) is fixedly connected to a motor 1 (5), the output end of the motor 1 (5) passes through the support plate (4) and is fixedly connected to a rotating shaft 1 (6), the rotating shaft 1 (6) passes through the main swing arm (7) and is fixedly connected to a gear 1 (8), the top of the main swing arm (7) is rotatably connected to a rotating shaft 2 (9), the outer wall of the rotating shaft 2 (9) is fixedly connected to a gear 2 (10), the gear 2 (10) and the gear 1 (8) are connected by a chain. (11) are connected, the front end of the rotating shaft 2 (9) passes through the main swing arm (7) and is rotatably connected to the rotating plate (12), the rear side of the left end of the rotating plate (12) is rotatably connected to the rotating rod 1 (13), the rear side of the left end of the rotating rod 1 (13) is fixedly connected to the rotating shaft 3 (15), the rear end of the rotating shaft 2 (9) passes through the main swing arm (7) and is fixedly connected to the rotating rod 2 (14), the front side of the left end of the rotating rod 2 (14) is fixedly connected to the rotating shaft 4 (16), one end of the rotating shaft 4 (16) and the rotating shaft 3 (15) are both rotatably connected to the connecting plate (17), the bottom of the connecting plate (17) is provided with a grabbing assembly, and the top of the base (1) is provided with a tension mechanism (2).

2. The automatic grasping device according to claim 1, characterized in that: The tension mechanism (2) includes a moving groove (201), a moving rod (202) is slidably connected inside the moving groove (201), a rear end of the moving rod (202) is rotatably connected to a gear three (203), a front end of the moving rod (202) is fixedly connected to a push plate (204), a front side of the main swing arm (7) is fixedly connected to a housing (205), a telescopic rod (206) is fixedly connected to the right side of the housing (205), and a left end of the telescopic rod (206) is fixedly connected to the right side of the push plate (204).

3. The automatic grasping device according to claim 1, characterized in that: The grabbing assembly includes a hollow column (18), the hollow column (18) is fixedly connected to the rear side of the connecting plate (17), the front side of the connecting plate (17) is fixedly connected to the second motor (19), the output end of the second motor (19) passes through the connecting plate (17) and is fixedly connected to the first rotating rod (20), the rear end of the first rotating rod (20) is fixedly connected to the driving bevel gear (21), the top inner side of the hollow column (18) is rotatably connected to the second rotating rod (22), the outer wall of the second rotating rod (22) is fixedly connected to the driven bevel gear (23), the driven bevel gear (23) is meshed with the driving bevel gear (21), and the bottom end of the second rotating rod (22) is fixedly connected to the manipulator (24).

4. The automatic grasping device according to claim 1, characterized in that: The right rear end of the support plate (4) is fixedly connected to a support rod (25), the top front side of the support rod (25) is fixedly connected to a rotating shaft five (26), the front end of the rotating shaft five (26) is rotatably connected to an arc rod (27), and the top front side of the arc rod (27) is rotatably connected to the right rear end of the rotating plate (12).

5. The automatic grasping device according to claim 1, characterized in that: The top of the second rotating rod (14) is fixedly connected to a monitoring box (28), and the front side of the monitoring box (28) is fixedly connected to a sensor (29).

6. The automatic grasping device according to claim 1, characterized in that: A switch (30) is fixedly connected to the front side of the base (1), and the switch (30) is electrically connected to the motor 1 (5) and the motor 2 (19) respectively.

7. The automatic grasping device according to claim 2, characterized in that: The upper and lower parts of the front side of the main swing arm (7) are both provided with sliding grooves (31), and both ends of the rear side of the push plate (204) are fixedly connected with sliders (32), and the two sliders (32) slide in the corresponding sliding grooves (31) respectively.

8. The automatic grasping device according to claim 2, characterized in that: The size of the moving rod (202) is consistent with that of the moving slot (201), and the gear three (203) is meshed and connected with the chain (11).

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