Rotary grabbing device

Abstract

The utility model belongs to the technical field of machining, and discloses a rotary grabbing device. The rotary grabbing device comprises a mounting mechanism, a driving mechanism, a transmission mechanism and a lifting mechanism, wherein the driving mechanism is fixedly arranged on the mounting mechanism, the first end of the transmission mechanism is in transmission connection with the output end of the driving mechanism, the second end of the transmission mechanism is slidably connected to the mounting mechanism, the driving mechanism rotates to drive the transmission mechanism to reciprocate in the first direction, and the first end of the lifting mechanism is fixedly connected with the second end of the transmission mechanism; the transmission mechanism can drive the lifting mechanism to reciprocate in the vertical direction, the second end of the lifting mechanism is fixedly connected with a grabbing mechanism, and the grabbing mechanism is used for grabbing a to-be-grabbed piece. The rotary grabbing device is low in manufacturing cost, easy to maintain and adjust, high in motion precision, convenient to control and high in reliability.

Description

TECHNICAL FIELD

[0001] The utility model relates to mechanical processing technical field especially relates to a rotary grabbing device. BACKGROUND

[0002] With the sustained development of industrial technology, non-standard mechanical equipment is widely used in the feeding and discharging of parts, thereby saving human resources and improving the processing efficiency.

[0003] In the prior art, the feeding and discharging device of parts usually comprises a rotating table, a power device and a grabbing device, the rotating table and the grabbing device share one power device, the grabbing device reciprocates simultaneously with the reciprocating movement of the deflection mechanism, and the power device can rotate and lift, the rotating table and the grabbing device are driven to rotate simultaneously by the power device, and the grabbing device lifts relative to the rotating table, so that the grabbing device clamps the corresponding parts and places them on the rotating table for feeding and discharging.

[0004] However, for such a grabbing device, the reciprocating movement of the reciprocating plate simultaneously with the reciprocating movement of the deflection mechanism, and the power device can rotate and lift, which makes the power device structure complex, the manufacturing cost is high, it is not easy to adjust and maintain, and the reciprocating movement of the deflection mechanism will cause the deflection mechanism to vibrate itself, affecting the structural stability of the deflection mechanism itself, and further affecting the position accuracy of the grabbing device, and it is not convenient to control and has low reliability. UTILITY MODEL CONTENT

[0005] The utility model aims at providing a rotary grabbing device, which has low manufacturing cost, is easy to maintain and adjust, has high motion accuracy, is convenient to control, and has high reliability.

[0006] To achieve this purpose, the utility model adopts the following technical scheme:

[0007] The rotary grabbing device comprises:

[0008] A mounting mechanism;

[0009] A driving mechanism fixedly arranged on the mounting mechanism;

[0010] A transmission mechanism, the first end of the transmission mechanism is in transmission connection with the output end of the driving mechanism, the second end of the transmission mechanism is in sliding connection with the mounting mechanism, and the driving mechanism rotates to drive the transmission mechanism to reciprocate in the first direction;

[0011] A lifting mechanism, the first end of the lifting mechanism is fixedly connected with the second end of the transmission mechanism, the transmission mechanism can drive the lifting mechanism to reciprocate in the vertical direction, the second end of the lifting mechanism is fixedly connected with a grabbing mechanism, and the grabbing mechanism is used for grabbing the parts to be grabbed.

[0012] Preferably, the lifting mechanism comprises:

[0013] A lifting body fixedly connected with the transmission mechanism, the lifting body being provided with a first through slot extending in a vertical direction;

[0014] A lifting rod penetrating the lifting body in a vertical direction, a first end of the lifting rod being slidingly arranged in the first through slot, and a second end of the lifting rod being fixedly connected with the grabbing mechanism;

[0015] A lifting guide plate fixedly connected with the mounting mechanism, the lifting guide plate being provided with an inclined slot;

[0016] A guide wheel, one end of the guide wheel being fixedly connected with the first end of the lifting rod, and the other end of the guide wheel being rollingly arranged in the inclined slot.

[0017] Preferably, the transmission mechanism comprises:

[0018] A transmission gear in transmission connection with the output end of the driving mechanism;

[0019] A transmission crank coaxially fixedly connected with the transmission gear, the transmission crank being provided with a sliding slot extending in the first direction;

[0020] A connecting rod, one end of the connecting rod being slidingly arranged in the sliding slot, and the other end of the connecting rod being rotatably connected with a transmission block, the transmission block being capable of reciprocating in the first direction;

[0021] A connecting plate fixedly connected with the transmission block, the connecting plate being provided with a second through slot extending in a vertical direction, the lifting body being fixedly arranged on the connecting plate, the second through slot and the first through slot being in communication, and the other end of the guide wheel penetrating the second through slot and being rollingly arranged in the inclined slot.

[0022] Preferably, the rotary grabbing device further comprises:

[0023] A turntable rotatably connected with the mounting mechanism and located below the grabbing mechanism, the turntable being used for placing the to-be-grabbed piece, the turntable being in transmission connection with the output end of the driving mechanism, and the driving mechanism being configured to drive the turntable to rotate.

[0024] Preferably, the turntable comprises:

[0025] A turntable body in a circular ring structure;

[0026] A plurality of positioning members are arranged along the circumference of the rotary table body, and the positioning members are used to place the to-be-grasped members.

[0027] Preferably, the rotary grasping device further comprises:

[0028] A reciprocating guide mechanism, the reciprocating guide mechanism comprising a reciprocating guide rail and a reciprocating sliding block connected slidingly, the reciprocating guide rail extending along the first direction, one of the reciprocating guide rail and the reciprocating sliding block being arranged on the mounting mechanism, and the other being arranged on the transmission mechanism.

[0029] Preferably, the driving mechanism comprises:

[0030] A first driving assembly, an output end of the first driving assembly being in transmission connection with the transmission mechanism, the first driving assembly driving the transmission mechanism to reciprocate along the first direction;

[0031] A second driving assembly, an output end of the second driving assembly being in transmission connection with the rotary table, the second driving assembly driving the rotary table to rotate.

[0032] Preferably, the second driving assembly comprises:

[0033] A deflection driving member, the deflection driving member being fixedly connected to the mounting mechanism;

[0034] A first driving wheel, the first driving wheel being in transmission connection with an output end of the deflection driving member;

[0035] A first driven wheel, the first driven wheel being rotatably connected to the mounting mechanism, the first driven wheel being arranged in parallel and spaced apart from the first driving wheel, the first driven wheel being coaxially provided with a synchronization rod, the synchronization rod extending along the vertical direction;

[0036] A synchronization belt, the synchronization belt being sleeved on the first driving wheel and the first driven wheel, and the first driving wheel and the first driven wheel being in meshing connection with the synchronization belt;

[0037] A linkage wheel, the linkage wheel being sleeved on an end of the synchronization rod away from the first driven wheel, the linkage wheel being in transmission connection with the transmission mechanism.

[0038] Preferably, the rotary grasping device comprises a plurality of the transmission mechanisms arranged along the circumference of the rotary table, and the driving mechanism is configured to drive the plurality of transmission mechanisms to reciprocate along the first direction.

[0039] Preferably, a buffer member is arranged in the transmission block, the other end of the connecting rod being rotatably connected in the buffer member, and the buffer member being compressible along the first direction.

[0040] The utility model discloses a beneficial effect:

[0041] The utility model provides a kind of rotary grabbing device, which comprises mounting mechanism, drive mechanism, transmission mechanism and lifting mechanism;Wherein, drive mechanism is fixedly arranged on mounting support, the first end of transmission mechanism is transmissionally connected with the output end of drive mechanism, the second end of transmission mechanism is slidably connected on mounting mechanism, drive mechanism rotates to drive transmission mechanism reciprocating along first direction, the first end of lifting mechanism is fixedly connected with the second end of transmission mechanism, transmission mechanism can drive lifting mechanism reciprocating along vertical direction, the second end of lifting mechanism is fixedly connected with grabbing mechanism, and grabbing mechanism is used to grab the piece to be grabbed.

[0042] When feeding or discharging, the drive mechanism rotates, drives the transmission mechanism to reciprocate along the first direction, and the lifting mechanism fixedly connected with the transmission mechanism reciprocates along the vertical direction, thereby changing the position of the grabbing mechanism fixedly connected with the lifting mechanism relative to the piece to be grabbed along the first direction and the vertical direction, so as to grab and release the piece to be grabbed. By setting the drive mechanism with a single motion mode, the rotary grabbing device has a simple structure, low manufacturing cost, and is easy to maintain and adjust. Meanwhile, the lifting mechanism and the transmission mechanism are integrated, the mechanical transmission components are integrated, the grabbing precision of the rotary grabbing device is improved, and the reliability is improved. BRIEF DESCRIPTION OF DRAWINGS

[0043] Figure 1 is the first axonometric view of the rotary grabbing device provided by the utility model embodiment;

[0044] Figure 2 is the second axonometric view of the rotary grabbing device provided by the utility model embodiment;

[0045] Figure 3 is the structure exploded view of the rotary grabbing device provided by the utility model embodiment;

[0046] Figure 4 is the axonometric view of the lifting guide plate provided by the utility model embodiment;

[0047] Figure 5 is the sectional view of the rotary grabbing device provided by the utility model embodiment.

[0048] In the drawings:

[0049] 1, drive mechanism; 11, first drive assembly; 111, deflection driving part; 112, first driving wheel; 113, synchronous belt; 114, first driven wheel; 115, synchronous rod; 116, linkage wheel; 12, second drive assembly; 121, rotary driving part; 122, extension shaft; 123, second driving wheel; 124, second driven wheel;

[0050] 2, mounting mechanism; 21, mounting bracket; 22, mounting sleeve; 23, reciprocating frame;

[0051] 3, rotary table; 31, rotary table body; 32, positioning member;

[0052] 4, grabbing mechanism; 5, lifting mechanism; 51, lifting body; 511, first through slot; 52, lifting rod; 53, guide wheel; 54, lifting guide plate; 541, inclined slot; 5411, lower step portion; 5412, inclined step portion; 5413, upper step portion;

[0053] 6, transmission mechanism; 61, transmission gear; 62, transmission crank; 621, sliding groove; 63, connecting rod; 64, transmission block; 641, buffer; 65, connecting plate; 651, second through slot;

[0054] 7, accessory platform; 8, reciprocating guide mechanism; 81, reciprocating guide rail; 82, reciprocating sliding block; 9, lifting guide mechanism; 91, linear bearing; 92, guide rod. DETAILED DESCRIPTION

[0055] The utility model will be described in further detail below in combination with the drawings and examples. It can be understood that the specific examples described herein are only used to explain the utility model and are not limited to the utility model. In addition, it should be noted that only the parts related to the utility model are shown in the drawings for ease of description, not all the structures.

[0056] In the description of the utility model, unless otherwise explicitly specified and limited, the terms "connected", "connected", "fixed" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or it can be integrated; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the communication between two elements or the interaction relationship between two elements. For ordinary skilled in the art, the specific meaning of the above terms in the utility model can be understood according to the specific circumstances.

[0057] In the utility model, unless otherwise explicitly specified and limited, the first feature "on" or "below" the second feature can include that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, the first feature "on", "above" and "above" 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 "below", "below" and "below" 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 less than that of the second feature.

[0058] In the description of the present embodiment, the terms "upper", "lower", "right", "left", and the like, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of description and simplification of operation, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first" and "second" are only used to distinguish in the description, and have no special meaning.

[0059] As shown in Figure 1 and Figure 2 The present embodiment provides a rotary grabbing device, which comprises a mounting mechanism 2, a driving mechanism 1, a transmission mechanism 6 and a lifting mechanism 5; wherein the driving mechanism 1 is fixedly installed on the mounting mechanism 2, the first end of the transmission mechanism 6 is in transmission connection with the output end of the driving mechanism 1, the second end of the transmission mechanism 6 is in sliding connection with the mounting mechanism 2, the driving mechanism 1 rotates to drive the transmission mechanism 6 to reciprocate in the first direction, the first end of the lifting mechanism 5 is fixedly connected with the second end of the transmission mechanism 6, the transmission mechanism 6 can drive the lifting mechanism 5 to reciprocate in the vertical direction, the second end of the lifting mechanism 5 is fixedly connected with a grabbing mechanism 4, and the grabbing mechanism 4 is used for grabbing a to-be-grabbed piece.

[0060] When feeding or discharging, the driving mechanism 1 rotates to drive the transmission mechanism 6 to reciprocate in the first direction, the lifting mechanism 5 fixedly connected with the transmission mechanism 6 reciprocates in the vertical direction, and then the position of the grabbing mechanism 4 fixedly connected with the lifting mechanism 5 relative to the to-be-grabbed piece in the first direction and the vertical direction is changed, so as to grab and release the to-be-grabbed piece. By setting the driving mechanism 1 with a single motion mode, the structure of the rotary grabbing device is simple, the manufacturing cost is low, and it is easy to maintain and adjust. Meanwhile, the lifting mechanism 5 and the transmission mechanism 6 are integrated, so that the mechanical transmission parts are integrated, the grabbing precision of the rotary grabbing device is improved, and the reliability is improved. Specifically, the transmission mechanism 6 slides in the first direction. It should be noted that in the present embodiment, the grabbing mechanism 4 is a translational manipulator. In other embodiments, it can be a pneumatic manipulator or a six-claw manipulator, etc., which is not limited here.

[0061] Optionally, as shown in Figure 1 and Figure 3As shown, in the embodiment, the mounting mechanism 2 comprises a mounting bracket 21, a mounting sleeve 22 and a plurality of reciprocating frames 23; wherein the driving mechanism 1 is fixedly connected on the mounting bracket 21, one end of the mounting sleeve 22 is embedded in the mounting bracket 21, the plurality of reciprocating frames 23 are arranged at the other end of the mounting sleeve 22 along the circumferential direction of the mounting sleeve 22, and the transmission mechanism 6 is slidingly connected on the reciprocating frames 23. By arranging the mounting bracket 21, the mounting sleeve 22 and the plurality of reciprocating frames 23, the driving mechanism 1 and the transmission mechanism 6 are provided with support. Figure 3 The extension direction of the reciprocating frame 23 is the first direction.

[0062] Further, as shown, Figures 2-4 The lifting mechanism 5 comprises a lifting body 51, a lifting rod 52, a lifting guide plate 54 and a guide wheel 53; wherein the lifting body 51 is fixedly connected with the transmission mechanism 6, the lifting body 51 is provided with a first through slot 511 extending along the vertical direction, the lifting rod 52 is arranged in the lifting body 51 along the vertical direction, the first end of the lifting rod 52 is slidingly arranged in the first through slot 511, the second end of the lifting rod 52 is fixedly connected with the grabbing mechanism 4, the lifting guide plate 54 is fixedly connected on the mounting mechanism 2, the lifting guide plate 54 is provided with an inclined slot 541, and one end of the guide wheel 53 is fixedly connected with the first end of the lifting rod 52, and the other end of the guide wheel 53 is rollingly arranged in the inclined slot 541.

[0063] When the transmission mechanism 6 moves along the first direction, the lifting body 51 moves along the first direction with the transmission mechanism 6, the guide wheel 53 rolls in the inclined slot 541, the lifting rod 52 fixedly connected with one end of the guide wheel 53 slides in the first through slot 511 along the vertical direction, and drives the grabbing mechanism 4 to move in the first direction and the vertical direction. When the guide wheel 53 rolls to the upper end of the inclined slot 541, the grabbing mechanism 4 moves above the to-be-grabbed piece to perform the grabbing operation on the to-be-grabbed piece; when the guide wheel 53 rolls to the lower end of the inclined slot 541, the grabbing mechanism 4 carrying the to-be-grabbed piece moves to other positions to perform the releasing operation on the to-be-grabbed piece. The friction and wear in the movement process are effectively reduced, the operation efficiency and service life of the lifting mechanism 5 are improved, the rotating grabbing device has high integration, the transmission mechanism 6 and the lifting mechanism 5 are easy to maintain and replace. It should be noted that, in the embodiment, the guide wheel 53 is an external thread guide roller, so that the friction is smaller when the guide wheel 53 rolls in the inclined slot 541. In other embodiments, the form of the guide wheel 53 is not required as long as it can roll in the inclined slot 541.

[0064] Optionally, as shown, Figure 4As shown in the embodiment, the chute 541 is a slanting stepped chute, including a lower stepped portion 5411, a slanting stepped portion 5412 and an upper stepped portion 5413 connected in sequence. When the guide wheel 53 rolls to the upper stepped portion 5413, the grabbing mechanism 4 moves above the to-be-grabbed piece to perform a grabbing operation on the to-be-grabbed piece; when the guide wheel 53 rolls to the lower stepped portion 5411, the grabbing mechanism 4 carrying the to-be-grabbed piece moves to another position to perform a releasing operation on the to-be-grabbed piece. The grabbing range of the grabbing mechanism 4 can be increased, and the production efficiency can be improved.

[0065] Optionally, as shown in Figure 2 and Figure 3 in the embodiment, the width of the first through groove 511 is adapted to the width of the lifting rod 52. The movement of the lifting rod 52 is guided.

[0066] Further, as shown in Figures 2-4 , the transmission mechanism 6 includes a transmission gear 61, a transmission crank 62, a connecting rod 63 and a connecting plate 65; wherein the transmission gear 61 is in transmission connection with the output end of the driving mechanism 1, the transmission crank 62 is coaxially fixedly connected with the transmission gear 61, the transmission crank 62 is provided with a sliding groove 621, the sliding groove 621 extends along a first direction, one end of the connecting rod 63 is slidingly arranged in the sliding groove 621, the other end of the connecting rod 63 is rotatably connected with a transmission block 64, the transmission block 64 can reciprocate along the first direction, the connecting plate 65 is fixedly connected with the transmission block 64, the connecting plate 65 is provided with a second through groove 651, the second through groove 651 extends along a vertical direction, the lifting main body 51 is fixedly arranged on the connecting plate 65, the second through groove 651 and the first through groove 511 are in communication, the other end of the guide wheel 53 passes through the second through groove 651 and is rollingly arranged in the chute 541. When the to-be-grabbed piece is grabbed, the transmission gear 61 rotates, the transmission crank 62 coaxially fixedly connected with the transmission gear 61 rotates around the axis of the transmission gear 61, the connecting rod 63, the transmission block 64 and the transmission crank 62 slidingly arranged in the sliding groove 621 form a crank slider system, when the transmission crank 62 rotates to be parallel to the extension direction of the sliding groove 621, the transmission block 64 is at the original position, the guide wheel 53 is at the lower stepped portion 5411 of the chute 541, when the transmission crank 62 rotates by 90°, the connecting rod 63 moves along the first direction, at this time, the transmission block 64 slides to the maximum position, at this time, the extension direction of the sliding groove 621 is perpendicular to the first direction, the guide wheel 53 rolls across the slanting stepped portion 5412 of the chute 541 to the upper stepped portion 5413 of the chute 541, when the transmission crank 62 continues to rotate, the connecting rod 63 moves along the first direction, at this time, the transmission block 64 slides to the original position, the transmission crank 62 repeats the process, so that the connecting rod 63 reciprocates along the first direction.

[0067] Further, as shown in Figure 2 and Figure 3As shown, a buffer 641 is provided inside the transmission block 64, and the other end of the connecting rod 63 is rotatably connected to the buffer 641. The buffer 641 can be compressed along the first direction. During the reciprocating motion of the transmission block 64 along the first direction, at the instant of switching the motion direction, the transmission block will generate a motion impact due to inertia. The buffer 641 reduces the vibration between the transmission block 64 and the connecting rod 63 caused by the instantaneous change in direction, thereby improving the motion stability of the transmission mechanism 6.

[0068] Optionally, such as Figure 3 As shown, in this embodiment, the buffer 641 is a rectangular helical spring. The rectangular spring improves the shock resistance between the transmission block 64 and the connecting rod 63, thus extending their service life.

[0069] Optionally, such as Figure 3 As shown, in this embodiment, the rotating gripping device includes a lifting guide mechanism 9, which includes a linear bearing 91 and a guide rod 92. The guide rod 92 extends vertically, and the linear bearing 91 is disposed within the lifting body 51. One end of the guide rod 92 is fixed to the gripping mechanism 4, and the other end of the guide rod 92 slides through the linear bearing 91. This arrangement provides guidance for the movement of the gripping mechanism 4 on the lifting mechanism 5.

[0070] Optionally, such as Figure 3 As shown, in this embodiment, two guide rods 92 are provided, and the two guide rods 92 are distributed at intervals on both sides of the lifting rod 52. The above arrangement makes the guidance smoother.

[0071] Furthermore, such as Figure 1 and Figure 5 As shown, the rotary gripping device also includes a turntable 3, which is rotatably connected to the mounting mechanism 2 and located below the gripping mechanism 4. The turntable 3 is used to place the workpiece to be gripped. The turntable 3 is connected to the output end of the drive mechanism 1, which is configured to drive the turntable 3 to rotate. The drive mechanism 1 drives the turntable 3 to rotate, causing the workpiece to be gripped on the turntable 3 to rotate to different positions, facilitating the gripping of the workpiece.

[0072] Furthermore, such as Figure 1 and Figure 5 As shown, the turntable 3 includes a turntable body 31 and multiple positioning elements 32; wherein, the turntable body 31 has a circular structure, and the multiple positioning elements 32 are arranged at intervals along the circumference of the turntable body 3, and the positioning elements 32 are used to place the objects to be gripped. The arrangement of the multiple positioning elements 32 allows multiple objects to be gripped to be placed on the turntable 3, improving the working efficiency of the rotating gripping device. Optionally, as... Figure 1As shown, in the embodiment, four positioning members 32 are arranged on the rotary table body 31 at intervals. In other embodiments, the number of positioning members 32 is not limited, and can be two, three, etc.

[0073] Further, as shown in the drawings, Figure 3 The rotary grabbing device further comprises a reciprocating guide mechanism 8. The reciprocating guide mechanism 8 comprises a reciprocating guide rail 81 and a reciprocating sliding block 82 in sliding connection. The reciprocating guide rail 81 extends in the first direction. One of the reciprocating guide rail 81 and the reciprocating sliding block 82 is arranged on the mounting mechanism 2, and the other is arranged on the transmission mechanism 6. Through the sliding connection of the reciprocating sliding block 82 on the reciprocating guide rail 81 between the transmission mechanism 6 and the mounting mechanism 2, the sliding guide of the transmission mechanism 6 between the mounting mechanism 2 can be realized, and the position deviation and other conditions that may affect the grabbing effect are avoided. Optionally, in the embodiment, the reciprocating sliding block 82 is arranged on the transmission mechanism 6, and the reciprocating guide rail 81 is arranged on the mounting mechanism 2. In other embodiments, the reciprocating guide rail 81 can be arranged on the transmission mechanism 6, and the reciprocating sliding block 82 can be arranged on the mounting mechanism 2. Specifically, the reciprocating sliding block 82 in the embodiment is fixedly connected to the top wall of the connecting plate 65.

[0074] Optionally, as shown in the drawings, Figures 1-3 In the embodiment, the reciprocating guide mechanism 8 is provided with two groups, and the two groups of reciprocating guide mechanisms 8 are arranged on the upper and lower sides of the reciprocating frame 23 in the vertical direction. The arrangement of the two groups of reciprocating guide mechanisms 8 provides better guide for the connecting plate 65.

[0075] Further, as shown in the drawings, Figure 1 and Figure 5 The driving mechanism 1 comprises a first driving assembly 11 and a second driving assembly 12. The output end of the first driving assembly 11 is in transmission connection with the transmission mechanism 6, and the first driving assembly 11 drives the transmission mechanism 6 to reciprocate in the first direction. The output end of the second driving assembly 12 is in transmission connection with the rotary table 3, and the second driving assembly 12 drives the rotary table 3 to rotate. When the first driving assembly 11 rotates, it can drive the transmission mechanism 6 to reciprocate linearly in the first direction, and provide continuous power for the transmission mechanism 6. When the second driving assembly 12 starts to operate, the power generated by the second driving assembly 12 can be transmitted to the rotary table 3, and the rotary table 3 can stably rotate around its own axis. By arranging the second driving assembly 12, the switching of different stations of the to-be-grabbed member placed on the rotary table 3 is realized.

[0076] Further, as shown in the drawings, Figure 5As shown, the first drive assembly 11 includes a deflection drive 111, a first drive wheel 112, a first driven wheel 114, a timing belt 113, and a linkage wheel 116. The deflection drive 111 is fixedly connected to the mounting mechanism 2. The first drive wheel 112 is drive-connected to the output end of the deflection drive 111. The first driven wheel 114 is rotatably connected to the mounting mechanism 2. The first driven wheel 114 and the first drive wheel 112 are arranged parallel to each other and spaced apart. A timing rod 115 is coaxially inserted through the first driven wheel 114, extending vertically. The timing belt 113 is sleeved on the first drive wheel 112 and the first driven wheel 114, and both the first drive wheel 112 and the first driven wheel 114 are engaged with the timing belt 113. The linkage wheel 116 is sleeved on the end of the timing rod 115 away from the first driven wheel 114, and the linkage wheel 116 is drive-connected to the transmission mechanism 6. When the second drive assembly 12 rotates, the deflection drive 111 rotates and transmits power to the first drive wheel 112, causing the first drive wheel 112 to begin rotating rapidly around its own axis. This drives the synchronous belt 113, which meshes with the first drive wheel 112, and the first driven wheel 114, which meshes with the synchronous belt 113, to move. The synchronous belt 113 then performs a unidirectional cyclic motion between the first drive wheel 112 and the first driven wheel 114. As the synchronous belt 113 drives the first driven wheel 114, the synchronous rod 115, which is coaxially connected to the first driven wheel 114, and the linkage wheel 116, which is coaxially sleeved on the synchronous rod 115, rotate around the axis of the first driven wheel 114. This, in turn, drives the transmission gear 61, which is connected to the linkage wheel 116, to rotate around its axis. Through the above arrangement, power can be provided to the transmission mechanism 6, thus improving the reliability of the second drive assembly 12. It should be noted that in this embodiment, the deflection drive 111 is a servo motor. In other embodiments, the deflection drive 111 may also be a stepper motor or a rotary cylinder, etc., and there is no limitation here. Specifically, in this embodiment, the deflection drive 111 is fixedly connected to the mounting bracket 21.

[0077] Optionally, such as Figure 5 As shown, in this embodiment, the synchronizing rod 115 is coaxially fitted with the mounting sleeve 22. Multiple first bearings are arranged between the inner circumferential wall of the mounting sleeve 22 and the outer circumferential wall of the synchronizing rod 115, with the multiple first bearings spaced apart vertically. This arrangement makes the rotation of the synchronizing rod 115 smoother and avoids jamming. Specifically, in this embodiment, the first bearing is a deep groove ball bearing.

[0078] Optionally, such as Figure 5As shown, in the embodiment, the driving mechanism 1 further comprises a second driving assembly 12, the second driving assembly 12 comprises a rotary driving piece 121, an extension shaft 122, a second driving wheel 123 and a second driven wheel 124; wherein the rotary driving piece 121 is fixed on the mounting bracket 21, the extension shaft 122 is in transmission connection with the output end of the rotary driving piece 121, the second driving wheel 123 is coaxially sleeved on the extension shaft 122, the second driven wheel 124 is in meshing transmission with the second driving wheel 123, and the second driven wheel 124 is coaxially fixedly connected to the rotary table body 31. When the rotary driving piece 121 rotates and transmits power to the extension shaft 122, and then to the second driving wheel 123 sleeved on the extension shaft 122, the second driving wheel 123 starts to rotate rapidly around its own axis, and then drives the second driven wheel 124 in meshing transmission with the second driving wheel 123 to rotate, and then drives the rotary table body 31 to rotate. Through the above setting, the rotary table body 31 can rotate, so that the to-be-grasped piece on the positioning piece 32 can be rotated to different stations, improving the working efficiency of the rotary grasping device. It should be noted that, in the embodiment, the rotary driving piece 121 is a stepper motor, which has low cost, thereby reducing the manufacturing cost of the driving mechanism 1. In other embodiments, the rotary driving piece 121 can also be a servo motor or a rotary cylinder, etc., which is not limited here.

[0079] Optionally, in the embodiment, the mounting sleeve 22 is coaxially sleeved with a second bearing, the second bearing is in interference fit with the outer peripheral wall of the mounting sleeve 22, and the second bearing is arranged between the rotary table body 31 and the mounting sleeve 22. The above setting plays a role of buffering and damping between the rotary table body 31 and the mounting sleeve 22 when the rotary table body 31 rotates, reducing energy loss and mechanical wear caused by friction and vibration. Specifically, in the embodiment, the second bearing is an inner-outer ring integrated bearing, which does not need a fixing flange and a support seat, and can be used for rotation of the outer ring and the inner ring.

[0080] Further, as shown in the figure, Figure 5 The rotary grasping device comprises a plurality of transmission mechanisms 6 arranged at intervals in the circumferential direction of the rotary table 3, and the driving mechanism 1 is configured to drive the plurality of transmission mechanisms 6 to reciprocate in the first direction. The above setting enables the rotary grasping device to load and unload the to-be-grasped pieces at different stations of the rotary table 3, improving the working efficiency of the rotary grasping device. At the same time, each transmission mechanism 6 can maintain a coordinated and consistent working state, which is conducive to the synchronization of loading and unloading. Optionally, in the embodiment, the rotary grasping device comprises four transmission mechanisms 6 arranged at intervals in the circumferential direction of the rotary table 3. In other embodiments, the number of transmission mechanisms 6 is not limited, as long as the loading and unloading of the materials on the rotary table 3 are met.

[0081] Optionally, as shown in the figure, Figure 5As shown, the rotary grabbing device further comprises an accessory platform 7 fixedly connected to the mounting mechanism 2 and located above the transmission mechanism 6.

[0082] Obviously, the above embodiments of the present application are merely examples for clearly illustrating the present application, and are not intended to limit the implementation modes of the present application. For those skilled in the art, various obvious changes, re-adjustments and substitutions can be made without departing from the protection scope of the present application. Here, it is unnecessary and impossible to enumerate all the implementation modes. Any modification, equivalent substitution and improvement made within the spirit and principle of the present application shall be included in the protection scope of the present application claim.

Claims

1. A rotating gripping device, characterized in that The utility model relates to a kind of rotating gripper, including: Mounting mechanism (2); Driving mechanism (1), the driving mechanism (1) is fixedly arranged on the mounting mechanism (2); Transmission mechanism (6), the first end of the transmission mechanism (6) is in transmission with the output of the driving mechanism (1), the second end of the transmission mechanism (6) is slidably connected on the mounting mechanism (2), the driving mechanism (1) rotates to drive the transmission mechanism (6) reciprocating motion along first direction; Lifting mechanism (5), the first end of the lifting mechanism (5) is fixedly connected with the second end of the transmission mechanism (6), the transmission mechanism (6) can drive the lifting mechanism (5) reciprocating motion along vertical direction, the second end of the lifting mechanism (5) is fixedly connected with grabbing mechanism (4), and the grabbing mechanism (4) is used to grab the piece to be grabbed.

2. The rotating gripping device according to claim 1, characterized in that The lifting mechanism (5) includes: Lifting body (51), the lifting body (51) is fixedly connected with the transmission mechanism (6), the lifting body (51) is provided with first through slot (511), and the first through slot (511) extends along vertical direction; Lifting rod (52), the lifting rod (52) is vertically arranged in the lifting body (51), the first end of the lifting rod (52) is slidably arranged in the first through slot (511), and the second end of the lifting rod (52) is fixedly connected with the grabbing mechanism (4); Lifting guide plate (54), the lifting guide plate (54) is fixedly connected on the mounting mechanism (2), and the lifting guide plate (54) is provided with inclined slot (541); Guide wheel (53), one end of the guide wheel (53) is fixedly connected with the first end of the lifting rod (52), and the other end of the guide wheel (53) is rollingly arranged in the inclined slot (541).

3. The rotating gripper device of claim 2, wherein, The transmission mechanism (6) includes: Transmission gear (61), the transmission gear (61) is in transmission with the output of the driving mechanism (1); Transmission crank (62), the transmission crank (62) is coaxially fixedly connected with the transmission gear (61), and the transmission crank (62) is provided with sliding slot (621), and the sliding slot (621) extends along the first direction; Connecting rod (63), one end of the connecting rod (63) is slidably arranged in the sliding slot (621), and the other end of the connecting rod (63) is rotatably connected with transmission block (64), and the transmission block (64) can reciprocate along the first direction; Connecting plate (65), the connecting plate (65) is fixedly connected with the transmission block (64), and the connecting plate (65) is provided with second through slot (651), and the second through slot (651) extends along vertical direction, the lifting body (51) is fixedly arranged on the connecting plate (65), the second through slot (651) and the first through slot (511) are communicated, and the other end of the guide wheel (53) passes through the second through slot (651) and is rollingly arranged in the inclined slot (541).

4. The rotating gripper device of claim 1, wherein, The rotating gripper further includes: A rotating table (3) is rotationally connected to the mounting mechanism (2) and is located below the grabbing mechanism (4), and is used to place the to-be-grabbed piece. The rotating table (3) is in transmission connection with the output end of the driving mechanism (1), and the driving mechanism (1) is configured to drive the rotating table (3) to rotate.

5. The rotating gripper device of claim 4, wherein, The rotating table (3) comprises: A rotating table body (31) in a circular ring structure; A plurality of positioning pieces (32) are arranged along the circumference of the rotating table (3) body, and are used to place the to-be-grabbed piece.

6. A rotary gripping device according to any one of claims 1-5, characterized in that The rotating grabbing device further comprises: A reciprocating guide mechanism (8) comprising a reciprocating guide rail (81) and a reciprocating sliding block (82) in sliding connection, the reciprocating guide rail (81) extending along the first direction, one of the reciprocating guide rail (81) and the reciprocating sliding block (82) being arranged on the mounting mechanism (2), and the other being arranged on the transmission mechanism (6).

7. The rotating gripper device of claim 4, wherein, The driving mechanism (1) comprises: A first driving assembly (11) having an output end in transmission connection with the transmission mechanism (6), and configured to drive the transmission mechanism (6) to reciprocate along the first direction; A second driving assembly (12) having an output end in transmission connection with the rotating table (3), and configured to drive the rotating table (3) to rotate.

8. The rotating gripper device of claim 7, wherein, The first driving assembly (11) comprises: A deflection driving piece (111) fixedly connected to the mounting mechanism (2); A first driving wheel (112) in transmission connection with the output end of the deflection driving piece (111); A first driven wheel (114) rotationally connected to the mounting mechanism (2), the first driven wheel (114) being arranged in parallel and spaced apart from the first driving wheel (112), the first driven wheel (114) having a synchronous rod (115) coaxially penetrating therethrough, the synchronous rod (115) extending along the vertical direction; A synchronous belt (113) sleeved on the first driving wheel (112) and the first driven wheel (114), and the first driving wheel (112) and the first driven wheel (114) are in meshing connection with the synchronous belt (113); A linkage wheel (116) sleeved on one end of the synchronous rod (115) away from the first driven wheel (114), the linkage wheel (116) being in transmission connection with the transmission mechanism (6).

9. The rotating gripper device of claim 4, wherein, The rotating grabbing device comprises a plurality of transmission mechanisms (6) arranged along the circumference of the rotating table (3), and the driving mechanism (1) is configured to drive the plurality of transmission mechanisms (6) to reciprocate along the first direction.

10. The rotating gripper device of claim 3, wherein, The transmission block (64) is provided with a buffer (641), and the other end of the connecting rod (63) is rotationally connected in the buffer (641), and the buffer (641) can be compressed in the first direction.

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