CN106586876B - A kind of grasping mechanism that can capture multiple products simultaneously - Google Patents
A kind of grasping mechanism that can capture multiple products simultaneously Download PDFInfo
- Publication number
- CN106586876B CN106586876B CN201611190551.4A CN201611190551A CN106586876B CN 106586876 B CN106586876 B CN 106586876B CN 201611190551 A CN201611190551 A CN 201611190551A CN 106586876 B CN106586876 B CN 106586876B
- Authority
- CN
- China
- Prior art keywords
- substrate
- sun gear
- clamping part
- rack
- multiple products
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F3/00—Devices, e.g. jacks, adapted for uninterrupted lifting of loads
- B66F3/24—Devices, e.g. jacks, adapted for uninterrupted lifting of loads fluid-pressure operated
- B66F3/25—Constructional features
- B66F3/26—Adaptations or arrangements of pistons
- B66F3/28—Adaptations or arrangements of pistons telescopic
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F3/00—Devices, e.g. jacks, adapted for uninterrupted lifting of loads
- B66F3/24—Devices, e.g. jacks, adapted for uninterrupted lifting of loads fluid-pressure operated
- B66F3/242—Devices, e.g. jacks, adapted for uninterrupted lifting of loads fluid-pressure operated suspended jacks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F3/00—Devices, e.g. jacks, adapted for uninterrupted lifting of loads
- B66F3/24—Devices, e.g. jacks, adapted for uninterrupted lifting of loads fluid-pressure operated
- B66F3/25—Constructional features
- B66F3/36—Load-engaging elements
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H1/00—Toothed gearings for conveying rotary motion
- F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
- F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Structural Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of grasping mechanisms that can capture multiple products simultaneously, including substrate, planetary gear train is installed on the substrate, there are four the first clamping parts for the gear ring flexible connection of planetary gear train, second clamping part there are four being fixedly connected on substrate, first clamping part and the second clamping part are oppositely arranged, and the substrate is socketed in rack, and swing clamp cylinder is fixedly connected in rack.It is the configuration of the present invention is simple, small, and multiple products can be captured simultaneously.
Description
Technical field：
The present invention relates to product conveying technology fields, and in particular to the grasping mechanism of product.
Background technology：
Production technical field shifts opposite a pair of of clamping part gripping production of the grasping mechanism generally use moving direction of product
Product, a pair of of clamping part grip a product, to capture multiple products, then multiple grasping mechanisms are needed, in this way, not only causing to give birth to
The increase for producing cost, moreover, causing production equipment structure too fat to move.
Invention content：
The purpose of the present invention is overcome the deficiencies of the prior art and provide a kind of gripper that can capture multiple products simultaneously
Structure, it is simple in structure, small, and can capture multiple products simultaneously
The present invention solve the technical problem scheme be：
A kind of grasping mechanism that can capture multiple products simultaneously, including substrate are equipped with planetary gear train on the substrate, row
The gear ring flexible connection of star wheel series is fixedly connected with that there are four the second clamping part, the first clampings there are four the first clamping part on substrate
Portion and the second clamping part are oppositely arranged, and the substrate is socketed in rack, and swing clamp cylinder is fixedly connected in rack.
The substrate is square, and substrate is fixedly arranged above sun gear articulated shaft and four planetary gear articulated shafts, described
Respectively there are one T font slots for molding in the surrounding outer rim of substrate, and four T fonts slots are using sun gear articulated shaft as array axes Circle-Array
It arranges, there are two pilot hole and a quarter circular grooves for molding on the substrate.
The planetary gear train includes that sun gear, four planetary gears and gear ring, sun gear are engaged with planetary gear, planetary gear and tooth
Circle engagement, sun gear are hinged on sun gear articulated shaft, and planetary gear is hinged on planetary gear articulated shaft, and gear ring is hinged on substrate
On；
Circumference array is fixed with four section teeth on the outer wall of the gear ring；
It is formed on the sun gear and rotates and upgrades axis hole, rotate and upgrade the top that axis hole is located at a quarter circular groove.
First clamping part includes the first clamping jaw, and the first clamping jaw is fixed in first connecting portion, solid in first connecting portion
Surely there are rack and T font guide parts, rack and section tooth engagement, T font guide part sleeves are in T font slots；
Second clamping part includes the second clamping jaw, and the second clamping jaw is fixed in second connecting portion, and second connecting portion is fixed
On the bottom surface of substrate；
First clamping jaw and the second clamping jaw are symmetrical arranged face-to-face.
The lower end of the rack is fixedly connected with two guiding axis, and guiding axis sleeve is in pilot hole.
The piston shaft of the swing clamp cylinder and the concentric connection of sun gear, the piston shaft of swing clamp cylinder are fixedly connected with rotation
Axis is promoted, axis is rotated and upgraded and sequentially passes through and rotate and upgrade axis hole and a quarter circular groove, rotates and upgrades axis across the downward of substrate
It stretches section and is fixedly connected with round platform, the diameter of round platform is more than the groove width of a quarter circular groove.
The present invention protrusion effect be：
Compared with prior art, it is simple in structure, small, and can capture multiple products simultaneously.
Description of the drawings：
Fig. 1 is the structural diagram of the present invention；
Fig. 2 is the structural schematic diagram of the substrate of the present invention；
Fig. 3 is another side view of the present invention.
Specific implementation mode：
Embodiment is shown in that Fig. 1 to Fig. 3 such as shows, a kind of grasping mechanism that can capture multiple products simultaneously, including substrate 1, described
Planetary gear train 2 is installed, the gear ring flexible connection of planetary gear train 2 is fixed on substrate 1 to connect there are four the first clamping part 3 on substrate 1
It connecing there are four the second clamping part 4, the first clamping part 3 and the second clamping part 4 are oppositely arranged, and the substrate 1 is socketed in rack 5,
Swing clamp cylinder 6 is fixedly connected in rack 5.
Furthermore, the substrate 1 is square, and substrate 1 is fixedly arranged above sun gear articulated shaft 11 and four
Planetary gear articulated shaft 12, respectively there are one T fonts slot 101, four 101 ether of T fonts slot for molding in the surrounding outer rim of the substrate 1
Sun takes turns articulated shaft 11 as array axes circumference array, and there are two pilot hole 102 and a quarter circular grooves 103 for molding on the substrate.
Furthermore, the planetary gear train 2 includes 21, four planetary gears 22 of sun gear and gear ring 23, sun gear 21
It is engaged with planetary gear 22, planetary gear 22 and gear ring 23 engage, and sun gear 21 is hinged on sun gear articulated shaft 11, and planetary gear 22 is cut with scissors
It is connected on planetary gear articulated shaft 12, gear ring 23 is hinged on substrate 1；
Circumference array is fixed with four section teeth 231 on the outer wall of the gear ring 23；
It is formed on the sun gear 21 and rotates and upgrades axis hole 210, rotated and upgraded axis hole 210 and be located at a quarter circular groove
103 top.
Furthermore, first clamping part 3 includes the first clamping jaw 31, and the first clamping jaw 31 is fixed on first connecting portion
On 32, rack 321 and T fonts guide part 322 are fixed in first connecting portion 32, rack 321 is engaged with section tooth 231, and T fonts are led
To 322 sleeve of portion in T fonts slot 101；
Second clamping part 4 includes the second clamping jaw 41, and the second clamping jaw 41 is fixed in second connecting portion 42, the second connection
Portion 42 is fixed on the bottom surface of substrate 1；
First clamping jaw 31 and the second clamping jaw 41 are symmetrical arranged face-to-face.
Furthermore, the lower end of the rack 5 is fixedly connected with two guiding axis 51, and 51 sleeve of guiding axis is being oriented to
In hole 102.
Furthermore, the piston shaft of the swing clamp cylinder 6 and 21 concentric connection of sun gear, the work of swing clamp cylinder 6
Plug axis is fixedly connected with and rotates and upgrades axis 61, rotates and upgrades axis 61 and sequentially passes through and rotates and upgrades axis hole 210 and a quarter circular groove
103, it rotates and upgrades axis 61 and is fixedly connected with round platform 62 across the lower extended segment of substrate 1, the diameter of round platform 62 is more than a quarter
The groove width of circular groove 103.
Operation principle：First：Swing clamp cylinder 6 starts, and the piston shaft of swing clamp cylinder 6 first turns over certain angle and receiving upwards
Contracting；Second, when the piston shaft of swing clamp cylinder 6 rotates, rotates and upgrades axis 61 and pass through sun gear 21,23 turns of the gear ring of drive of planetary gear 22
Dynamic, the first clamping part 3 is drawn close to the second clamping part 4, to product clamping；Third, when the piston shaft of angle cylinder 6 is shunk, product
It is moving upward therewith.
Embodiment of above is merely to illustrate the present invention, and not limitation of the present invention, in relation to the common of technical field
Technical staff can also make a variety of changes and modification without departing from the spirit and scope of the present invention, therefore all
Equivalent technical solution also belongs to scope of the invention, and scope of patent protection of the invention should be defined by the claims.
Claims (5)
1. a kind of grasping mechanism that can capture multiple products simultaneously, including substrate (1), it is characterised in that：Pacify on the substrate (1)
Equipped with planetary gear train (2), gear ring (23) flexible connection of planetary gear train (2) is solid on substrate (1) there are four the first clamping part (3)
There are four the second clamping part (4), the first clamping part (3) and the second clamping part (4) are oppositely arranged for fixed connection, substrate (1) set
It is connected in rack (5), swing clamp cylinder (6) is fixedly connected in rack (5)；
The piston shaft of the swing clamp cylinder (6) and sun gear (21) concentric connection, the piston shaft of swing clamp cylinder (6) are fixedly connected
Axis (61) is rotated and upgraded, axis (61) is rotated and upgraded and sequentially passes through and rotate and upgrade axis hole (210) and a quarter circular groove (103),
It rotates and upgrades axis (61) and is fixedly connected with round platform (62) across the lower extended segment of substrate (1), the diameter of round platform (62) is more than four points
One of circular groove (103) groove width.
2. a kind of grasping mechanism that can capture multiple products simultaneously according to claim 1, it is characterised in that：The substrate
(1) square, substrate (1) is fixedly arranged above sun gear articulated shaft (11) and four planetary gear articulated shafts (12), the base
Respectively there are one T fonts slots (101) for molding in the surrounding outer rim of plate (1), and four T fonts slots (101) are with sun gear articulated shaft (11)
For array axes circumference array, there are two pilot hole (102) and a quarter circular grooves (103) for molding on the substrate (1).
3. a kind of grasping mechanism that can capture multiple products simultaneously according to claim 1, it is characterised in that：The planet
Train (2) includes that sun gear (21), four planetary gears (22) and gear ring (23), sun gear (21) are engaged with planetary gear (22), row
Star-wheel (22) and gear ring (23) engagement, sun gear (21) are hinged on sun gear articulated shaft (11), and planetary gear (22) is hingedly expert at
On star-wheel articulated shaft (12), gear ring (23) is hinged on substrate (1)；
Circumference array is fixed with four section teeth (231) on the outer wall of the gear ring (23)；
It is formed on the sun gear (21) and rotates and upgrades axis hole (210), rotated and upgraded axis hole (210) and be located at a quarter circular groove
(103) top.
4. a kind of grasping mechanism that can capture multiple products simultaneously according to claim 1, it is characterised in that：Described first
Clamping part (3) includes the first clamping jaw (31), and the first clamping jaw (31) is fixed in first connecting portion (32), in first connecting portion (32)
It is fixed with rack (321) and T fonts guide part (322), rack (321) is engaged with section tooth (231), and T fonts guide part (322) is inserted
It is sleeved in T fonts slot (101)；
Second clamping part (4) includes the second clamping jaw (41), and the second clamping jaw (41) is fixed in second connecting portion (42), and second
Interconnecting piece (42) is fixed on the bottom surface of substrate (1)；
First clamping jaw (31) and the second clamping jaw (41) are symmetrical arranged face-to-face.
5. a kind of grasping mechanism that can capture multiple products simultaneously according to claim 1, it is characterised in that：The rack
(5) lower end is fixedly connected with two guiding axis (51), and guiding axis (51) sleeve is in pilot hole (102).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611190551.4A CN106586876B (en) | 2016-12-21 | 2016-12-21 | A kind of grasping mechanism that can capture multiple products simultaneously |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611190551.4A CN106586876B (en) | 2016-12-21 | 2016-12-21 | A kind of grasping mechanism that can capture multiple products simultaneously |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106586876A CN106586876A (en) | 2017-04-26 |
| CN106586876B true CN106586876B (en) | 2018-11-02 |
Family
ID=58600133
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611190551.4A Active CN106586876B (en) | 2016-12-21 | 2016-12-21 | A kind of grasping mechanism that can capture multiple products simultaneously |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106586876B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107697320B (en) * | 2017-07-31 | 2020-07-07 | 上海宇航***工程研究所 | Claw type aircraft connecting and separating device |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1069464A (en) * | 1991-03-08 | 1993-03-03 | 曼内斯曼股份公司 | Be used to catch, move and/or the device of S. A. symmetric objects |
| CN1872656A (en) * | 2006-06-22 | 2006-12-06 | 武汉理工大学 | Lifting device in serial planet gears in multistage |
| CN200999186Y (en) * | 2007-01-16 | 2008-01-02 | 鞍山市起重机械有限公司 | Double-hook synchronous hoisting electric hoist |
| CN204022246U (en) * | 2014-07-11 | 2014-12-17 | 四川工程职业技术学院 | A kind of forcipated sling |
| CN204823704U (en) * | 2015-08-17 | 2015-12-02 | 常山优博特机电科技有限公司 | Large -scale truck wheel hub's safe hoist |
-
2016
- 2016-12-21 CN CN201611190551.4A patent/CN106586876B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1069464A (en) * | 1991-03-08 | 1993-03-03 | 曼内斯曼股份公司 | Be used to catch, move and/or the device of S. A. symmetric objects |
| CN1872656A (en) * | 2006-06-22 | 2006-12-06 | 武汉理工大学 | Lifting device in serial planet gears in multistage |
| CN200999186Y (en) * | 2007-01-16 | 2008-01-02 | 鞍山市起重机械有限公司 | Double-hook synchronous hoisting electric hoist |
| CN204022246U (en) * | 2014-07-11 | 2014-12-17 | 四川工程职业技术学院 | A kind of forcipated sling |
| CN204823704U (en) * | 2015-08-17 | 2015-12-02 | 常山优博特机电科技有限公司 | Large -scale truck wheel hub's safe hoist |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106586876A (en) | 2017-04-26 |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20180920 Address after: 063700 No. 6 Ping Qing North Road, Luanxian new town, Tangshan City, Hebei (14 storey) Applicant after: Tangshan Guang Yue commerce and Trade Co., Ltd. Address before: 523000 room 436, Qian Qian building, 27 Guangming Road, Dongcheng District, Dongguan, Guangdong Applicant before: DONGGUAN QINZHI INDUSTRIAL DESIGN CO., LTD. |
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| TA01 | Transfer of patent application right | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |