CN113800256A - Snatch mechanism and unloader that goes up - Google Patents
Snatch mechanism and unloader that goes up Download PDFInfo
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- CN113800256A CN113800256A CN202111216290.XA CN202111216290A CN113800256A CN 113800256 A CN113800256 A CN 113800256A CN 202111216290 A CN202111216290 A CN 202111216290A CN 113800256 A CN113800256 A CN 113800256A
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- 230000007246 mechanism Effects 0.000 title claims abstract description 43
- 230000003068 static effect Effects 0.000 claims abstract description 6
- 239000012530 fluid Substances 0.000 claims description 14
- 230000005540 biological transmission Effects 0.000 claims description 12
- 230000005484 gravity Effects 0.000 claims description 12
- 230000009471 action Effects 0.000 description 6
- 230000033001 locomotion Effects 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 238000004519 manufacturing process Methods 0.000 description 3
- 230000004308 accommodation Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000007599 discharging Methods 0.000 description 2
- 239000007788 liquid Substances 0.000 description 2
- 230000008901 benefit Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
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- 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
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Abstract
The invention relates to the technical field of machinery, and provides a grabbing mechanism and a loading and unloading device. The pushing part and the fixing part are arranged in a relative sliding mode, the driving part is used for driving the pushing part to slide relative to the fixing part, and the relative position of the pushing part and the fixing part can be limited. When the pushing part slides relative to the fixing part, the pushing part is abutted and matched with each grabbing part to realize the gathering or deviating taking and placing state of each grabbing part; and when the moving part and the fixed part are kept relatively still, each grabbing part is in a static state. Under the non-driving state of the driving part, the relative position of the pushing part and the fixing part can be limited, namely, each grabbing part and the fixing part are kept relatively static, and therefore the situation that the grabbing parts fall off due to grabbing failure can be effectively avoided.
Description
Technical Field
The invention relates to the technical field of machinery, and particularly provides a grabbing mechanism and a feeding and discharging device with the grabbing mechanism.
Background
During the production and manufacturing process, the product needs to be transshipped. At present, the product is mostly grabbed through grabbing device to realize automated production, however, current grabbing device is grabbing the target object and is easily existing and snatch the inefficacy, and lead to the problem that the target object drops.
Disclosure of Invention
The invention aims to provide a grabbing mechanism, and aims to solve the problem that an object is easy to fall off due to grabbing failure in the conventional grabbing mechanism.
In order to achieve the purpose, the invention adopts the technical scheme that:
in a first aspect, the present application provides a grasping mechanism for picking and placing an object, including a fixing portion, a driving portion, a pushing portion, and at least two grasping portions slidably connected to the fixing portion;
the pushing part and the fixing part are arranged in a relatively sliding mode, the driving part is used for driving the pushing part to slide relative to the fixing part and can limit the relative position of the pushing part and the fixing part;
when the pushing part slides relative to the fixing part, the pushing part is abutted and matched with each grabbing part to realize the gathering or deviating taking and placing state of each grabbing part; and when the pushing part and the fixing part are kept relatively still, each grabbing part is in a static state.
The invention has the beneficial effects that: the invention provides a grabbing mechanism, which comprises the following working processes: the fixing part plays a role in fixing and supporting, and the driving part provides driving force to drive the pushing part to slide relative to the fixing part. In the process that the pushing portion slides relative to the fixing portion, the pushing portion is abutted to the corresponding grabbing portion to drive the grabbing portions to gather together or separate simultaneously, namely, the object is taken and placed, and meanwhile, the relative position of the pushing portion and the fixing portion can be limited under the non-driving state of the driving portion. For example, when the driving portion stops driving the pushing portion to slide relative to the fixing portion, each grabbing portion and the fixing portion are kept relatively static, and therefore the situation that the grabbing portions lose efficacy to cause falling of the target object can be effectively avoided.
In one embodiment, each of the grasping portions is disposed at a bottom end portion of the fixing portion at equal intervals with a central axis of the fixing portion as a symmetry center, the pushing portion is disposed inside the fixing portion and slides along an axial direction of the fixing portion, and the pushing portion abuts against each of the grasping portions.
In one embodiment, the fixed portion has a containing cavity therein, the pushing portion includes a sliding plate slidably connected to the containing cavity and a pushing rod disposed on the sliding plate, the sliding plate is adapted to the driving portion, and one end of the pushing rod away from the sliding plate abuts against each of the grabbing portions.
In one embodiment, the push rod has a first abutting inclined surface, and the grabbing part has a second abutting inclined surface matched with the first abutting inclined surface;
when the first abutting inclined plane and the second abutting inclined plane are abutted and slide, the grabbing parts are in a pick-and-place state of gathering or deviating mutually.
In one embodiment, the first abutting inclined surface forms a depression angle with the vertical gravity surface, and the second abutting inclined surface forms an elevation angle with the vertical gravity surface; or the first abutting inclined plane and the gravity vertical plane form an elevation angle included angle, and the second abutting inclined plane and the gravity vertical plane form a depression angle included angle.
In one embodiment, the fixing portion is provided with a sliding groove, the grabbing portion comprises a guide rail connected to the sliding groove in a sliding manner and a clamping hook connected to the guide rail, and the guide rail is abutted and matched with the pushing portion.
In one embodiment, the hook includes a connecting body connected to the guide rail and a hook structure disposed on the connecting body.
In one embodiment, the fixing part is provided with a containing cavity, the pushing part is arranged in the containing cavity and slides relative to the fixing part, the driving part is an input end and an output end which are communicated with the containing cavity, and the input end and the output end are used for external fluid to enter and exit the containing cavity; or the driving part is an input/output end communicated with the accommodating cavity, and the input/output end is used for external fluid to enter and exit the accommodating cavity;
when external fluid enters and exits the accommodating cavity, the pushing part is pushed and limited to be positioned in the accommodating cavity.
In one embodiment, the driving portion includes a power mechanism disposed on the fixing portion and a transmission member connected to an output end of the power mechanism, and the transmission member is connected to the pushing portion.
In a second aspect, the present application further provides a loading and unloading device, including the above-mentioned grabbing mechanism.
The invention has the beneficial effects that: the feeding and discharging device provided by the invention has the advantage that the stability of taking and placing the target object is higher on the basis of the grabbing mechanism.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed for the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a gripping mechanism according to an embodiment of the present invention;
FIG. 2 is a cross-sectional view of a gripping mechanism according to an embodiment of the present invention;
FIG. 3 is a cross-sectional view of a second embodiment of the invention;
fig. 4 is a cross-sectional view of a gripping mechanism according to a third embodiment of the present invention;
FIG. 5 is a cross-sectional view of a fourth embodiment of the invention;
fig. 6 is a schematic structural diagram of a gripping part of the gripping mechanism according to the embodiment of the present invention;
fig. 7 is a partially enlarged view of the contact position of the push rod and the guide rail of the grabbing part according to the embodiment of the present invention.
Wherein, in the figures, the respective reference numerals:
100. a grabbing mechanism; 10. a fixed part; 20. a drive section; 30. a pushing part; 40. a grasping section; 50. a reset member; 10a, an accommodating cavity; 10b, a chute; 31. a sliding plate; 32. a push rod; 30a, a first abutment slope; 40a, a second abutment ramp; 41. a guide rail; 42. a hook is clamped; 421. a connecting body; 422. a hook-shaped structure; 20a, an input end; 20b, an output end; 20c, input and output ends; 21. a power mechanism; 22. a transmission member; 61. a guide rib structure; 62. the guide way structure.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
In the description of the present invention, it is to be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships illustrated in the drawings, and are used merely for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, are not to be construed as limiting the present invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
Referring to fig. 1 and 2, a grabbing mechanism 100 of the present application is used for taking and placing an object. The grasping mechanism is provided on a transfer device, for example, a robot or the like, and performs grasping and releasing operations when the transfer of the target object is required.
The grasping mechanism 100 includes a fixing portion 10, a driving portion 20, a pushing portion 30, and at least two grasping portions 40 slidably connected to the fixing portion 10. Here, the fixing portion 10 plays a role of supporting and fixing, the driving portion 20 provides a power source, the pushing portion 30 realizes output or transmission of power, and the grabbing portion 40 plays a role of grabbing an object, and when the pushing portion 30 outputs or transmits a driving force, each grabbing portion 40 is driven to slide relative to the fixing portion 10, so as to achieve the purpose of picking and placing the object.
The pushing portion 30 and the fixing portion 10 are arranged in a relatively sliding manner, the driving portion 20 can drive the pushing portion 30 to slide relative to the fixing portion 10, and the relative position of the pushing portion 30 and the fixing portion 10 can be limited. Here, when the driving part 20 provides power, the pushing part 30 slides relative to the fixed part 10, and the pushing part 30 acts in contact with each grabbing part 40, so that each grabbing part 40 simultaneously gathers or simultaneously slides away from each other, so as to form the action of grabbing or releasing the object; when the driving part 20 stops outputting power, the pushing part 30 is kept still relative to the fixing part 10, similarly, each grabbing part 40 is in a static state relative to the fixing part 10, at this time, each grabbing part 40 keeps the current grabbing state, and thus, the target object is not easy to fall off from the grabbing parts 40.
The working process of the grabbing mechanism 100 provided by the invention is as follows: the fixing portion 10 plays a role of fixing and supporting, and the driving portion 20 provides a driving force to drive the pushing portion 30 to slide relative to the fixing portion 10. In the process that the pushing portion 30 slides relative to the fixing portion 10, the pushing portion abuts against the corresponding grabbing portion 40 to drive the grabbing portions 40 to gather or separate at the same time, that is, the object is taken and placed, and meanwhile, in the non-driving state of the driving portion 20, the relative position of the pushing portion 30 and the fixing portion 10 can be limited. For example, when the driving portion 20 stops driving the pushing portion 30 to slide relative to the fixing portion 10, each grabbing portion 40 and the fixing portion 10 are kept stationary relative to each other, so that the object falling off due to grabbing failure of the grabbing portions 40 can be effectively avoided.
Referring to fig. 1 and 2, in one embodiment, each grabbing portion 40 is disposed at the bottom end of the fixing portion 10 at equal intervals with the central axis of the fixing portion 10 as the symmetric center, the pushing portion 30 is disposed inside the fixing portion 10 and slides along the axial direction of the fixing portion 10, and the pushing portion 30 abuts against each grabbing portion 40. It can be understood that, under the driving action of the driving portion 20, the pushing portion 30 slides back and forth in the fixing portion 10 along the axial direction thereof, thereby pushing against each grasping portion 40, so that each grasping portion 40 slides toward or away from the central axis of the fixing portion 10 at the same time, forming a grasping state. And, when the driving unit 20 stops driving, each grasping unit 40 maintains the current grasping state while keeping the stationary state with the fixed unit 10.
Illustratively, as shown in fig. 1, the number of the grabbing portions 40 is three, and each grabbing portion 40 is arranged at the bottom end of the fixing portion 10 at equal intervals with the central axis of the fixing portion 10 as the center of symmetry, i.e., the included angle between each grabbing portion 40 is 120 degrees. Of course, the number of gripping portions 40 may be increased according to actual use requirements.
Referring to fig. 2, in an embodiment, the fixed portion 10 has a receiving cavity 10a therein, the pushing portion 30 includes a sliding plate 31 slidably connected to the receiving cavity 10a and a pushing rod 32 disposed on the sliding plate 31, the sliding plate 31 is adapted to the driving portion 20, and an end of the pushing rod 32 away from the sliding plate 31 abuts against each of the grabbing portions 40. It can be understood that the sliding path of the sliding plate 31 is limited in the accommodation chamber 10a, that is, the sliding plate 31 is limited and guided by the inner wall of the accommodation chamber 10a, so that the sliding plate 31 slides along the axial direction of the fixing part 10. Meanwhile, the pushing rod 32 slides in the accommodating cavity 10a along with the sliding plate 31, and one end of the pushing rod 32 away from the sliding plate 31 abuts against each grabbing part 40, so as to drive each grabbing part 40 to slide towards or away from the central axis of the fixing part 10.
Specifically, referring to fig. 2, 4, 6 and 7, the pushing rod 32 has a first abutting inclined surface 30a, and the catching portion 40 has a second abutting inclined surface 40a matched with the first abutting inclined surface 30 a. As can be understood, when the push lever 32 slides with the slide plate 31, the first abutment slope 30a and the second abutment slope 40a abut against each other, that is, the second abutment slope 40a slides on the first abutment slope 30a, thereby changing the driving force direction of the driving part 20. And, in order to realize that the grabbing part 40 has a gathering or separating taking and placing state under the driving of the pushing rod 30. The first abutting inclined surface 30a is provided with a guide rib structure 61, and the second abutting inclined surface 40a is provided with a guide groove structure 62 adapted to the guide rib structure 61. With the guide rib structure 61 being received in the guide groove structure 62, an interconnecting force is formed between the first abutting inclined surface 30a and the second abutting inclined surface 40a, so that the first abutting inclined surface 30a and the second abutting inclined surface 40a do not separate regardless of the movement of the push lever 30 toward or away from the catching portion 40. Of course, the positions of the guide rib structures 61 and the guide groove structures 62 may be reversed, that is, the guide groove structures 62 are formed on the first abutting inclined surface 30a, and the guide rib structures 61 are formed on the second abutting inclined surface 40 a.
For example, when the first abutting inclined surface 30a and the second abutting inclined surface 40a abut and slide, the grasping portions 40 are in the pick-and-place state of being gathered or separated. It will be understood that when the number of the catching portions 40 is two, the push rod 32 has two first abutting inclined surfaces 30a adapted to abut against a corresponding number of second abutting inclined surfaces 40 a. When the number of the catching portions 40 is more than three, the pushing rod 32 is a ring-shaped first abutting inclined surface 30a for abutting and matching with each second abutting surface 40 a.
Referring to fig. 2, in one embodiment, the first abutting inclined surface 30a forms a depression angle with the vertical gravity, and the second abutting inclined surface 40a forms an elevation angle with the vertical gravity. As can be understood, when the push rod 32 slides along the inner wall of the accommodating cavity 10a of the fixing portion 10 and slides towards each of the grabbing portions 40, the first abutting inclined surface 30a of the push rod 32 slides in abutting contact with the second abutting inclined surface 40a of each of the grabbing portions 40, so that each of the grabbing portions 40 moves away from the push rod 32 and is in a separated state; when the pushing rod 32 slides along the inner wall of the accommodating cavity 10a of the fixing portion 10 and slides away from each grabbing portion 40, each grabbing portion 40 moves towards the pushing rod 32 and is in a gathered state.
Alternatively, referring to fig. 4, the difference from the above embodiment is that the first abutment inclined surface 30a and the second abutment inclined surface 40a are inclined in different directions. Specifically, the first abutting inclined surface 30a forms an angle of elevation with the vertical direction of gravity, and the second abutting inclined surface 40a forms an angle of depression with the vertical direction of gravity. Thus, when the push rod 32 slides along the inner wall of the accommodating cavity 10a of the fixing part 10 and slides towards each grabbing part 40, the first abutting inclined surface 30a of the push rod 32 abuts against and slides with the second abutting inclined surface 40a of each grabbing part 40, so that each grabbing part 40 moves towards the push rod 32 and is in a gathered state; when the pushing rod 32 slides along the inner wall of the accommodating cavity 10a of the fixing portion 10 and slides away from each grabbing portion 40, each grabbing portion 40 moves away from the pushing rod 32 and is in a separated state.
Specifically, referring to fig. 1 and 6, in one embodiment, the fixed portion 10 is provided with a sliding slot 10b, the grabbing portion 40 includes a guide rail 41 slidably connected to the sliding slot 10b and a hook 42 connected to the guide rail 41, and the guide rail 41 is abutted to the pushing portion 30. It can be understood that the guide rail 41 slides in the sliding groove 10b to limit the movement track of the hook 42. Alternatively, the hook 42 may be detachably attached to the rail 41, that is, the hook 42 may be replaced according to the object.
Referring to fig. 6, the hook 42 includes a connecting body 421 connected to the rail 41 and a hook structure 422 disposed on the connecting body 421. Here, the connection body 421 plays a role of fixing and connecting. The hook structure 422 is adapted to fit the target.
Illustratively, the object is provided with a blind rivet, the hook-shaped structures 422 are matched with the appearance of the blind rivet, and when the hook-shaped structures 422 of the grabbing parts 40 are in a gathering state, the hook-shaped structures are clamped at the edge side parts of the blind rivet, so that the grabbing action of the object is realized.
Referring to fig. 2, in an embodiment, the fixing portion 10 has a receiving cavity 10a, the pushing portion 30 is disposed in the receiving cavity 10a and slides relative to the fixing portion 10, the driving portion 20 is an input end 20a and an output end 20b communicated with the receiving cavity 10a, and the input end 20a and the output end 20b are used for external fluid to enter and exit the receiving cavity 10 a. It can be understood that, in the present embodiment, the fluid is introduced through the input end 20a and the fluid is discharged through the output end 20b, so as to change the position of the pushing portion 30 in the accommodating chamber 10a, and meanwhile, when the fluid circulation is stopped at both the input end 20a and the output end 20b, the pushing portion 30 stably hovers in the accommodating chamber 10a, so that the grabbing portion 40 abutting against the pushing portion 30 maintains the current position, thereby ensuring the stability in grabbing the object.
Illustratively, as shown in fig. 2, the sliding plate 31 of the pushing portion 30 is accommodated in the accommodating chamber 10a, and the accommodating chamber 10a is divided into two cavities, one of which is communicated with the input end 20a, and the other is communicated with the output end 20b, and the external fluid may be air or liquid, and flows in through the input end 20a and flows out through the output end 20b to adjust the position of the sliding plate 31 in the accommodating chamber 10a, so as to drive the pushing rod 32 to move to abut against each grabbing portion 40, thereby driving each grabbing portion 40 to realize grabbing action.
Alternatively, referring to fig. 3, in another embodiment, the driving portion 20 is an input/output end 20c communicated with the accommodating cavity 10a, and the input/output end 20c is used for allowing external fluid to enter and exit the accommodating cavity 10 a. It is understood that the external fluid may flow into or out of the accommodating chamber 10a through the input and output terminals 20c, and the position of the push portion 30 can be adjusted as well.
Illustratively, as shown in fig. 3, the sliding plate 31 of the pushing part 30 is accommodated in the accommodating chamber 10a, and the accommodating chamber 10a is partitioned to form two cavities, one of which is communicated with the input/output end 20c and the other of which is communicated with the outside, so as to ensure that the sliding plate 31 can move in the accommodating chamber 10 a. And, the external fluid may be air or liquid, and flows into or out of the cavity through the input/output end 20c to adjust the volume of the current cavity, and finally, the position of the sliding plate 31 in the accommodating chamber 10a is adjusted, so that the pushing rod 32 is driven to move to abut against each grabbing portion 40, and each grabbing portion 40 is driven to realize grabbing action.
Preferably, referring to fig. 2 to 5, in an embodiment, a reset piece 50 is further disposed in the accommodating cavity 10a, one end of the reset piece 50 is connected to the pushing portion 30, and the other end is connected to an inner wall of the accommodating cavity 10 a. The initial state of the restoring element 50 is a compression stressed state, that is, the restoring element 50 can be restored to the initial state no matter after being subjected to the squeezing or stretching force, so that the pushing portion 30 can be maintained in the initial triggering state, that is, the initial state of each grabbing portion 40 is maintained, for example, in the initial state, the hook-shaped structures 422 of each grabbing portion 40 are gathered together.
Alternatively, referring to fig. 5, in an embodiment, the driving portion 20 includes a power mechanism 21 disposed on the fixing portion 10 and a transmission member 22 connected to an output end of the power mechanism 21, and the transmission member 22 is connected to the pushing portion 30. It can be understood that, the power mechanism 21 drives the transmission member 22 to make the pushing portion 30 slide in the sliding direction, so as to realize the grabbing action of each grabbing portion 40, and meanwhile, when the power mechanism 21 stops outputting power, each grabbing portion 40 maintains the current grabbing state.
Illustratively, the power mechanism 21 may be a motor, and the transmission member 22 may be a screw assembly. The motor provides power, and the rotary motion of the screw rod assembly is converted into the linear motion of the pushing part 30. Alternatively, the power mechanism 21 is a telescopic cylinder and the transmission member 22 is a transmission rod, and the pushing portion 30 can slide in the fixing portion 10 in the same manner.
The application further provides a loading and unloading device, which comprises the grabbing mechanism 100.
The loading and unloading device provided by the invention has higher stability for taking and placing the target object on the basis of the grabbing mechanism 100.
The present invention is not limited to the above preferred embodiments, and any modifications, equivalent substitutions and improvements made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. The utility model provides a snatch mechanism for get target object and put which characterized in that: comprises a fixed part, a driving part, a pushing part and at least two grabbing parts which are connected to the fixed part in a sliding way;
the pushing part and the fixing part are arranged in a relatively sliding mode, the driving part is used for driving the pushing part to slide relative to the fixing part and can limit the relative position of the pushing part and the fixing part;
when the pushing part slides relative to the fixing part, the pushing part is abutted and matched with each grabbing part to realize the gathering or deviating taking and placing state of each grabbing part; and when the pushing part and the fixing part are kept relatively still, each grabbing part is in a static state.
2. The grasping mechanism according to claim 1, characterized in that: the grabbing parts are arranged at the bottom end part of the fixing part at equal intervals by taking the central axis of the fixing part as a symmetric center, the pushing parts are arranged in the fixing part and slide along the axial direction of the fixing part, and the pushing parts abut against the grabbing parts.
3. The grasping mechanism according to claim 2, characterized in that: the fixed part is internally provided with an accommodating cavity, the pushing part comprises a sliding plate which is connected with the accommodating cavity in a sliding mode and a pushing rod which is arranged on the sliding plate, the sliding plate is matched with the driving part, and one end, far away from the sliding plate, of the pushing rod abuts against each grabbing part.
4. The grasping mechanism according to claim 3, wherein: the pushing rod is provided with a first abutting inclined surface, and the grabbing part is provided with a second abutting inclined surface matched with the first abutting inclined surface;
when the first abutting inclined plane and the second abutting inclined plane are abutted and slide, the grabbing parts are in a pick-and-place state of gathering or deviating mutually.
5. The grasping mechanism according to claim 4, wherein: the first abutting inclined plane and the gravity vertical plane form a depression angle included angle, and the second abutting inclined plane and the gravity vertical plane form an elevation angle included angle; or the first abutting inclined plane and the gravity vertical plane form an elevation angle included angle, and the second abutting inclined plane and the gravity vertical plane form a depression angle included angle.
6. The grasping mechanism according to any one of claims 1 to 5, wherein: the fixed part is provided with a sliding groove, the grabbing part comprises a guide rail which is in sliding connection with the sliding groove and a clamping hook which is connected with the guide rail, and the guide rail is in abutting fit with the pushing part.
7. The grasping mechanism according to claim 6, wherein: the trip is including connecting in the connecting body of guide rail and locating collude shape structure on the connecting body.
8. The grasping mechanism according to any one of claims 1 to 5, wherein: the fixing part is provided with an accommodating cavity, the pushing part is arranged in the accommodating cavity and slides relative to the fixing part, the driving part is an input end and an output end which are communicated with the accommodating cavity, and the input end and the output end are used for allowing external fluid to enter and exit the accommodating cavity; or the driving part is an input/output end communicated with the accommodating cavity, and the input/output end is used for external fluid to enter and exit the accommodating cavity;
when external fluid enters and exits the accommodating cavity, the pushing part is pushed and limited to be positioned in the accommodating cavity.
9. The grasping mechanism according to any one of claims 1 to 5, wherein: the driving part comprises a power mechanism arranged on the fixing part and a transmission part connected to the output end of the power mechanism, and the transmission part is connected to the pushing part.
10. The utility model provides a go up unloader which characterized in that: comprising a gripping mechanism according to any of claims 1 to 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111216290.XA CN113800256A (en) | 2021-10-19 | 2021-10-19 | Snatch mechanism and unloader that goes up |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111216290.XA CN113800256A (en) | 2021-10-19 | 2021-10-19 | Snatch mechanism and unloader that goes up |
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| CN113800256A true CN113800256A (en) | 2021-12-17 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202111216290.XA Pending CN113800256A (en) | 2021-10-19 | 2021-10-19 | Snatch mechanism and unloader that goes up |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115040322A (en) * | 2022-06-10 | 2022-09-13 | 王露 | Quick quantitative medicine taking device for acupoint application |
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