CN113601543B

CN113601543B - Automatic change mechanical tongs conveyer

Info

Publication number: CN113601543B
Application number: CN202111026232.0A
Authority: CN
Inventors: 赵磊; 屈海军
Original assignee: Jiangsu College of Safety Technology
Current assignee: Jiangsu College of Safety Technology
Priority date: 2021-09-02
Filing date: 2021-09-02
Publication date: 2023-03-14
Anticipated expiration: 2041-09-02
Also published as: CN113601543A

Abstract

The invention discloses an automatic mechanical gripper conveyor which comprises two gripping mechanisms, wherein each gripping mechanism comprises a bottom plate, the lower end of each bottom plate is rotatably connected with a gripper, a rotating mechanism used for rotating the gripper is arranged on each bottom plate, the upper end of each bottom plate is fixedly connected with a U-shaped plate, two baffles are arranged on one side of each bottom plate, and a fine adjustment mechanism used for fine adjustment of the two baffles is arranged on each bottom plate. The multi-point grabbing device can grab workpieces with different sizes at multiple points, grab the workpieces conveniently and stably, and cannot slide off.

Description

Automatic change mechanical tongs conveyer

Technical Field

The invention relates to the technical field of mechanical arms, in particular to an automatic mechanical gripper conveyor.

Background

The manipulator is a manipulator which can imitate certain motion functions of human hands and arms and is used for fixingProcedureAutomatic operation of gripping, handling articles or operating toolsDevice for measuring the position of a moving object. Features that it can be programmed to perform various expected tasks, including human and mechanical hands in structure and performanceMachine with a rotatable shaftThe respective advantages; the manipulator is the earliest industrial robot and the earliest modern robot, can replace the heavy labor of people to realize the mechanization and automation of production, can operate under harmful environment to protect personal safety, and is widely applied to mechanical manufacture, metallurgy, electronics, light industry and modern industryAtomic energyIn the modern life, the most advanced technology day and month, the most difference between the robot arm and the arm of human being lies in the flexibility and endurance. That is, the maximum advantage of the manipulator can repeatedly do the same action, and the manipulator never feels tired in the normal condition of the machine! The application of mechanical arms is more and more extensive, and the mechanical arms are high-tech automatic production equipment developed in recent decades, and have the operation accuracy and the ability of completing the operation in the environment. An important branch of industrial robot manipulators.

When current mechanical tongs snatched cylindricality work piece, at the rotation in-process that transports, under the effect of centrifugal force, the cylindricality work piece has the probability to produce and drops, and danger is higher, and current mechanical tongs is mostly the single-point and snatchs, and is being relatively poor to the stability that cylindricality work piece snatched.

To this end, we propose an automated mechanical gripper handler to solve the above problems.

Disclosure of Invention

The invention aims to solve the problems that in the prior art, a mechanical gripper is mostly used for single-point gripping, the gripping stability is poor, and the cylindrical workpiece is easy to fall off when being gripped, and provides an automatic mechanical gripper conveyor.

In order to achieve the purpose, the invention adopts the following technical scheme:

automatic change mechanical tongs conveyer, including two mechanisms of snatching, snatch the mechanism and include the bottom plate, the lower extreme of bottom plate rotates and is connected with the tongs, be equipped with on the bottom plate and be used for carrying out pivoted slewing mechanism to the tongs, the upper end fixedly connected with U template of bottom plate, one side of bottom plate is equipped with two baffles, be equipped with the fine-tuning that is used for carrying out the fine setting to two baffles on the bottom plate.

Preferably, the rotating mechanism comprises a lifting plate arranged in the gripper, the two ends of the lifting plate are rotatably connected with deflection plates, the ends, far away from the lifting plate, of the deflection plates are rotatably connected with the inner side wall of the gripper, the upper end of the lifting plate is fixedly connected with a first threaded rod, the upper end of the first threaded rod slidably penetrates through the bottom plate, a threaded sleeve is sleeved on the outer thread of the first threaded rod, the lower end of the threaded sleeve is rotatably connected with the upper end of the bottom plate, a first motor is fixedly connected with the upper end of the bottom plate, and a driving shaft of the first motor is in transmission connection with the threaded sleeve through a bevel gear set.

Preferably, the bevel gear set comprises a first bevel gear and a second bevel gear which are meshed with each other, the first bevel gear is coaxially and fixedly connected with a driving shaft of the first motor, and the second bevel gear is coaxially and fixedly connected with the threaded sleeve.

Preferably, fine-tuning includes the lateral wall fixed connection's that is close to the bottom plate with the baffle regulating block, be equipped with the adjustment tank on the lateral wall of bottom plate, adjustment tank and regulating block sliding connection, the adjustment tank internal rotation is connected with the second threaded rod, the one end and the regulating block threaded connection of second threaded rod, the other end rotation of second threaded rod runs through bottom plate and coaxial fixedly connected with turning handle.

Preferably, still include elevating system, elevating system includes the diaphragm, two risers of the lower extreme fixedly connected with of diaphragm, two rotate between the riser and be connected with the pivot, the lateral wall fixedly connected with second motor of riser, the drive shaft of second motor rotate run through the riser and with the coaxial fixed connection of pivot, the pivot slip cap is equipped with two and winds the winding up roller outward, it has the lifting chain, two to fix around rolling up on the winding up roller the lower extreme of lifting chain respectively with the upper end fixed connection of two U templates, two be equipped with between the riser and be used for carrying out the adjustment mechanism who adjusts two around the winding up roller position, the upper end of diaphragm is rotated and is connected with the rotor plate, be equipped with on the rotor plate and be used for turning to the steering mechanism that the diaphragm turned to.

Preferably, adjustment mechanism includes the two-way threaded rod of being connected with two riser relative lateral walls rotation, two-way threaded rod external thread cover is equipped with two thread blocks, two the upper end of thread block all with the lower extreme sliding connection of diaphragm, the pivot runs through two thread blocks and sets up, two the lateral wall that the thread block is relative rotates with two lateral walls around the winding up roller back of the body respectively and is connected, fixedly connected with fourth motor on the lateral wall of riser, the drive shaft of fourth motor rotate run through the riser and with the coaxial fixed connection of two-way threaded rod.

Preferably, threaded holes matched with the bidirectional threaded rods are formed in the two threaded blocks, and the internal threads of the two threaded holes are opposite in screwing direction.

Preferably, the steering mechanism comprises a third motor fixedly connected with the upper end of the rotating plate, and a driving shaft of the third motor rotatably penetrates through the rotating plate and is coaxially and fixedly connected with the upper end of the transverse plate.

Preferably, the upper end of the transverse plate is fixedly connected with two sliding blocks, the lower end of the rotating plate is provided with an annular groove matched with the sliding blocks, and the two sliding blocks are both in sliding connection with the annular groove.

Compared with the prior art, the invention has the beneficial effects that:

1. the grabbing mechanism is arranged, the threaded rod is driven to ascend and descend through the first motor, the threaded rod drives the lifting plate to ascend and descend, the lifting plate drives the grippers to rotate through the two deflection plates, a workpiece can be grabbed, the cylindrical workpiece can be blocked through the baffle plate, the cylindrical workpiece cannot slide when being hoisted, and the workpiece is grabbed conveniently;

2. through setting up elevating system, it rotates to drive the pivot through the second motor, the pivot drives and rotates around the winding up roller, it snatchs the mechanism lift to drive through two lifting chains around the winding up roller, it rotates to drive two-way threaded rod through the fourth motor, two threaded rod drive two screw block relative movement, two screw block drive two around winding up roller relative movement, two drive elevating system relative movement through two lifting chains around the winding up roller, can adjust the distance between two elevating system, snatch through the multiple spot to the work piece, be applicable to and snatch not unidimensional work piece, suitable for scope is wider.

The multi-point grabbing device can grab workpieces with different sizes at multiple points, grab the workpieces conveniently and stably, and cannot slide off.

Drawings

FIG. 1 is a front perspective view of an automated mechanical gripper handler in accordance with the present invention;

FIG. 2 is a perspective view of the gripping mechanism of the automated mechanical gripper handler of the present invention;

FIG. 3 is a front perspective view of the gripper mechanism of the automated mechanical gripper handler of the present invention;

fig. 4 is a side perspective view of a gripper mechanism in the automated mechanical gripper handler of the present invention.

In the figure: the automatic lifting device comprises a base plate 1, a gripper 2, a rotating mechanism 3, a U-shaped plate 4, a baffle 5, a fine adjustment mechanism 6, a lifting plate 7, a deflection plate 8, a first threaded rod 9, a threaded sleeve 10, a first motor 11, a bevel gear set 12, a first bevel gear 13, a second bevel gear 14, an adjusting block 15, an adjusting groove 16, a rotating handle 17, a transverse plate 18, a vertical plate 19, a rotating shaft 20, a second motor 21, a winding roller 22, a lifting chain 23, an adjusting mechanism 24, a rotating plate 25, a steering mechanism 26, a bidirectional threaded rod 27, a threaded block 28, a third motor 29, a sliding block 30, an annular groove 31, a second threaded rod 32 and a fourth motor 33.

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 is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention.

Referring to fig. 1-4, the automatic mechanical gripper conveyor comprises two grabbing mechanisms, each grabbing mechanism comprises a bottom plate 1, the lower end of the bottom plate 1 is rotatably connected with a gripper 2, a rotating mechanism 3 used for rotating the gripper is arranged on the bottom plate 1, concretely, the rotating mechanism 3 comprises a lifting plate 7 arranged in the gripper 2, two ends of the lifting plate 7 are rotatably connected with deflection plates 8, one ends, far away from the lifting plate 7, of the two deflection plates 8 are rotatably connected with the inner side wall of the gripper 2, a first threaded rod 9 is fixedly connected to the upper end of the lifting plate 7, the upper end of the first threaded rod 9 slides to penetrate through the bottom plate 1, a threaded sleeve 10 is sleeved on the outer threaded sleeve of the first threaded rod 9, and the lower end of the threaded sleeve 10 is rotatably connected with the upper end of the bottom plate 1.

In the present invention, the upper end of the bottom plate 1 is fixedly connected with a first motor 11, it should be noted that the first motor 11 may be a stepping motor of PLX type, and the stepping motor is electrically connected to an external power supply, for the prior art, details are not described herein, a driving shaft of the first motor 11 is in transmission connection with the threaded sleeve 10 through a bevel gear set 12, it is worth mentioning that the bevel gear set 12 includes a first bevel gear 13 and a second bevel gear 14 which are engaged with each other, the first bevel gear 13 is coaxially and fixedly connected with the driving shaft of the first motor 11, the second bevel gear 14 is coaxially and fixedly connected with the threaded sleeve 10, the upper end of the bottom plate 1 is fixedly connected with a U-shaped plate 4, one side of the bottom plate 1 is provided with two baffle plates 5, the bottom plate 1 is provided with a fine adjustment mechanism 6 for fine adjustment of the two baffle plates 5, further, the fine adjustment mechanism 6 includes an adjustment block 15 fixedly connected with a side wall of the baffle plate 5 close to the bottom plate 1, a side wall of the bottom plate 1 is provided with an adjustment groove 16, and the adjustment groove 16 is slidably connected with the adjustment block 15.

In the invention, a second threaded rod 32 is rotatably connected in an adjusting groove 16, one end of the second threaded rod 32 is in threaded connection with an adjusting block 15, the other end of the second threaded rod 32 rotatably penetrates through a bottom plate 1 and is coaxially and fixedly connected with a rotating handle 17, it is required to explain that the lifting mechanism further comprises a transverse plate 18, the lower end of the transverse plate 18 is fixedly connected with two vertical plates 19, a rotating shaft 20 is rotatably connected between the two vertical plates 19, the side wall of each vertical plate 19 is fixedly connected with a second motor 21, the second motor 21 can be a stepping motor of a PLX type and is electrically connected with an external power supply, the lifting mechanism is in the prior art and is not repeated specifically, a driving shaft of the second motor 21 rotatably penetrates through the vertical plates 19 and is coaxially and fixedly connected with the rotating shaft 20, two winding rollers 22 are sleeved outside the rotating shaft 20 in a sliding manner, lifting chains 23 are fixedly wound on the winding rollers 22, the lower ends of the two lifting chains 23 are respectively and fixedly connected with the upper ends of the two opposite side walls 4 of two U-shaped plates, an adjusting mechanism 24 for adjusting the positions of the two winding rollers 22 is arranged between the two vertical plates 19, and further, the adjusting mechanism 24 comprises two bidirectional shaping plates 27 connected with the threaded rod 19.

In the present invention, two threaded blocks 28 are sleeved on an external thread of a bidirectional threaded rod 27, further, threaded holes matched with the bidirectional threaded rod 27 are respectively formed in the two threaded blocks 28, the turning directions of internal threads of the two threaded holes are opposite, the upper ends of the two threaded blocks 28 are both slidably connected with the lower end of a transverse plate 18, a rotating shaft 20 is arranged to penetrate through the two threaded blocks 28, opposite side walls of the two threaded blocks 28 are respectively rotatably connected with two side walls opposite to a winding roller 22, a fourth motor 33 is fixedly connected to a side wall of a vertical plate 19, it is to be noted that the fourth motor 33 may be a PLX-type stepping motor and is electrically connected to an external power supply, which is not described in detail herein in the prior art, a driving shaft of the fourth motor 33 rotatably penetrates through the vertical plate 19 and is coaxially and fixedly connected with the bidirectional threaded rod 27, a rotating plate 25 is rotatably connected to the upper end of the transverse plate 18, a steering mechanism 26 for steering the transverse plate 18 is arranged on the rotating plate 25, it is worth mentioning that the steering mechanism 26 includes a third motor 29 fixedly connected to the upper end of the rotating plate 25, it is to be noted that the type of the third motor 29 may be a PLX-type stepping motor, and is electrically connected to the external power supply, and is not described in the rotating shaft, and is electrically connected to the rotating plate 18, and is not specifically connected to be connected to the rotating plate 29, which is fixedly connected to the rotating shaft of the prior art.

According to the invention, the second motor 21 drives the rotating shaft 20 to rotate, the rotating shaft 20 drives the winding roller 22 to rotate, the winding roller 22 drives the U-shaped plate 4 to lift through the two lifting chains 23, the U-shaped plate 4 drives the hand grips 2 to lift through the bottom plate 1, the four motor 33 drives the two-way threaded rod 27 to rotate, the two-way threaded rod 27 drives the two threaded blocks 28 to move relatively, the two threaded blocks 28 drive the two winding rollers 22 to move relatively, the two winding rollers 22 drive the U-shaped plate 4 to move relatively through the two lifting chains 23, the U-shaped plate 4 drives the hand grips 2 to move through the bottom plate 1, the distance between the two hand grips 2 can be adjusted, the first motor 11 drives the first bevel gear 13 to rotate, the first bevel gear 13 drives the second bevel gear 14 to rotate, the second bevel gear 14 drives the threaded sleeve 10 to rotate, the threaded sleeve 10 drives the first threaded rod 9 to lift, the first threaded rod 9 drives the lifting plate 7 to lift, the lifting plate 7 drives the hand grips 2 to rotate through the two deflection plates 8, a workpiece can be gripped, and the cylindrical workpiece can be blocked by arranging the baffle plates.

It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, 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, method, article, or apparatus.

The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.

Claims

1. The automatic mechanical gripper conveyor comprises two gripping mechanisms, and is characterized in that the gripping mechanisms comprise a bottom plate (1), the lower end of the bottom plate (1) is rotatably connected with a gripper (2), a rotating mechanism (3) for rotating the gripper is arranged on the bottom plate (1), the upper end of the bottom plate (1) is fixedly connected with a U-shaped plate (4), one side of the bottom plate (1) is provided with two baffles (5), a fine adjustment mechanism (6) for fine adjustment of the two baffles (5) is arranged on the bottom plate (1), the rotating mechanism (3) comprises a lifting plate (7) arranged in the gripper (2), two ends of the lifting plate (7) are rotatably connected with deflection plates (8), one ends of the deflection plates (8), far away from the lifting plate (7), are rotatably connected with the inner side wall of the gripper (2), the upper end of the lifting plate (7) is fixedly connected with a first threaded rod (9), the upper end of the first threaded rod (9) penetrates through the bottom plate (1) and is arranged, a threaded sleeve (10) is sleeved on the first threaded sleeve (10), the lower end of the first threaded sleeve (10) is connected with a transmission shaft (11), and a motor (11) is connected with a first taper sleeve (11), the bevel gear set (12) comprises a first bevel gear (13) and a second bevel gear (14) which are meshed with each other, the first bevel gear (13) is coaxially and fixedly connected with a driving shaft of a first motor (11), the second bevel gear (14) is coaxially and fixedly connected with a threaded sleeve (10), the fine adjustment mechanism (6) comprises an adjusting block (15) fixedly connected with a side wall of a baffle plate (5) close to the bottom plate (1), an adjusting groove (16) is formed in the side wall of the bottom plate (1), the adjusting groove (16) is slidably connected with the adjusting block (15), a second threaded rod (32) is rotatably connected in the adjusting groove (16), one end of the second threaded rod (32) is in threaded connection with the adjusting block (15), the other end of the second threaded rod (32) is rotatably connected with a rotating handle (17) in a coaxial and fixedly connected mode through the bottom plate (1), the lifting mechanism comprises a transverse plate (18), two vertical plates (19) are fixedly connected at the lower end of the transverse plate (18), a rotating shaft (20) is rotatably connected between the two vertical plates (19), a side wall of the second bevel gear (19) is fixedly connected with a rotating shaft (21), and two vertical plates (21) are rotatably connected with a rolling motor (22) in a rolling shaft (21) in a rolling way, and a rolling motor roller is sleeved on the rotating shaft (21), it has lift chain (23) to fix around rolling up roller (22) go up to wind, two the lower extreme of lift chain (23) respectively with the upper end fixed connection of two U templates (4), two be equipped with between riser (19) and be used for carrying out adjustment mechanism (24) of adjusting two around winding up roller (22) positions, the upper end of diaphragm (18) is rotated and is connected with rotor plate (25), be equipped with steering mechanism (26) that are used for turning to diaphragm (18) on rotor plate (25), adjustment mechanism (24) include two-way threaded rod (27) of being connected with two riser (19) relative lateral wall rotations, two-way threaded rod (27) external thread cover is equipped with two thread blocks (28), the upper ends of the two thread blocks (28) are connected with the lower end of the transverse plate (18) in a sliding mode, the rotating shaft (20) penetrates through the two thread blocks (28), the two side walls, opposite to the thread blocks (28), are respectively connected with the two side walls, back to back, of the winding roller (22) in a rotating mode, a fourth motor (33) is fixedly connected onto the side wall of the vertical plate (19), a driving shaft of the fourth motor (33) penetrates through the vertical plate (19) in a rotating mode and is fixedly connected with the two-way threaded rod (27) in a coaxial mode, threaded holes matched with the two-way threaded rod (27) are formed in the two thread blocks (28), the rotating directions of internal threads of the two threaded holes are opposite, steering mechanism (26) including with rotating plate (25) upper end fixed connection's third motor (29), the drive shaft of third motor (29) rotates and runs through rotating plate (25) and with the coaxial fixed connection in upper end of diaphragm (18), two blocks of slider (30) of upper end fixed connection of diaphragm (18), the lower extreme of rotating plate (25) be equipped with slider (30) assorted ring channel (31), two slider (30) all with ring channel (31) sliding connection.