CN113023629A - Industrial automatic piece mechanical gripper that gets - Google Patents
Industrial automatic piece mechanical gripper that gets Download PDFInfo
- Publication number
- CN113023629A CN113023629A CN202110310248.8A CN202110310248A CN113023629A CN 113023629 A CN113023629 A CN 113023629A CN 202110310248 A CN202110310248 A CN 202110310248A CN 113023629 A CN113023629 A CN 113023629A
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- gripper
- arm
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- 238000003756 stirring Methods 0.000 claims description 2
- 230000000149 penetrating effect Effects 0.000 claims 1
- 238000000034 method Methods 0.000 description 10
- 230000008569 process Effects 0.000 description 9
- 230000009471 action Effects 0.000 description 3
- 238000004891 communication Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000013461 design Methods 0.000 description 2
- 230000002035 prolonged effect Effects 0.000 description 2
- 238000012546 transfer Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
Images
Classifications
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- 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
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/20—Means for actuating or controlling masts, platforms, or forks
- B66F9/24—Electrical devices or systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/02—Arms extensible
- B25J18/025—Arms extensible telescopic
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/126—Rotary actuators
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- 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
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/07504—Accessories, e.g. for towing, charging, locking
-
- 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
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/0755—Position control; Position detectors
-
- 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
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/12—Platforms; Forks; Other load supporting or gripping members
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Structural Engineering (AREA)
- Robotics (AREA)
- Civil Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Manipulator (AREA)
Abstract
The invention belongs to the technical field of workpiece taking mechanical devices, and discloses an industrial automatic workpiece taking mechanical gripper which comprises a rotatable mechanical shaft arm structure, wherein a rotatable telescopic mechanical arm is arranged at the top end of the mechanical shaft arm structure, a rotatable mechanical gripper structure is arranged at the top end of the telescopic mechanical arm, and the mechanical gripper structure comprises a movable and turnable gripper plate. The mechanical gripper has high flexibility degree, is convenient for adjusting in multiple angles and directions, and is convenient for realizing the gripping and placing of articles.
Description
Technical Field
The invention belongs to the technical field of a piece taking mechanical device, and particularly relates to an industrial automatic piece taking mechanical gripper.
Background
During the transportation transport of goods, during concretely involving for example low-order freight, handling tools such as ox, low-order fork truck transport all need be equipped with special ox, fork truck workman on ground, consume manpower and degree of automation not high, can't satisfy the automatic transport demand of tray of mill. Need lift the action when carrying, can realize automatic handling, when lifting the transport, need adopt other equipment to lift the operation, realize the device of lifting, be not convenient for grab and put article, the flexibility ratio is low, be not convenient for rotating, rotate, operate inconveniently, consequently need an industrialization automatic mechanical tongs of getting, be convenient for realize grabbing of article and put.
Disclosure of Invention
The invention aims to: the industrial automatic mechanical gripper for taking the articles is high in flexibility degree, convenient to adjust in multiple angles and directions and convenient to grasp and place the articles.
The technical scheme adopted by the invention is as follows:
the utility model provides an automatic mechanical tongs of getting of industrialization, includes rotatable mechanical shaft arm structure, the top of mechanical shaft arm structure is equipped with rotatable flexible arm, the top of flexible arm is equipped with rotatable mechanical tongs structure, mechanical tongs structure includes portable and can turn the nipper.
Further, the mechanical shaft arm structure includes a main rotating shaft, a bottom plate is arranged at the bottom end of the main rotating shaft, a first bearing used for fixing the main rotating shaft is arranged at the center of the bottom plate, a rotating motor used for driving the main rotating shaft to rotate is arranged on the lower surface of the bottom plate, the bottom plate is supported through a support column arranged on the support plate, a support lug containing two side plates is arranged at the top end of the main rotating shaft, a first auxiliary rotating shaft transversely penetrates through the support lug, a first auxiliary motor fixed on the outer side of the support lug is arranged at one end of the first auxiliary rotating shaft, and a support plate used for supporting the telescopic mechanical arm is arranged on the first auxiliary rotating shaft.
Furthermore, the center department of extension board is equipped with the second bearing, the second bearing internal fixation has run through the supplementary pivot of second, the one end of the supplementary pivot of second is equipped with the supplementary motor of second, the other end of the supplementary pivot of second is equipped with the connecting plate that is used for being connected with flexible arm.
Further, machinery tongs structure includes the tongs bedplate, one side that the tongs bedplate is relative with flexible arm is equipped with the fixed plate, the fixed plate is fixed in on the supplementary pivot of third, the supplementary pivot of third runs through on the linkage ear that is fixed in flexible arm top, the one end of the supplementary pivot of third is equipped with the third auxiliary motor who is fixed in the linkage ear outside, the opposite side of tongs bedplate is equipped with and is used for driving the electronic slide rail of grabbing the board and removing, grab the board and locate on the linkage support, the linkage support includes two slides that upper and lower interval set up, the one end of slide be equipped with electronic slide rail complex slider, be equipped with the cylinder axle that is used for connecting the grabbing board between two upper and lower slides, the medial surface of grabbing the board is equipped with grabs the finger.
Furthermore, a linkage rod movably penetrates through the cylindrical shaft, one end of the linkage rod is hinged with the free end of a telescopic rod of a cylinder in the cylinder through a hinge notch, the cylinder is arranged between two electric slide rails which are spaced up and down, side guide blocks are arranged on two sides of the cylinder, and side slide rails which are connected with the side guide blocks are arranged on the upper surfaces of the electric slide rails below the cylinder; the air cylinder is fixedly connected with the linkage support through the connecting frame.
Furthermore, the mechanical shaft arm structure is arranged on the carrying robot body, the carrying robot body comprises a moving chassis, a support plate is arranged on the moving chassis, and an electric rotating disk is arranged between the moving chassis and the support plate.
Furthermore, a carrying fork body is arranged on one side above the carrier plate, and the carrying fork body can be automatically lifted through a lifting power driving structure.
Furthermore, an electric control box body is arranged on the support plate.
In summary, due to the adoption of the technical scheme, the invention has the beneficial effects that:
1. according to the invention, the loading and unloading of goods are realized through the mechanical gripper structure, the automation degree of the carrying robot is improved, the labor input is reduced, the overall motion of the mechanical gripper structure is flexible, the adjustment of multi-direction different angle states can be realized, the gripping and placing of articles are convenient, and the mechanical gripper is practical and convenient.
2. The grabbing plate with the grabbing fingers can be turned under the driving action of the cylinder, grabbing of articles is facilitated, the cylinder structure can move along with the grabbing plate, the adjustment of the distance between the two grabbing plates is facilitated, the cylinder structure is reasonable in design, the moving process is strong in stability under the guiding effect, and the service life of the grabbing hand structure is prolonged.
Drawings
Fig. 1 is a schematic structural diagram of an industrial automatic part taking mechanical gripper installed on a carrying robot body.
FIG. 2 is a schematic structural diagram of a mechanical arm structure according to the present invention;
FIG. 3 is a top view of the gripper seat plate and the telescoping robot arm of the present invention in connection;
FIG. 4 is an enlarged view of a portion of the area A of FIG. 1 according to the present invention;
FIG. 5 is a schematic view of the gripper of the present invention;
FIG. 6 is a schematic view of the cylinder of the present invention;
FIG. 7 is a schematic view of a carrier fork according to the present invention;
FIG. 8 is a schematic view of a lifting power drive configuration of the present invention;
fig. 9 is a schematic structural diagram of a carrier plate according to the present invention.
The labels in the figure are:
1-a motion chassis; 11-an electric rotating disc; 12-balancing weight block;
2-a carrier plate; 20-an electric control box body; 21-motor slot; 22-a pillar; 23-connecting threaded holes;
3-a lifting power driving structure; 30-a lead screw; 31-dual output shaft motor; 32-turbine rod; 33-gear wheel; 34-an outer shell; 35-mounting threaded holes; 36-an infrared ranging sensor;
4-a carrying fork; 41-linkage plate; 42-thread bush;
5-mechanical shaft arm structure; 51-a main shaft; 52-a base plate; 520-a first bearing; 53-lugs; 54-a first auxiliary spindle; 55-a first auxiliary motor; 56-support plate; 57-a second auxiliary spindle; 571-a second bearing; 572-connecting plate; 58-a second auxiliary motor;
6, a mechanical gripper structure; 61-a gripper seat plate; 611, fixing the plate; 62-electric slide rail; 63-air cylinder; 631-cylinder telescopic rod; 632-side guide block; 633-a connecting frame; 64-a linkage bracket; 641-a slide plate; 642-a slider; 643-cylindrical shaft; 644-linkage rod; 645-hinge slot; 65-grabbing the plate; 651-grab finger;
7-a telescopic mechanical arm; 71-linkage lug; 72-a third auxiliary motor; 73-third auxiliary shaft.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Example 1
The utility model provides an automatic mechanical tongs of getting of industrialization, includes rotatable mechanical shaft arm structure 5, the top of mechanical shaft arm structure 5 is equipped with rotatable flexible arm 7, the top of flexible arm 7 is equipped with rotatable mechanical tongs structure 6, mechanical tongs structure 6 is including portable and can the stirring grab board 65.
As shown in fig. 2, the mechanical arm structure 5 includes a main rotating shaft 51, a bottom plate 52 is disposed at a bottom end of the main rotating shaft 51, a first bearing 520 for fixing the main rotating shaft 51 is disposed at a center of the bottom plate 52, a rotating motor for driving the main rotating shaft 51 to rotate is disposed on a lower surface of the bottom plate 52, the bottom plate 52 is supported by a pillar 22 disposed on the carrier plate 2, a support lug 53 including two side plates is disposed at a top end of the main rotating shaft 51, a first auxiliary rotating shaft 54 transversely penetrates through the support lug 53, a first auxiliary motor 55 fixed on an outer side of the support lug 53 is disposed at one end of the first auxiliary rotating shaft 54, and a support plate 56 for supporting the telescopic mechanical arm 7 is disposed on the first auxiliary rotating shaft 54.
A second bearing 571 is arranged at the center of the support plate 56, a second auxiliary rotating shaft 57 is fixedly penetrated in the second bearing 571, a second auxiliary motor 58 is arranged at one end of the second auxiliary rotating shaft 57, and a connecting plate 572 for connecting with the telescopic mechanical arm 7 is arranged at the other end of the second auxiliary rotating shaft 57.
As shown in fig. 3-6, the mechanical gripper structure 6 comprises a gripper seat plate 61, a fixing plate 611 is arranged on the side of the gripper seat plate 61 opposite to the telescopic mechanical arm 7, the fixing plate 611 is fixed on a third auxiliary rotating shaft 73, the third auxiliary rotating shaft 73 penetrates and is fixed on a linkage lug 71 at the top end of the telescopic mechanical arm 7, one end of the third auxiliary rotating shaft 73 is provided with a third auxiliary motor 72 fixed at the outer side of the linkage lug 71, the other side of the gripper seat plate 61 is provided with an electric slide rail 62 for driving the gripper plate 65 to move, the grasping plate 65 is disposed on the linking bracket 64, the linking bracket 64 includes two sliding plates 641 which are disposed at an interval up and down, one end of the sliding plate 641 is provided with a sliding block 642 matched with the electric sliding rail 62, a cylindrical shaft 643 used for connecting the grabbing plate 65 is arranged between the upper sliding plate 641 and the lower sliding plate 641, and grabbing fingers 651 are arranged on the inner side surface of the grabbing plate 65.
A linkage rod 644 movably penetrates through the cylindrical shaft 643, one end of the linkage rod 644 is hinged to the free end of a cylinder expansion rod 631 in the cylinder 63 through a hinge notch 645, the cylinder 63 is arranged between two electric slide rails 62 which are spaced up and down, side guide blocks 632 are arranged on two sides of the cylinder 63, and lateral slide rails which are connected with the side guide blocks 632 are arranged on the upper surfaces of the electric slide rails 62 below the cylinder 63; the cylinder 63 is fixedly connected with the linkage bracket 64 through a connecting bracket 633.
As shown in fig. 1, the mechanical shaft arm structure 5 is disposed on a carrying robot body, the carrying robot body includes a carrier plate 2 disposed on a moving chassis 1, and an electric rotating disk 11 is disposed between the moving chassis 1 and the carrier plate 2.
As shown in fig. 7-9, a carrying fork 4 is disposed on one side above the carrier plate 2, and the carrying fork 4 is automatically lifted by a lifting power driving mechanism 3.
An electric control box 20 is arranged on the carrier plate 2.
The in-process of concrete work realizes loading and the uninstallation of goods through mechanical tongs structure 6, improves the degree of automation of carrying robot, reduces labour's input, and wherein 6 global motion of mechanical tongs structure are nimble, can realize diversified different angle state's adjustment, are convenient for snatch and place article, and is practical convenient.
The telescopic mechanical arm 7 is driven to rotate in the horizontal direction through the mechanical shaft arm structure 5, the telescopic mechanical arm 7 is driven to turn in the vertical direction through the first auxiliary rotating shaft 54, in addition, the second auxiliary motor 58 can drive the telescopic mechanical arm 7 to rotate, the third auxiliary motor 72 at the end part of a telescopic rod of the telescopic mechanical arm 7 can drive the gripper seat plate 61 to rotate, the electric slide rail 62 is matched with the slide block 642 to drive and adjust the position between the two gripping plates 65, the telescopic rod 631 of the cylinder in the cylinder 63 can be driven to turn the gripping plates 65, the side guide blocks 632 are additionally arranged on the two cylinders 63, and the moving stability can be improved in the process that the cylinder 63 moves along with the gripping plates 65.
The mechanical gripper structure 6 is high in overall assembly degree, flexible and convenient, and is convenient for grabbing and placing articles.
In the whole body, the liftable carrying fork body 4 is adopted, so that the carrying of objects with different bottom plate heights is convenient to realize, the carrying fork body is practical and more convenient, the carrying fork body 4 realizes the driving lifting through the lifting power driving structure 3, the lifting power driving structure 3 has reasonable structural design, the whole body is convenient to install and unload, and the later maintenance is convenient to realize; two gears 33 are driven to rotate by a double-output shaft motor 31 which drives a turbine rod 32 in the lifting power driving structure 3, the power driving process is low in power noise, and in addition, hard parts are linked between driving transmission parts, so that the practical service life of the whole power driving device is prolonged.
In the specific working process, in the process that the carrying fork body 4 needs to be lifted, the double-output-shaft motor 31 is started to work to drive the turbine rods 32 at the two ends to rotate, in the process that the turbine rods 32 rotate, the driving gear 33 rotates, the gear 33 rotates to drive the lead screw 30 to rotate, the carrying fork body 4 is driven to lift, and the infrared distance measuring sensor 36 can assist in detecting the lifting height of the carrying fork body 4.
The industrial automatic pick-up mechanical gripper is high in flexibility degree, facilitates multi-angle and azimuth adjustment, facilitates article grabbing and placing, and can improve the automation degree of a carrying robot by matching with the carrying robot.
The carrying robot body further comprises an operation terminal, the electric control box body 2 further comprises a communication unit, and the operation terminal is communicated with the communication unit through the communication unit and sends a task instruction. Wherein, still include the scram switch on the automatically controlled box 2, when meetting emergency, press the scram button, the motion chassis 1 stops, and emergency eliminates the back, unclamps the button, presses the scram reset button, and the motion chassis 1 resumes the operation.
The electric control box 20 is provided with a control system, the control system includes a processor and a memory, the memory stores programs and data of the automatic transfer robot system, the processor processes or runs the programs and data of the automatic transfer robot system, and the number of the processors can be 1 or more, so as to realize the processing efficiency required by the programs.
Wherein, control system still includes the navigation radar, and the navigation radar specifically can set up the safety protection region including safe type laser radar, and when the object invaded the safety protection region, control system's drive control unit control motion chassis 1 stop motion, and when the object left the safety protection region, motion chassis 1 resumes the walking.
Wherein, the top of automatically controlled box 20 is equipped with 360 degrees panoramic camera, and 360 degrees panoramic camera can cooperate scanning environmental information, and can cooperate the characteristic point information of scanning butt joint object, and the cooperation of being convenient for guides drive arrangement's action.
It should be noted that in the description of the present invention, the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicating the directions or positional relationships are based on the directions or positional relationships shown in the drawings, which are only for convenience of description, and do not indicate or imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
Furthermore, it should be noted that, in the description of the present invention, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; the connection may be direct or indirect via an intermediate medium, or may be a connection between a plurality of elements or a connection between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
The terms "comprises," "comprising," or any other similar term are intended to cover a non-exclusive inclusion, such that a process, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, article, or apparatus.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (9)
1. The utility model provides an automatic mechanical tongs of getting of industrialization, its characterized in that, includes rotatable mechanical axle arm structure (5), the top of mechanical axle arm structure (5) is equipped with rotatable flexible arm (7), the top of flexible arm (7) is equipped with rotatable mechanical tongs structure (6), mechanical tongs structure (6) are including portable and can the stirring grab board (65).
2. The industrial automatic picking mechanical gripper as claimed in claim 1, the mechanical shaft arm structure (5) comprises a main rotating shaft (51), a bottom plate (52) is arranged at the bottom end of the main rotating shaft (51), a first bearing (520) used for fixing the main rotating shaft (51) is arranged at the center of the bottom plate (52), the lower surface of the bottom plate (52) is provided with a rotating motor which drives the main rotating shaft (51) to rotate, the base plate (52) is supported by a support column (22) arranged on the carrier plate (2), the top end of the main rotating shaft (51) is provided with a support lug (53) comprising two side plates, a first auxiliary rotating shaft (54) transversely penetrates through the support lug (53), one end of the first auxiliary rotating shaft (54) is provided with a first auxiliary motor (55) fixed on the outer side of the support lug (53), and a support plate (56) for supporting the telescopic mechanical arm (7) is arranged on the first auxiliary rotating shaft (54).
3. The industrial automatic mechanical gripper for picking up workpieces as claimed in claim 2, wherein a second bearing (571) is arranged at the center of the support plate (56), a second auxiliary rotating shaft (57) is fixedly arranged in the second bearing (571) in a penetrating manner, a second auxiliary motor (58) is arranged at one end of the second auxiliary rotating shaft (57), and a connecting plate (572) for connecting with the telescopic mechanical arm (7) is arranged at the other end of the second auxiliary rotating shaft (57).
4. The industrial automatic mechanical gripper for picking workpieces as claimed in claim 1, wherein the mechanical gripper structure (6) comprises a gripper seat plate (61), a fixing plate (611) is arranged on one side of the gripper seat plate (61) opposite to the telescopic mechanical arm (7), the fixing plate (611) is fixed on a third auxiliary rotating shaft (73), the third auxiliary rotating shaft (73) penetrates through a linkage lug (71) fixed at the top end of the telescopic mechanical arm (7), a third auxiliary motor (72) fixed on the outer side of the linkage lug (71) is arranged at one end of the third auxiliary rotating shaft (73), an electric slide rail (62) for driving the gripper plate (65) to move is arranged on the other side of the gripper seat plate (61), the gripper plate (65) is arranged on a linkage support (64), and the linkage support (64) comprises two slide plates (641) arranged at an upper and lower interval, one end of the sliding plate (641) is provided with a sliding block (642) matched with the electric sliding rail (62), and a cylindrical shaft (643) used for connecting the grabbing plate (65) is arranged between the upper sliding plate (641) and the lower sliding plate (641).
5. The industrial automatic picking mechanical gripper as claimed in claim 4, characterized in that the inner side of the gripping plate (65) is provided with a plurality of gripping fingers (651) which are uniformly arranged, and the gripping fingers (651) are wedge-shaped.
6. The industrial automatic mechanical gripper for picking workpieces as claimed in claim 4, characterized in that a linkage rod (644) is movably penetrated through the cylindrical shaft (643), one end of the linkage rod (644) is hinged to the free end of a cylinder expansion link (631) in the cylinder (63) through a hinge notch (645), the cylinder (63) is arranged between two electric slide rails (62) spaced up and down, side guide blocks (632) are arranged on two sides of the cylinder (63), and a side slide rail connected with the side guide blocks (632) is arranged on the upper surface of the electric slide rail (62) below the cylinder (63); the air cylinder (63) is fixedly connected with the linkage support (64) through a connecting frame (633).
7. The industrial automatic mechanical gripper of claim 1 to 6, wherein the mechanical shaft arm structure (5) is arranged on a carrying robot body, the carrying robot body comprises a moving chassis (1) on which a carrier plate (2) is arranged, and an electric rotating disk (11) is arranged between the moving chassis (1) and the carrier plate (2).
8. The industrial automatic picking mechanical gripper as claimed in claim 7, characterized in that a carrying fork (4) is arranged on one side above the carrier plate (2), and the carrying fork (4) is automatically lifted through a lifting power driving structure (3).
9. The industrial automatic mechanical gripper for picking up workpieces as claimed in claim 7, characterized in that an electric control box (20) is arranged on said carrier plate (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110310248.8A CN113023629A (en) | 2021-03-23 | 2021-03-23 | Industrial automatic piece mechanical gripper that gets |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110310248.8A CN113023629A (en) | 2021-03-23 | 2021-03-23 | Industrial automatic piece mechanical gripper that gets |
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| Publication Number | Publication Date |
|---|---|
| CN113023629A true CN113023629A (en) | 2021-06-25 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110310248.8A Pending CN113023629A (en) | 2021-03-23 | 2021-03-23 | Industrial automatic piece mechanical gripper that gets |
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| CN (1) | CN113023629A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113492395A (en) * | 2021-09-09 | 2021-10-12 | 徐州鑫发机械有限公司 | Mechanical parts centre gripping equipment that intelligence machine-building was used |
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