Novel combined grabbing device

Abstract

The utility model relates to the field of automation equipment, in particular to a novel combined grabbing device which comprises a transverse seat, a longitudinal seat capable of sliding along the transverse seat, a control box for driving the transverse seat to move and two grabbing mechanisms capable of moving along the longitudinal seat. The grabbing mechanism comprises a grabbing base capable of moving along the longitudinal base, a walking driving mechanism arranged on the grabbing base, a lifting assembly detachably arranged on the grabbing base, a grabbing mechanical arm arranged at the lower end of the lifting assembly and a lifting driving mechanism. The lifting assembly comprises a connecting plate used for being fastened to the grabbing base and a lifting rod piece capable of sliding up and down along the connecting plate, the lifting driving mechanism drives the lifting rod piece to slide up and down, and the connecting plate and / or the grabbing base are / is provided with a calibration mechanism used for achieving calibration matching. And a locking mechanism for fastening is arranged on the connecting plate and / or the grabbing seat. The technical problems that an existing grabbing device is large in transportation occupied space and poor in combination and installation stability are solved.

Description

Technical Field

[0001] This invention relates to the field of automated equipment, and in particular to a novel combined gripping device. Background Technology

[0002] Currently, automation of machinery is a common trend, and gripping devices have largely replaced manual labor. Existing gripping devices typically include a transverse seat, a longitudinal seat, and a lifting seat, enabling free movement and gripping in three directions. For example, a modular rotating structure disclosed in Chinese Patent Publication No. CN215201997U includes a base, a long arch assembly, a pull-out assembly, and an arm assembly. The arm assembly includes a traction mechanism and a clamping mechanism. The long arch assembly is mounted on the base, the pull-out assembly is mounted on the long arch assembly, and the arm assembly is mounted on the pull-out assembly. The pull-out assembly and the long arch assembly are connected by a detachable rotating device. The rotating device includes a pull-out slide, a long arch slide, and a rotating shaft. The pull-out slide and the long arch slide have corresponding shaft holes and screw holes. The rotating shaft passes through the shaft holes of the pull-out slide and the long arch slide, causing the pull-out slide to rotate around the rotating shaft on the long arch slide.

[0003] However, existing gripping devices, due to the configuration of horizontal seats, vertical seats, and lifting seats, are not easy to achieve effective combination and installation. They either require a large space during packaging and transportation, or the stability of the combination and installation is poor.

[0004] new content

[0005] Therefore, in response to the above problems, this invention proposes a novel combined gripping device, which solves the technical problems of existing gripping devices having large space requirements for transportation and poor stability during assembly.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: a novel combined gripping device, comprising a transverse seat, a longitudinal seat that can slide along the transverse seat, a control box for driving the transverse seat, and two gripping mechanisms that can move along the longitudinal seat. Each gripping mechanism includes a gripping seat that can move along the longitudinal seat, a walking drive mechanism disposed on the gripping seat, a lifting assembly detachably disposed on the gripping seat, a gripping manipulator disposed at the lower end of the lifting assembly, and a lifting drive mechanism. The lifting assembly includes a connecting plate for fastening to the gripping seat and a lifting rod that can slide up and down along the connecting plate. The lifting drive mechanism drives the lifting rod to slide up and down. The connecting plate and / or the gripping seat are provided with a calibration mechanism for achieving calibration and fit, and the connecting plate and / or the gripping seat are provided with a locking mechanism for fastening.

[0007] The longitudinal seat is provided with two longitudinal slide rails, and a longitudinal rack is provided between the two longitudinal slide rails. The walking drive mechanism includes a slider that cooperates with the two longitudinal slide rails, a walking servo motor and a walking gear provided on the gripping seat. The gripping seat has a first hole. The walking servo motor and the slider are respectively provided on opposite sides of the gripping seat. The shaft of the walking servo motor passes through the first hole. The walking gear is provided on the shaft of the walking servo motor. The walking gear meshes with the longitudinal rack to achieve driving.

[0008] The lifting rod is provided with a lifting rack, and the lifting drive mechanism includes a lifting servo motor and a lifting gear provided on the gripping seat. The gripping seat is provided with a second hole, through which the shaft of the lifting servo motor passes. The lifting gear is provided on the shaft of the lifting servo motor, and the lifting gear meshes with the lifting rack to achieve drive.

[0009] At least one gripping robot includes a gripping motor located at the lower end of a lifting assembly, a splined sleeve on the rotating shaft of the gripping motor, a splined shaft fitted inside the splined sleeve, a lead screw connected to the lower end of the splined shaft, and a gripper assembly driven by the lead screw. The gripper assembly consists of three gripper segments that are snapped together. Each gripper segment includes a support end, a gripper gear rotatably located below the support end, and a clamping plate connecting each gripper gear. The three gripper gears are distributed on the outer circumference of the lead screw and are driven by the lead screw. When the gripping motor rotates, it drives the lead screw to move upward or downward, thereby realizing the approach or opening of multiple clamping plates.

[0010] Furthermore, the locking mechanism is a bolt assembly.

[0011] Furthermore, the calibration mechanism includes a first protrusion on the gripper seat, a first recess on the gripper seat, a second protrusion on the connecting plate, and a second recess on the connecting plate. The first protrusion and the second recess cooperate with each other, and the first recess and the second protrusion cooperate with each other to achieve the fit between the connecting plate and the gripper seat.

[0012] Furthermore, a snap-fit ​​groove is provided on one side of the support end, and a snap-fit ​​block is provided on the other side. Adjacent support ends are connected by snap-fit ​​groove and snap-fit ​​block. The three support ends form a hollow support platform. The lead screw passes through the hollow part of the support platform and engages with the gripper gear.

[0013] Furthermore, a limiting block is provided on the upper end of the snap-fit ​​block, and a limiting groove is provided on the upper end of the snap-fit ​​groove. The limiting block and the limiting groove cooperate to achieve limiting snap-fit.

[0014] Furthermore, the clamping plate includes an inner side plate, an outer side plate, and a support member. The lower ends of the inner side plate and the outer side plate are connected, and the upper ends of the inner side plate and the outer side plate are respectively connected to both sides of the gripper gear. The inner side plate, the outer side plate, and the gripper gear form a hollow triangular region. A first support part is provided on the inner side wall of the inner side plate, and a second support part is provided on the inner side wall of the outer side plate. The two ends of the support member are respectively inserted into the first support plate and the second support part.

[0015] Furthermore, the inner and outer side plates are made of flexible materials, and the support member is a metal component.

[0016] Furthermore, the support member has a bend at its free end passing through the first support portion and the second support portion to achieve stable insertion.

[0017] Furthermore, when the inner side plate is vertical, the supports located on the same clamping plate are parallel to each other, and the angle between each support and the inner side plate is 60-85 degrees, while the angle between the outer side plate and the inner side plate is 10-20 degrees.

[0018] By adopting the aforementioned technical solution, the beneficial effects of this new invention are:

[0019] 1. This solution integrates the walking drive mechanism and the lifting drive mechanism through the gripping seat. The combination and disassembly are achieved through the cooperation of the connecting plate and the gripping seat. The connection is assisted by the calibration mechanism and the locking mechanism, thereby effectively improving the stability and efficiency of the combination and effectively reducing the reduction of packaging space.

[0020] By carefully configuring the walking drive mechanism and the lifting drive mechanism, effective drive coordination can be achieved, thereby enabling effective longitudinal and vertical walking drive.

[0021] The gripping robot arm allows for effective flexible gripping, better assembly and coordination, and stable gripping.

[0022] 2. Through the cooperation of the first protrusion and the second recess, and the cooperation of the first recess and the second protrusion, effective and precise positioning is achieved, thereby improving the accuracy of the assembly.

[0023] 3. The combination of the snap-fit ​​groove, snap-fit ​​block, limiting block, and limiting groove can achieve effective forming of the support platform, that is, effective forming of the support end, thereby achieving a stable connection and effective cooperation with the lead screw.

[0024] 4. The clamping plate, through the arrangement of inner and outer plates and supporting members, can effectively clamp flexibility. The inner and outer plates are made of flexible materials, while the supporting members are metal, thus combining flexibility and rigidity for effective clamping. Furthermore, the inner and outer plates, along with the gripper gear, form a hollow triangular area, effectively reducing weight and improving flexibility. The bending section ensures insertion stability. When the inner plate is vertical, the supporting members on the same clamping plate are parallel to each other, with each supporting member forming an angle of 60-85 degrees with the inner plate, and the outer plate forming an angle of 10-20 degrees with the inner plate. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the structure of this novel invention.

[0026] Figure 2 This is a three-dimensional structural diagram of the gripping mechanism.

[0027] Figure 3 This is a schematic diagram of the exploded structure of the gripping mechanism.

[0028] Figure 4 This is a top-down structural diagram of the gripping mechanism.

[0029] Figure 5 This is a structural diagram of the gripper seat.

[0030] Figure 6 This is a structural diagram of the gripper from the front view.

[0031] Figure 7 This is a structural diagram of the gripper from the rear view.

[0032] Figure 8 This is a schematic diagram of the gripping robotic arm.

[0033] Figure 9 This is a structural diagram of the gripper assembly.

[0034] Figure 10 This is a schematic diagram of the three-dimensional structure of the grasper flap.

[0035] Figure 11 This is a schematic diagram of the frontal structure of the grasper flap.

[0036] Figure label:

[0037] 1. Horizontal seat; 2. Longitudinal seat; 21. Longitudinal slide rail; 22. Longitudinal rack; 3. Control box; 4. Gripping mechanism; 41. Gripping seat; 411. First hole; 412. Second hole; 413. First protrusion; 414. First recess; 42. Walking drive mechanism; 421. Slider; 422. Walking servo motor; 423. Walking gear; 43. Lifting assembly; 431. Connecting plate; 4311. Second protrusion; 4312. Second recess; 432. Lifting rod; 433. Lifting rack; 44. 441. Lifting drive mechanism; 442. Lifting servo motor; 5. Lifting gear; 6. Gripping robot arm; 51. Gripping motor; 52. Spline sleeve; 53. Spline shaft; 54. Lead screw; 6. Gripper flap; 61. Support end; 62. Gripper gear; 63. Clamping plate; 611. Snap-fit ​​groove; 612. Snap-fit ​​block; 613. Restriction groove; 614. Restriction block; 631. Inner side plate; 632. Outer side plate; 633. Support component; 634. First support part; 635. Second support part; 636. Bending part. Detailed Implementation

[0038] The present invention will now be further described in conjunction with the accompanying drawings and specific embodiments.

[0039] refer to Figures 1 to 11 This embodiment provides a novel combined gripping device, including a transverse seat 1, a longitudinal seat 2 that can slide along the transverse seat 1, a control box 3 that drives the transverse seat 1, and two gripping mechanisms 4 that can move along the longitudinal seat 2. Each gripping mechanism 4 includes a gripping seat 41 that can move along the longitudinal seat 2, a walking drive mechanism 42 disposed on the gripping seat 41, a lifting assembly 43 detachably disposed on the gripping seat 41, a gripping manipulator 5 disposed at the lower end of the lifting assembly 43, and a lifting drive mechanism 44. The lifting assembly 43 includes a connecting plate 431 for fastening to the gripping seat 41 and a lifting rod 432 that can slide up and down along the connecting plate 431. The lifting drive mechanism 44 drives the lifting rod 432 to slide up and down. The connecting plate 431 and / or the gripping seat 41 are provided with a calibration mechanism for achieving calibration and fit. The connecting plate 431 and / or the gripping seat 41 are provided with a locking mechanism for fastening.

[0040] The longitudinal seat 2 is provided with two longitudinal slide rails 21, and a longitudinal rack 22 is provided between the two longitudinal slide rails 21. The walking drive mechanism 42 includes a slider 421 that cooperates with the two longitudinal slide rails 21, a walking servo motor 422 and a walking gear 423 provided on the gripping seat 41. The gripping seat 41 has a first hole 411. The walking servo motor 422 and the slider 421 are respectively provided on opposite sides of the gripping seat 41. The rotating shaft of the walking servo motor 422 passes through the first hole 411. The walking gear 423 is provided on the rotating shaft of the walking servo motor 422. The walking gear 423 meshes with the longitudinal rack 22 to achieve driving.

[0041] The lifting rod 432 is provided with a lifting rack 433. The lifting drive mechanism 44 includes a lifting servo motor 441 and a lifting gear 442 provided on the gripping seat 41. The gripping seat 41 is provided with a second hole 412. The shaft of the lifting servo motor 441 passes through the second hole 412. The lifting gear 442 is provided on the shaft of the lifting servo motor 441. The lifting gear 442 meshes with the lifting rack 433 to achieve driving.

[0042] At least one gripping robot 5 includes a gripping motor 51 located at the lower end of the lifting assembly 43, a spline sleeve 52 located on the rotating shaft of the gripping motor 51, a spline shaft 53 sleeved inside the spline sleeve 52, a lead screw 54 connected to the lower end of the spline shaft 53, and a gripper assembly driven by the lead screw 54. The gripper assembly is composed of three gripper petals 6 snapped together. Each gripper petal 6 includes a support end 61, a gripper gear 62 rotatably located below the support end 61, and a clamping plate 63 connecting each gripper gear 62. The three gripper gears 62 are distributed on the outer circumference of the lead screw 54 and are in transmission cooperation with the lead screw 54. When the gripping motor 51 rotates, it drives the lead screw 54 to move upward or downward, thereby realizing the approach or opening of the multiple clamping plates 63.

[0043] The locking mechanism is a bolt assembly. It can also be other structures, such as quick-release chucks or other mechanisms capable of fastening. The calibration mechanism includes a first protrusion 413 on the gripper 41, a first recess 414 on the gripper 41, a second protrusion 4311 on the connecting plate 431, and a second recess 4312 on the connecting plate 431. The first protrusion 413 and the second recess 4312 cooperate, and the first recess 414 and the second protrusion 4311 cooperate, achieving a close fit between the connecting plate 431 and the gripper 41. The specific structure of the calibration mechanism can also be set according to actual needs, as long as precise fit between the connecting plate and the gripper is achieved.

[0044] One side of the support end 61 is provided with a snap-fit ​​groove 611, and the other side is provided with a snap-fit ​​block 612. Adjacent support ends 61 are connected by the snap-fit ​​groove 611 and the snap-fit ​​block 612 being inserted into each other. The three support ends 61 form a hollow support platform. The lead screw 54 passes through the hollow part of the support platform and engages with the gripper gear 62. A limiting block 614 is provided on the upper end of the snap-fit ​​block 612, and a limiting groove 613 is provided on the upper end of the snap-fit ​​groove 611. The limiting snap-fit ​​is achieved by the cooperation of the limiting block 614 and the limiting groove 613.

[0045] The clamping plate 63 includes an inner side plate 631, an outer side plate 632, and a support member 633. The lower ends of the inner side plate 631 and the outer side plate 632 are connected, and the upper ends of the inner side plate 631 and the outer side plate 632 are respectively connected to the two sides of the gripper gear 62. The inner side plate 631, the outer side plate 632, and the gripper gear 62 form a hollow triangular region. A first support portion 634 is provided on the inner side wall of the inner side plate 631, and a second support portion 635 is provided on the inner side wall of the outer side plate 632. The two ends of the support member 633 are respectively inserted into the first support plate and the second support portion 635. The inner side plate 631 and the outer side plate 632 are made of flexible material, and the support member 633 is made of metal. A bending portion 636 is provided on the free end of the support member 633 that passes through the first support portion 634 and the second support portion 635 to achieve stable insertion. When the inner side plate 631 is vertical, the support members 633 located on the same clamping plate 63 are parallel to each other, and the angle α between each support member 633 and the inner side plate 631 is 60-85 degrees, and the angle β between the outer side plate 632 and the inner side plate 631 is 10-20 degrees.

[0046] When clamping is achieved, the presence of the support component causes the outer and inner plates to abut against each other, achieving basic rigidity. However, due to the presence of included angles α and β, the inner plate will deform, thereby causing the outer plate to deform, thus achieving better clamping.

[0047] In the above technical solution, the walking servo motor, lifting servo motor, and gripping motor are all conventional components in this field. The inner side plate, outer side plate, and gripper gear can be integrally formed or separately formed, and their materials can be conventional flexible materials such as rubber and silicone. The above support components can be stainless steel or other conventional metals.

[0048] The beneficial effects of this novel invention are:

[0049] 1. This solution integrates the walking drive mechanism and the lifting drive mechanism through the gripping seat. The combination and disassembly are achieved through the cooperation of the connecting plate and the gripping seat. The connection is assisted by the calibration mechanism and the locking mechanism, thereby effectively improving the stability and efficiency of the combination and effectively reducing the reduction of packaging space.

[0050] By carefully configuring the walking drive mechanism and the lifting drive mechanism, effective drive coordination can be achieved, thereby enabling effective longitudinal and vertical walking drive.

[0051] The gripping robot arm allows for effective flexible gripping, better assembly and coordination, and stable gripping.

[0052] 2. Through the cooperation of the first protrusion and the second recess, and the cooperation of the first recess and the second protrusion, effective and precise positioning is achieved, thereby improving the accuracy of the assembly.

[0053] 3. The combination of the snap-fit ​​groove, snap-fit ​​block, limiting block, and limiting groove can achieve effective forming of the support platform, that is, effective forming of the support end, thereby achieving a stable connection and effective cooperation with the lead screw.

[0054] 4. The clamping plate, through the arrangement of inner and outer plates and supporting members, can effectively clamp flexibility. The inner and outer plates are made of flexible materials, while the supporting members are metal, thus combining flexibility and rigidity for effective clamping. Furthermore, the inner and outer plates, along with the gripper gear, form a hollow triangular area, effectively reducing weight and improving flexibility. The bending section ensures insertion stability. When the inner plate is vertical, the supporting members on the same clamping plate are parallel to each other, with each supporting member forming an angle of 60-85 degrees with the inner plate, and the outer plate forming an angle of 10-20 degrees with the inner plate.

[0055] Although the present invention has been specifically shown and described in conjunction with preferred embodiments, those skilled in the art should understand that various changes in form and detail may be made to the present invention without departing from the spirit and scope of the present invention as defined by the appended claims, and all such changes shall be within the scope of protection of the present invention.

Claims

1. A novel combined gripping device, comprising a transverse base, a longitudinal base slidable along the transverse base, a control box for driving the transverse base, and two gripping mechanisms movable along the longitudinal base, characterized in that: The gripping mechanism includes a gripping seat that can move along a longitudinal seat, a walking drive mechanism mounted on the gripping seat, a lifting assembly detachably mounted on the gripping seat, a gripping manipulator mounted at the lower end of the lifting assembly, and a lifting drive mechanism. The lifting assembly includes a connecting plate for fastening to the gripping seat and a lifting rod that can slide up and down along the connecting plate. The lifting drive mechanism drives the lifting rod to slide up and down. The connecting plate and / or the gripping seat are provided with a calibration mechanism for achieving calibration and fit. The connecting plate and / or the gripping seat are provided with a locking mechanism for fastening.

2. The novel combined gripping device according to claim 1, characterized in that: The locking mechanism is a bolt assembly.

3. The novel combined gripping device according to claim 1, characterized in that: The calibration mechanism includes a first protrusion on the gripper seat, a first recess on the gripper seat, a second protrusion on the connecting plate, and a second recess on the connecting plate. The first protrusion and the second recess cooperate with each other, and the first recess and the second protrusion cooperate with each other to achieve the fit between the connecting plate and the gripper seat.

4. The novel combined gripping device according to claim 1, characterized in that: The longitudinal seat is provided with two longitudinal slide rails, and a longitudinal rack is provided between the two longitudinal slide rails. The walking drive mechanism includes a slider that cooperates with the two longitudinal slide rails, a walking servo motor and a walking gear provided on the gripping seat. The gripping seat has a first hole. The walking servo motor and the slider are respectively provided on opposite sides of the gripping seat. The shaft of the walking servo motor passes through the first hole. The walking gear is provided on the shaft of the walking servo motor. The walking gear meshes with the longitudinal rack to achieve drive.

5. A novel combined gripping device according to claim 1, characterized in that: The lifting rod is provided with a lifting rack, and the lifting drive mechanism includes a lifting servo motor and a lifting gear on the gripping seat. The gripping seat is provided with a second hole, through which the shaft of the lifting servo motor passes. The lifting gear is located on the shaft of the lifting servo motor, and the lifting gear meshes with the lifting rack to achieve drive.

Images