Single-cylinder multi-gripper automatic grabbing mechanism

Abstract

The utility model relates to a single-cylinder multi-gripper automatic gripping mechanism, which comprises a first mounting plate, a working cylinder, a rotating disc and a plurality of gripping arm components, the working cylinder is arranged on the bottom surface of the first mounting plate, the rotating disc is arranged on the top surface of the first mounting plate, and the rotating disc is rotatably connected with the first mounting plate; the grabbing arm assembly comprises a guide rail, a sliding block, a grabbing rod and a connecting rod, one end of the connecting rod is rotatably connected with the rotating disc, a plurality of strip-shaped grooves are evenly formed in the first mounting plate, the guide rail is located below the first mounting plate, the sliding block is slidably arranged on the guide rail, and the grabbing rod penetrates through the strip-shaped grooves in the direction perpendicular to the strip-shaped grooves. The grabbing rod is fixedly connected with the sliding blocks, a horizontal bearing piece is arranged at the bottom end of the grabbing rod, the top end of the grabbing rod is hinged to the other end of the connecting rod, and a piston piece of the working air cylinder is fixedly connected with one sliding block. The wire grabbing device solves the problem that wires are damaged when the wires are grabbed.

Description

Technical Field

[0001] The utility model relates to a grabbing mechanism, and more particularly to a single-cylinder multi-gripper automatic grabbing mechanism. Background Art

[0002] In the field of metal wire packaging, the movement and transportation of coiled wires relies on a gripping mechanism. Existing gripping mechanisms typically grip the coiled wire by its side. Therefore, when the wire is heavy, a greater gripping force is required. However, this also creates another problem: excessive pressure exerted by the gripping mechanism on the wire can cause deformation or even damage to the coiled wire. Therefore, a new gripping mechanism is necessary. Utility Model Content

[0003] In view of the shortcomings of the existing technology, the purpose of the present invention is to provide a single-cylinder multi-gripper automatic grasping mechanism, which solves the problem of wire damage when grasping wire.

[0004] The above technical objectives of the present invention are achieved through the following technical solutions:

[0005] A single-cylinder multi-gripper automatic grasping mechanism, comprising a first mounting plate, a working cylinder, a rotating disk and a plurality of grasping arm assemblies, wherein the working cylinder is arranged on the bottom surface of the first mounting plate, the rotating disk is arranged on the top surface of the first mounting plate, and the center of the rotating disk is rotatably connected to the first mounting plate, the grasping arm assembly comprises a guide rail, a slider, a grasping rod and a connecting rod, one end of the connecting rod is rotatably connected to the rotating disk, the first mounting plate is evenly provided with a plurality of strip grooves, the number of the strip grooves is the same as the number of the grasping arm assemblies, the rotating disk is rotatably connected to the first mounting plate, and the grasping arm assembly comprises a guide rail, a slider, a grasping rod and a connecting rod, one end of the connecting rod is rotatably connected to the rotating disk, the first mounting plate is evenly provided with a plurality of strip grooves, the number of the strip grooves is the same as the number of the grasping arm assemblies, The turntable rotates to form an installation reference circle, and the strip groove is arranged along the radial direction of the installation reference circle. The guide rail is located below the first mounting plate and is parallel to one side of the corresponding strip groove. The slider is slidably arranged on the guide rail, and the grabbing rod passes through the strip groove in a direction perpendicular to the strip groove. The grabbing rod is fixedly connected to the slider, and a horizontal receiving member is provided at the bottom end of the grabbing rod, which contacts the bottom surface of the coiled wire. The top end of the grabbing rod is hinged to the other end of the connecting rod, and the piston of the working cylinder is fixedly connected to one of the sliders.

[0006] In one embodiment, the number of the grab arm assemblies is greater than or equal to three.

[0007] In one embodiment, a base plate is disposed above the first mounting plate, and a plurality of connecting columns are disposed between the base plate and the first mounting plate.

[0008] In one embodiment, the single-cylinder multi-gripper automatic grasping mechanism also includes a lifting assembly, which includes a second mounting plate and a lifting cylinder. The cylinder body of the lifting cylinder is arranged on the second mounting plate, and the piston of the lifting cylinder passes through the second mounting plate downward and is fixedly connected to the base plate.

[0009] In one embodiment, the lifting assembly further includes a plurality of guide rods, each of which vertically penetrates the second mounting plate. The guide rods are slidably connected to the second mounting plate, and the bottom ends of the guide rods are connected to the top surface of the base plate.

[0010] In one embodiment, the connecting column is a telescopic structure.

[0011] In one embodiment, a position sensor is provided on the working cylinder for detecting the position of the piston of the working cylinder, thereby determining the status of the plurality of grabbing arm assemblies.

[0012] In summary, the present invention has the following beneficial effects:

[0013] The working cylinder of the utility model drives one of the sliders to move forward and backward, that is, drives the corresponding grabbing rod to move along the guide rail, thereby driving the rotating disk to rotate through the connecting rod, and the rotating rotating disk drives the other connecting rods to move, thereby driving the other grabbing rods to move synchronously along the guide rail, realizing single-cylinder control of multiple grabbers to move synchronously, and solving the problem of wire damage when grabbing wire. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a schematic diagram of the utility model;

[0015] Figure 2 It is a schematic diagram of the present invention from another angle.

[0016] In the figure: 1. first mounting plate, 2. working cylinder, 3. rotating disk, 4. strip groove, 5. guide rail, 6. slider, 7. grab rod, 8. connecting rod, 9. base plate, 10. connecting column, 11. second mounting plate, 12. lifting cylinder, 13. guide rod. DETAILED DESCRIPTION

[0017] The present invention will be described in detail below with reference to the accompanying drawings and embodiments.

[0018] It is worth noting that the directional words such as "upper" and "lower" involved in this article are all relative to the perspective of the drawings. They are only for the convenience of description and cannot be understood as limitations on the technical solution.

[0019] like Figure 1-2As shown, the utility model proposes a single-cylinder multi-gripper automatic grasping mechanism, including a first mounting plate 1, a working cylinder 2, a rotating disk 3 and a plurality of grasping arm assemblies, the working cylinder 2 is arranged on the bottom surface of the first mounting plate 1, the rotating disk 3 is arranged on the top surface of the first mounting plate 1, and the center of the rotating disk 3 is rotatably connected to the first mounting plate 1, the grasping arm assembly includes a guide rail 5, a slider 6, a grasping rod 7 and a connecting rod 8, one end of the connecting rod 8 is rotatably connected to the rotating disk 3, the first mounting plate 1 is evenly provided with a plurality of strip grooves 4, and the number of the strip grooves 4 is the same as the number of the grasping arm assemblies At the same time, the rotating disk 3 rotates to form an installation reference circle, the strip groove 4 is arranged along the radial direction of the installation reference circle, the guide rail 5 is located below the first mounting plate 1, and is parallel to one side of the corresponding strip groove 4, the slider 6 is slidably arranged on the guide rail 5, the grabbing rod 7 passes through the strip groove 4 in a direction perpendicular to the strip groove 4, the grabbing rod 7 is fixedly connected to the slider 6, and a horizontal receiving member is provided at the bottom end of the grabbing rod 7, which contacts the bottom surface of the coiled wire. The top end of the grabbing rod 7 is hinged to the other end of the connecting rod 8, and the piston of the working cylinder 2 is fixedly connected to one of the sliders 6.

[0020] In the present utility model, the working cylinder 2 drives one of the sliders 6 to move forward and backward, that is, drives the corresponding grabbing rod 7 to move along the guide rail 5, thereby driving the rotating disk 3 to rotate through the connecting rod 8, and the rotating rotating disk 3 drives the remaining connecting rods 8 to move, thereby driving the remaining grabbing rods 7 to move synchronously along the guide rail 5, realizing the synchronous movement of multiple grippers controlled by a single cylinder.

[0021] Furthermore, the number of the grabbing arm assemblies is greater than or equal to three. Figure 1 and 2 In the embodiment, there are four grabbing arm assemblies, the rotating disk 3 is in a cross shape, and the cross-shaped rotating disk 3 is connected to the ends of the four grabbing rods 7 through connecting rods 8 respectively.

[0022] Furthermore, a base plate 9 is provided above the first mounting plate 1 , and a plurality of connecting columns 10 are provided between the base plate 9 and the first mounting plate 1 .

[0023] Furthermore, the single-cylinder multi-gripper automatic grasping mechanism also includes a lifting assembly, which includes a second mounting plate 11 and a lifting cylinder 12. The cylinder body of the lifting cylinder 12 is mounted on the second mounting plate 11, and the piston of the lifting cylinder 12 extends downward through the second mounting plate 11 and is fixedly connected to the base plate 9. The lifting cylinder 12 controls the synchronous lifting of multiple groups of grasping arm assemblies.

[0024] Furthermore, the lifting assembly further includes a plurality of guide rods 13, each of which vertically penetrates the second mounting plate 11. The guide rods 13 are slidably connected to the second mounting plate 11, and the bottom ends of the guide rods 13 are connected to the top surface of the base plate 9. The function of the guide rods 13 is to ensure smoother lifting and lowering of the multiple grab arm assemblies.

[0025] Furthermore, the connecting column 10 is a telescopic structure, which is convenient for adjusting the distance between the first mounting plate 1 and the base plate 9. After the single-cylinder multi-gripper automatic grasping mechanism is installed and fixed, the length of the connecting column 10 is adjusted to adjust the maximum height distance between the multiple grasping arm assemblies and the working platform below in the working state.

[0026] Furthermore, a position sensor is provided on the working cylinder 2 for detecting the position of the piston of the working cylinder 2 , thereby determining the status of the plurality of grabbing arm assemblies.

[0027] The above description is merely a preferred embodiment of the present invention. The scope of protection of the present invention is not limited to the above embodiment. All technical solutions based on the concept of the present invention are within the scope of protection of the present invention. It should be noted that for those skilled in the art, certain improvements and modifications that do not depart from the principles of the present invention should also be considered within the scope of protection of the present invention.

Claims

1. A single-cylinder multi-gripper automatic grasping mechanism, characterized in that: The invention comprises a first mounting plate (1), a working cylinder (2), a rotating disk (3) and a plurality of grabbing arm assemblies, wherein the working cylinder (2) is arranged on the bottom surface of the first mounting plate (1), the rotating disk (3) is arranged on the top surface of the first mounting plate (1), and the center of the rotating disk (3) is rotatably connected to the first mounting plate (1), the grabbing arm assembly comprises a guide rail (5), a slider (6), a grabbing rod (7) and a connecting rod (8), one end of the connecting rod (8) is rotatably connected to the rotating disk (3), the first mounting plate (1) is evenly provided with a plurality of strip grooves (4), the number of the strip grooves (4) is the same as the number of the grabbing arm assemblies, the rotating disk (3) is rotatably connected to the first mounting plate (1), and the grabbing arm assembly comprises a guide rail (5), a slider (6), a grabbing rod (7) and a connecting rod (8), one end of the connecting rod (8) is rotatably connected to the rotating disk (3), the first mounting plate (1) is evenly provided with a plurality of strip grooves (4), the number of the strip grooves (4) is the same as the number of the grabbing arm assemblies, and the rotating disk (3) is rotatably connected to the first mounting plate (1). The strip groove (4) is arranged along the radial direction of the installation reference circle. The guide rail (5) is located below the first installation plate (1) and is parallel to one side of the corresponding strip groove (4). The slider (6) is slidably arranged on the guide rail (5). The grabbing rod (7) passes through the strip groove (4) in a direction perpendicular to the strip groove (4). The grabbing rod (7) is fixedly connected to the slider (6). The bottom end of the grabbing rod (7) is provided with a horizontal receiving member that contacts the bottom surface of the coiled wire. The top end of the grabbing rod (7) is hinged to the other end of the connecting rod (8). The piston of the working cylinder (2) is fixedly connected to one of the sliders (6).

2. The single-cylinder multi-gripper automatic grasping mechanism according to claim 1, characterized in that: The number of the grab arm assemblies is greater than or equal to three.

3. The single-cylinder multi-gripper automatic grasping mechanism according to claim 1, characterized in that: A base plate (9) is arranged above the first mounting plate (1), and a plurality of connecting columns (10) are arranged between the base plate (9) and the first mounting plate (1).

4. The single-cylinder multi-gripper automatic grasping mechanism according to claim 1, characterized in that: The invention also includes a lifting assembly, which includes a second mounting plate (11) and a lifting cylinder (12). The cylinder body of the lifting cylinder (12) is arranged on the second mounting plate (11), and the piston of the lifting cylinder (12) passes through the second mounting plate (11) and faces downward and is fixedly connected to the base plate (9).

5. The single-cylinder multi-gripper automatic grasping mechanism according to claim 4, characterized in that: The lifting assembly further comprises a plurality of guide rods (13), wherein the plurality of guide rods (13) respectively vertically penetrate the second mounting plate (11), the guide rods (13) are slidably connected to the second mounting plate (11), and the bottom ends of the guide rods (13) are connected to the top surface of the base plate (9).

6. The single-cylinder multi-gripper automatic grasping mechanism according to claim 3, characterized in that: The connecting column (10) is a telescopic structure.

7. The single-cylinder multi-gripper automatic grasping mechanism according to claim 1, characterized in that: The working cylinder (2) is provided with a position sensor for detecting the position of the piston of the working cylinder (2), thereby determining the status of the plurality of grabbing arm assemblies.

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