CN110668165A - Material grabbing hand device - Google Patents
Material grabbing hand device Download PDFInfo
- Publication number
- CN110668165A CN110668165A CN201911031906.9A CN201911031906A CN110668165A CN 110668165 A CN110668165 A CN 110668165A CN 201911031906 A CN201911031906 A CN 201911031906A CN 110668165 A CN110668165 A CN 110668165A
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- moving unit
- material grabbing
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- grabbing hand
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- 230000007246 mechanism Effects 0.000 claims abstract description 39
- 230000005540 biological transmission Effects 0.000 claims description 8
- 238000003825 pressing Methods 0.000 claims description 6
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 238000000034 method Methods 0.000 description 5
- 230000008569 process Effects 0.000 description 5
- 230000008859 change Effects 0.000 description 2
- 238000005056 compaction Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/902—Devices for picking-up and depositing articles or materials provided with drive systems incorporating rotary and rectilinear movements
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to the technical field of mechanical clamping jaws, in particular to a mechanical clamping jaw for material grabbing. The material grabbing device comprises a grabbing unit, a horizontal moving unit and a vertical moving unit, wherein the grabbing unit comprises a rotating mechanism and a material grabbing hand, a connecting end of the rotating mechanism is connected with the vertical moving unit, a rotating end of the rotating mechanism is connected with the material grabbing hand, the horizontal moving unit drives the vertical moving unit to do linear reciprocating motion along the horizontal direction, the vertical moving unit drives the rotating mechanism to do linear reciprocating motion along the vertical direction, and the rotating mechanism drives the material grabbing hand to rotate. Compared with the prior art, the invention has the beneficial effects that: simple structure has satisfied the material of different angles and has snatched the demand, makes to grab the material hand device and can use more occasions, has effectually prevented simultaneously because the clamp that the material slope leads to gets the problem.
Description
Technical Field
The invention relates to the technical field of mechanical clamping jaws, in particular to a mechanical clamping jaw for material grabbing.
Background
In the process of mechanical automation, in order to improve work efficiency and save labor force, mechanical clamping jaws are required to be used for taking and placing parts, the existing mechanical clamping jaws generally adopt hydraulic cylinders as power sources, use complicated mechanical connection and are difficult to manufacture, meanwhile, the existing mechanical clamping jaws can only carry out taking and delivering in a certain direction, the requirement of increasing richness cannot be met, and the condition of material inclination in the process of clamping cannot be avoided.
To sum up, the mechanical clamping jaw that is used for the material to snatch at present has that the power supply is unstable, the structure is complicated, unable multi-angle gets and delivers goods scheduling problem for efficiency in the reduction use.
Disclosure of Invention
Aiming at the technical problems, the invention provides a material grabbing hand device.
In order to achieve the purpose, the invention adopts the technical scheme that: the material grabbing hand device comprises a grabbing unit, a horizontal moving unit and a vertical moving unit, wherein the grabbing unit comprises a rotating mechanism and a material grabbing hand, a connecting end of the rotating mechanism is connected with the vertical moving unit, a rotating end of the rotating mechanism is connected with the material grabbing hand, the horizontal moving unit drives the vertical moving unit to do linear reciprocating motion along the horizontal direction, the vertical moving unit drives the rotating mechanism to do linear reciprocating motion along the vertical direction, and the rotating mechanism drives the material grabbing hand to rotate.
Preferably, the rotating mechanism is set to be a rotating cylinder, the connecting end of the rotating cylinder is connected with the vertical moving unit, and the rotating end of the rotating cylinder is connected with the material grabbing hand.
Preferably, the horizontal moving unit comprises a sliding rail and a horizontal cylinder, a sliding block is arranged on the sliding rail, and the telescopic end of the horizontal cylinder is connected with the sliding block.
Preferably, the two sides of the slide rail are both provided with elastic limiting parts.
Preferably, the vertical moving unit comprises a connecting block and a vertical cylinder, one end of the connecting block is connected with the connecting end of the vertical cylinder, the other end of the connecting block is connected with the sliding rail of the horizontal moving unit, and the telescopic end of the vertical cylinder is connected with the material grabbing hand.
Preferably, the horizontal moving unit is connected to the connection block of the vertical moving unit.
As preferred, grab the material hand and include clamping jaw cylinder and clamping jaw, the clamping jaw setting is in clamping jaw cylinder both sides, and the link of clamping jaw cylinder is connected with the flexible end of vertical cylinder, and the flexible end of clamping jaw cylinder is connected with drive mechanism's one end, and drive mechanism's the other end is connected with the clamping jaw, and clamping jaw cylinder drive mechanism drives opening and closing of clamping jaw.
Preferably, a pressing plate is arranged at the lower part of the clamping jaw air cylinder.
Preferably, the clamping jaw is provided with a cross bar and a plurality of clamping parts arranged on the cross bar,
preferably, the gripping part is provided in a U-shape.
Compared with the prior art, the invention has the beneficial effects that:
according to the material grabbing hand device, the power mechanism of the horizontal moving unit is set to be the telescopic cylinder, the structure is simple, the elastic limiting piece is arranged on the sliding rail, hard collision generated in the moving process of the mechanism is avoided, and the purposes of protecting devices and reducing noise are achieved. Meanwhile, the rotary air cylinder is arranged on the grabbing unit of the material grabbing hand device, so that the material grabbing requirements of different angles are met, and the material grabbing hand device can be applied to more occasions; set up the clamp plate on grabbing the material hand, press the material compaction before pressing from both sides the material, effectually prevented because the clamp that the material slope leads to gets the problem.
The features and advantages of the present invention will become more apparent from the detailed description of the invention when taken in conjunction with the drawings.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a view of the overall framework of a material grabbing hand device
FIG. 2 is a schematic view of a grabbing unit structure
FIG. 3 is a schematic view of a clamping jaw cylinder structure
FIG. 4 is a cross-sectional view of the interior of the jaw cylinder mechanism
In the above figures:
1-1 horizontal cylinder 1-2 slide rail 1-3 elastic limiting piece 1-4 vertical cylinder
1-5 sliding block 2 connecting block 3 grabbing unit 3-1 rotating cylinder
3-2 clamping jaw 3-3 clamping jaw air cylinder 3-4 pressing plate 3-5 transmission mechanism
3-6 material grabbing hand
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.
In the description of the present invention, it should be noted that the terms "inside", "outside", "upper", "lower", "front", "rear", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
Referring to fig. 1-4, the invention provides a material grabbing hand device, which comprises a grabbing unit 3, a horizontal moving unit and a vertical moving unit, wherein the grabbing unit 3 comprises a rotating mechanism and material grabbing hands 3-6, a connecting end of the rotating mechanism is connected with the vertical moving unit, a rotating end of the rotating mechanism is connected with the material grabbing hands 3-6, the horizontal moving unit drives the vertical moving unit to do linear reciprocating motion along the horizontal direction, the vertical moving unit drives the rotating mechanism to do linear reciprocating motion along the vertical direction, and the rotating mechanism drives the material grabbing hands 3-6 to rotate.
The horizontal moving unit comprises a sliding rail 1-2 and a horizontal cylinder 1-1, a sliding block 1-5 is arranged on the sliding rail 1-2, and the telescopic end of the horizontal cylinder 1-1 is connected with the sliding block 1-5. The horizontal cylinder 1-1 can drive the sliding block 1-5 to move on the sliding rail 1-2. Elastic limiting parts 1-3 are arranged on two sides of the sliding rail 1-2, the grabbing unit 3 is limited within a preset range, the mechanism is prevented from being broken down, rigid collision in the moving process of the mechanism is avoided, and the purposes of protecting devices and reducing noise are achieved.
The vertical moving unit comprises a connecting block 2 and vertical cylinders 1-4, one end of the connecting block 2 is connected with the connecting ends of the vertical cylinders 1-4, the other end of the connecting block 2 is connected with the sliding rails 1-2 of the horizontal moving unit, and the telescopic ends of the vertical cylinders 1-4 are connected with the material grabbing hands 3-6. The horizontal moving unit is connected with the connecting block 2 of the vertical moving unit, so that the unstable connection through the sliding blocks 1-5 is prevented, and the stable structure is ensured.
According to the material grabbing hand device, the grabbing unit 3 is enabled to move in the vertical direction through the vertical air cylinders 1-4 to reach the material storage position, the grabbing hand 3-6 is used for grabbing, and after grabbing is finished, the vertical air cylinders 1-4 act again to enable the grabbing unit 3 to be lifted up. Subsequently, the grabbing unit 3 slides along with the sliding block 1-5 on the sliding rail 1-2 to a place to be transported under the driving of the horizontal cylinder 1-1.
The rotating mechanism is arranged as a rotating cylinder 3-1, the connecting end of the rotating cylinder 3-1 is connected with the vertical moving unit, and the rotating end of the rotating cylinder 3-1 is connected with the material grabbing hand 3-6. The material grabbing hand 3-6 comprises a clamping jaw cylinder 3-3 and clamping jaws 3-2, the clamping jaws 3-2 are arranged on two sides of the clamping jaw cylinder 3-3, a connecting end of the clamping jaw cylinder 3-3 is connected with a telescopic end of a vertical cylinder, the telescopic end of the clamping jaw cylinder 3-3 is connected with one end of a transmission mechanism 3-5, the other end of the transmission mechanism 3-5 is connected with the clamping jaws 3-2, and the clamping jaw cylinder 3-3 drives the transmission mechanism 3-5 to drive the clamping jaws 3-2 to open and close. The clamping jaw air cylinder 3-3 is connected with the interior of the clamping jaw 3-2 through a transmission mechanism 3-5, and the clamping jaw air cylinder 3-3 can drive the clamping jaws at two sides in a 3-2 state through self expansion and contraction.
The lower part of the clamping jaw cylinder 3-3 is provided with a pressing plate 3-4, so that materials can be conveniently compacted before being clamped, and the materials can be conveniently clamped by a material grabbing hand 3-6. Clamping jaw 3-2 sets up to the horizontal pole and sets up a plurality of clamp portion of getting on the horizontal pole, it sets up to the U type to press from both sides the portion of getting, realizes effectively firmly snatching the material.
In the process of clamping materials, the material grabbing hand 3-6 is driven by the rotary cylinder 3-1 to align the materials to be grabbed, before the material grabbing hand 3-6 clamps the materials, the pressing plate 3-4 firstly compacts the materials to prevent the materials from being clamped normally due to inclination of the materials, and after compaction, the clamping jaw 3-2 executes clamping action under the driving of the clamping jaw cylinder 3-3. It is worth mentioning that the material grabbing hand 3-6 can be driven to rotate by different angles by setting the rotation range of the rotating cylinder 3-1 so as to meet different task requirements.
The above description is only a preferred embodiment of the present invention, and not intended to limit the present invention in other forms, and any person skilled in the art may apply the above modifications or changes to the equivalent embodiments with equivalent changes, without departing from the technical spirit of the present invention, and any simple modification, equivalent change and change made to the above embodiments according to the technical spirit of the present invention still belong to the protection scope of the technical spirit of the present invention.
Claims (10)
1. Grab material hand device, its characterized in that: the material grabbing device comprises a grabbing unit, a horizontal moving unit and a vertical moving unit, wherein the grabbing unit comprises a rotating mechanism and a material grabbing hand, a connecting end of the rotating mechanism is connected with the vertical moving unit, a rotating end of the rotating mechanism is connected with the material grabbing hand, the horizontal moving unit drives the vertical moving unit to do linear reciprocating motion along the horizontal direction, the vertical moving unit drives the rotating mechanism to do linear reciprocating motion along the vertical direction, and the rotating mechanism drives the material grabbing hand to rotate.
2. The material grabbing hand device according to claim 1, wherein: the rotating mechanism is set as a rotating cylinder, the connecting end of the rotating cylinder is connected with the vertical moving unit, and the rotating end of the rotating cylinder is connected with the material grabbing hand.
3. The material grabbing hand device according to claim 1, wherein: the horizontal moving unit comprises a sliding rail and a horizontal cylinder, a sliding block is arranged on the sliding rail, and the telescopic end of the horizontal cylinder is connected with the sliding block.
4. A gripper apparatus according to claim 3, wherein: both sides of the slide rail are provided with elastic limiting parts.
5. The material grabbing hand device according to claim 1, wherein: the vertical moving unit comprises a connecting block and a vertical cylinder, one end of the connecting block is connected with the connecting end of the vertical cylinder, the other end of the connecting block is connected with the sliding rail of the horizontal moving unit, and the telescopic end of the vertical cylinder is connected with the material grabbing hand.
6. The material grabbing hand device according to claim 5, wherein: the horizontal moving unit is connected with the connecting block of the vertical moving unit.
7. The material grabbing hand device according to claim 5, wherein: the material grabbing hand comprises a clamping jaw air cylinder and clamping jaws, the clamping jaws are arranged on two sides of the clamping jaw air cylinder, the connecting ends of the clamping jaw air cylinder are connected with the telescopic ends of the vertical air cylinder, the telescopic ends of the clamping jaw air cylinder are connected with one end of a transmission mechanism, the other end of the transmission mechanism is connected with the clamping jaws, and the clamping jaw air cylinder drives the transmission mechanism to drive the clamping jaws to open and close.
8. The material grabbing hand device according to claim 7, wherein: and a pressing plate is arranged at the lower part of the clamping jaw cylinder.
9. The material grabbing hand device according to claim 7, wherein: the clamping jaw is provided with a cross rod and a plurality of clamping parts arranged on the cross rod.
10. A gripper apparatus according to claim 9, wherein said gripping section is provided in a U-shape.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911031906.9A CN110668165A (en) | 2019-10-28 | 2019-10-28 | Material grabbing hand device |
| PCT/CN2020/076298 WO2020169092A1 (en) | 2019-02-22 | 2020-02-22 | Material grabbing unit, material grabbing preparation device and packaging machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911031906.9A CN110668165A (en) | 2019-10-28 | 2019-10-28 | Material grabbing hand device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110668165A true CN110668165A (en) | 2020-01-10 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911031906.9A Pending CN110668165A (en) | 2019-02-22 | 2019-10-28 | Material grabbing hand device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110668165A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111547510A (en) * | 2020-05-27 | 2020-08-18 | 上海名起机械制造有限公司 | Clamping jaw mechanism of PCB board collecting and releasing machine suction disc frame, suction disc frame and method for collecting and releasing PCB board |
| CN112591451A (en) * | 2020-12-16 | 2021-04-02 | 四川奥临科技有限公司 | Rotatory flexible material mechanism of grabbing and full-automatic material loading and unloading machine |
| CN112976433A (en) * | 2021-02-22 | 2021-06-18 | 赛轮集团股份有限公司 | Automatic replacing system for vulcanization capsule and control method thereof |
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|---|---|---|---|---|
| DE10355393A1 (en) * | 2003-11-25 | 2005-08-04 | Hauni Primary Gmbh | Handling unit for containers in tobacco processing industry has gripping element for container and carrier unit for gripping element, whereby gripping element is height adjustable by means of carrier unit |
| CN203171619U (en) * | 2013-01-25 | 2013-09-04 | 深圳深蓝精机有限公司 | Efficient grabbing mechanism and grinding device |
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| CN108237548A (en) * | 2018-03-12 | 2018-07-03 | 东莞市万将机电设备有限公司 | A kind of automatic crawl displacement manipulator |
| WO2018171620A1 (en) * | 2017-03-23 | 2018-09-27 | 大连富地重工机械制造有限公司 | Mechanical arm apparatus, and stacking equipment and stacking method |
| CN110203687A (en) * | 2019-07-04 | 2019-09-06 | 深圳市国赛生物技术有限公司 | Grabbing device |
| CN211366149U (en) * | 2019-10-28 | 2020-08-28 | 青岛萨沃特机器人有限公司 | Material grabbing hand device |
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2019
- 2019-10-28 CN CN201911031906.9A patent/CN110668165A/en active Pending
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE10355393A1 (en) * | 2003-11-25 | 2005-08-04 | Hauni Primary Gmbh | Handling unit for containers in tobacco processing industry has gripping element for container and carrier unit for gripping element, whereby gripping element is height adjustable by means of carrier unit |
| CN203171619U (en) * | 2013-01-25 | 2013-09-04 | 深圳深蓝精机有限公司 | Efficient grabbing mechanism and grinding device |
| CN203753953U (en) * | 2014-02-19 | 2014-08-06 | 苏州博众精工科技有限公司 | Material grasping mechanism |
| CN103950723A (en) * | 2014-05-22 | 2014-07-30 | 苏州博众精工科技有限公司 | Rotary grabbing and transferring mechanism |
| CN106006013A (en) * | 2016-07-20 | 2016-10-12 | 苏州凡特斯测控科技有限公司 | Rotation material taking mechanism |
| WO2018171620A1 (en) * | 2017-03-23 | 2018-09-27 | 大连富地重工机械制造有限公司 | Mechanical arm apparatus, and stacking equipment and stacking method |
| CN107825409A (en) * | 2017-11-09 | 2018-03-23 | 无锡百禾工业机器人有限公司 | A kind of feeding mechanical hand |
| CN108237548A (en) * | 2018-03-12 | 2018-07-03 | 东莞市万将机电设备有限公司 | A kind of automatic crawl displacement manipulator |
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| CN211366149U (en) * | 2019-10-28 | 2020-08-28 | 青岛萨沃特机器人有限公司 | Material grabbing hand device |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111547510A (en) * | 2020-05-27 | 2020-08-18 | 上海名起机械制造有限公司 | Clamping jaw mechanism of PCB board collecting and releasing machine suction disc frame, suction disc frame and method for collecting and releasing PCB board |
| CN111547510B (en) * | 2020-05-27 | 2022-02-08 | 上海名起机械制造有限公司 | Clamping jaw mechanism of PCB board collecting and releasing machine suction disc frame, suction disc frame and method for collecting and releasing PCB board |
| CN112591451A (en) * | 2020-12-16 | 2021-04-02 | 四川奥临科技有限公司 | Rotatory flexible material mechanism of grabbing and full-automatic material loading and unloading machine |
| CN112976433A (en) * | 2021-02-22 | 2021-06-18 | 赛轮集团股份有限公司 | Automatic replacing system for vulcanization capsule and control method thereof |
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