CN203542603U - Grabbing mechanism - Google Patents
Grabbing mechanism Download PDFInfo
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- CN203542603U CN203542603U CN201320775475.9U CN201320775475U CN203542603U CN 203542603 U CN203542603 U CN 203542603U CN 201320775475 U CN201320775475 U CN 201320775475U CN 203542603 U CN203542603 U CN 203542603U
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Abstract
The utility model relates to a grabbing mechanism which comprises a base, an X-axis mechanism, a Y-axis mechanism, a lifting clamping jaw mechanism and a correcting mechanism. The X-axis mechanism is mounted on the base, the Y-axis mechanism is mounted on the X-axis mechanism, the lifting clamping jaw mechanism is mounted on the Y-axis mechanism, and the correcting mechanism is mounted on the side face of the base. After a correcting air cylinder drives a push block of the correcting air cylinder to correct a product, the Y-axis mechanism drives the lifting clamping jaw mechanism to move in the X-axis to be above the product, a lifting air cylinder drives a clamping jaw air cylinder to move downwards to the position of the product, the clamping jaw air cylinder drives a clamping jaw to grab the product, and then the Y-axis mechanism drives the lifting clamping jaw mechanism again to place the product at a standard operation position. The grabbing mechanism is used for grabbing the product from an assembly line and placing the product at the standard operation position and can be matched with other mechanisms to work, the conveying distance of the grabbing mechanism can be controlled accurately, and the product can be grabbed fast and accurately.
Description
Technical field:
The utility model relates to a kind of grasping mechanism apparatus field, relates in particular a kind of for capturing product from streamline and being placed on the locational a kind of grasping mechanism of standard operation.
Background technology:
In Product Assembly process, product is on streamline time, need to product be picked up through jaw, and be transported to standard operation position, now just need a kind of grasping mechanism to complete aforesaid operations, jaw can be regulated in the position of X-direction, Y direction and vertical direction, finally make jaw arrive desired position gripping product.
Utility model content:
The purpose of this utility model is to provide a kind of grasping mechanism, and for capturing product from streamline and being placed on standard operation position, this mechanism can coordinate other mechanism's work, and its transportation range can accurately be controlled, and captures product quick and precisely.
Technology solution of the present utility model is as follows:
A grasping mechanism, it comprises base, X-axis mechanism, Y-axis mechanism, lifting clip claw mechanism and guiding mechanism, described X-axis mechanism is arranged on base; Described Y-axis mechanism is arranged in X-axis mechanism; Described lifting clip claw mechanism is arranged in Y-axis mechanism; Described guiding mechanism is arranged on the side of base.
Described guiding mechanism comprises correcting mounting blocks, connecting plate, correcting cylinder holder, correcting cylinder and pushing block, and described correcting mounting blocks is fixed on the bottom of the X-axis fixed head of X-axis mechanism, and described connecting plate is fixedly connected on the below of correcting mounting blocks; Described correcting cylinder holder is fixedly connected on the side of base, and correcting cylinder fixed seating is in the top of connecting plate; Described correcting cylinder is arranged on correcting cylinder holder, connects pushing block before correcting cylinder.
Described lifting clip claw mechanism comprises cylinder mounting plate, lift cylinder, lifter plate, jaw cylinder and jaw, described cylinder mounting plate is arranged in Y-axis mechanism, lift cylinder has two, be arranged on respectively on cylinder mounting plate, the piston end of each lift cylinder is connecting lifter plate, on each lifter plate, connect jaw cylinder, on each jaw cylinder, connecting two jaws.
As preferably, described X-axis mechanism comprises X-axis fixed head, X-axis motor, X-axis shaft coupling, X-axis rotary main shaft, X-axis pulley, X-axis follow-up pulley, X-axis belt, X-axis slide rail, X-axis slide block, X-axis movable plate, X-axis mounting bar, X-axis photoelectric sensor and X-axis sensing chip, described X-axis fixed head is arranged on base, described X-axis motor is installed on base below, X-axis motor is connected with X-axis rotary main shaft by X-axis shaft coupling, X-axis rotary main shaft is through base, and its upper end is connecting X-axis pulley; Described X-axis follow-up pulley is connected on base, at X-axis pulley, is being connected X-axis belt with on X-axis follow-up pulley; Described X-axis slide rail has two, is fixedly mounted on respectively on X-axis fixed head, and is positioned at X-axis belt both sides; On described X-axis slide rail, coordinate X-axis slide block is installed, described X-axis movable plate is arranged on two X-axis slide blocks, and the bottom of X-axis movable plate is provided with guide member and is connected on X-axis belt; Described X-axis mounting bar is arranged on X-axis fixed head, and X-axis photoelectric sensor is arranged on X-axis mounting bar, and X-axis sensing chip is arranged on the side of X-axis movable plate, and the installation that matches of X-axis sensing chip and X-axis photoelectric sensor; Described X-axis motor drives the rotation of X-axis rotary main shaft, by X-axis follow-up pulley, X-axis belt is rotated, thereby the X-axis movable plate that makes to be connected on X-axis belt can move along X-axis slide rail.
As preferably, described X-axis photoelectric sensor has three, and the displacement of X-axis movable plate is determined by X-axis photoelectric sensor.
As preferably, described Y-axis mechanism comprises Y-axis fixed head, y-axis motor, Y-axis shaft coupling, Y-axis rotary main shaft, Y-axis pulley, Y-axis follow-up pulley, Y-axis belt, Y-axis slide rail, Y-axis slide block, Y-axis mounting bar, Y-axis photoelectric sensor, Y-axis sensing chip, mount pad, lead and mounting blocks, described Y-axis fixed head is arranged on X-axis movable plate, described y-axis motor is installed on Y-axis fixed head left side, y-axis motor is connected with Y-axis rotary main shaft by Y-axis shaft coupling, Y-axis rotary main shaft is through Y-axis fixed head, and its upper end is connecting Y-axis pulley; Described Y-axis follow-up pulley is connected on Y-axis fixed head, at Y-axis pulley, is being connected Y-axis belt with on Y-axis follow-up pulley; Described Y-axis slide rail is fixedly mounted on Y-axis fixed head, on Y-axis slide rail, coordinates Y-axis slide block is installed; Two mount pads are installed on described Y-axis fixed head, between two mount pads, lead are housed, mounting blocks is housed on lead; The described cylinder mounting plate back side is fixed on mounting blocks and Y-axis slide block simultaneously, and the cylinder mounting plate back side is provided with guide member and is connected on Y-axis belt; Described Y-axis mounting bar is arranged on Y-axis fixed head side, and Y-axis photoelectric sensor is arranged on Y-axis mounting bar, and Y-axis sensing chip is arranged on cylinder mounting plate, and the installation that matches of Y-axis sensing chip and Y-axis photoelectric sensor; Described y-axis motor drives the rotation of Y-axis rotary main shaft, by Y-axis follow-up pulley, Y-axis belt is rotated, thereby the cylinder mounting plate that makes to be connected on Y-axis belt can slide under the guiding of lead and Y-axis slide rail on Y-axis fixed head.
As preferably, described Y-axis photoelectric sensor has three, and the displacement of cylinder mounting plate is determined by Y-axis photoelectric sensor.
The beneficial effects of the utility model are:
The utility model is a kind of for capturing product from streamline and being placed on the locational a kind of grasping mechanism of standard operation, this mechanism can coordinate other mechanism's work, when product is transported to connecting plate from streamline, correcting air cylinder driven pushing block is by after product correcting, Y-axis mechanism drives lifting clip claw mechanism in X-axis, to move to above product, lift cylinder drives jaw cylinder to move down, move to product place, jaw air cylinder driven jaw is picked up product, and then Y-axis mechanism drives lifting clip claw mechanism that product is positioned over to standard operation position again; In HeYZhou mechanism of described X-axis mechanism, X-axis photoelectric sensor and Y-axis photoelectric sensor are all installed respectively, and determine displacement by X-axis photoelectric sensor and Y-axis photoelectric sensor, its displacement is accurate, captures product fast and stable.
Accompanying drawing explanation:
Below in conjunction with accompanying drawing, the utility model is described further:
Fig. 1 is structural representation of the present utility model;
Fig. 2 is another structural representation of the present utility model;
Fig. 3 is the structural representation that does not comprise lifting clip claw mechanism of the present utility model;
Fig. 4 is the front view of Fig. 1;
Fig. 5 is the left view of Fig. 1;
Fig. 6 is the right view of Fig. 1;
Fig. 7 is the rearview of Fig. 1.
The specific embodiment:
Embodiment, is shown in accompanying drawing 1～7, a kind of grasping mechanism, and it comprises base 1, X-axis mechanism I, Y-axis mechanism II, lifting clip claw mechanism III and guiding mechanism IV, described X-axis mechanism is arranged on base; Described X-axis mechanism comprises X-axis fixed head 2, X-axis motor 3, X-axis shaft coupling 4, X-axis rotary main shaft 5, X-axis pulley 6, X-axis follow-up pulley 7, X-axis belt 8, X-axis slide rail 9, X-axis slide block 10, X-axis movable plate 11, X-axis mounting bar 12, X-axis photoelectric sensor 13 and X-axis sensing chip 14, described X-axis fixed head is arranged on base, described X-axis motor is installed on base below, X-axis motor is connected with X-axis rotary main shaft by X-axis shaft coupling, X-axis rotary main shaft is through base, and its upper end is connecting X-axis pulley; Described X-axis follow-up pulley is connected on base, at X-axis pulley, is being connected X-axis belt with on X-axis follow-up pulley; Described X-axis slide rail has two, is fixedly mounted on respectively on X-axis fixed head, and is positioned at X-axis belt both sides; On described X-axis slide rail, coordinate X-axis slide block is installed, described X-axis movable plate is arranged on two X-axis slide blocks, and the bottom of X-axis movable plate is provided with guide member and is connected on X-axis belt; Described X-axis mounting bar is arranged on X-axis fixed head, and X-axis photoelectric sensor is arranged on X-axis mounting bar, and X-axis sensing chip is arranged on the side of X-axis movable plate, and the installation that matches of X-axis sensing chip and X-axis photoelectric sensor; Described X-axis motor drives the rotation of X-axis rotary main shaft, by X-axis follow-up pulley, X-axis belt is rotated, thereby the X-axis movable plate that makes to be connected on X-axis belt can move along X-axis slide rail; Described X-axis photoelectric sensor has three, and the displacement of X-axis movable plate is determined by X-axis photoelectric sensor.
Described Y-axis mechanism is arranged in X-axis mechanism; Described Y-axis mechanism comprises Y-axis fixed head 15, y-axis motor 16, Y-axis shaft coupling 17, Y-axis rotary main shaft 18, Y-axis pulley 19, Y-axis follow-up pulley 20, Y-axis belt 21, Y-axis slide rail 22, Y-axis slide block 23, Y-axis mounting bar 24, Y-axis photoelectric sensor 25, Y-axis sensing chip 26, mount pad 27, lead 28 and mounting blocks 29, described Y-axis fixed head is arranged on X-axis movable plate, described y-axis motor is installed on Y-axis fixed head left side, y-axis motor is connected with Y-axis rotary main shaft by Y-axis shaft coupling, Y-axis rotary main shaft is through Y-axis fixed head, and its upper end is connecting Y-axis pulley; Described Y-axis follow-up pulley is connected on Y-axis fixed head, at Y-axis pulley, is being connected Y-axis belt with on Y-axis follow-up pulley; Described Y-axis slide rail is fixedly mounted on Y-axis fixed head, on Y-axis slide rail, coordinates Y-axis slide block is installed; Two mount pads are installed on described Y-axis fixed head, between two mount pads, lead are housed, mounting blocks is housed on lead; The described cylinder mounting plate back side is fixed on mounting blocks and Y-axis slide block simultaneously, and the cylinder mounting plate back side is provided with guide member and is connected on Y-axis belt; Described Y-axis mounting bar is arranged on Y-axis fixed head side, and Y-axis photoelectric sensor is arranged on Y-axis mounting bar, and Y-axis sensing chip is arranged on cylinder mounting plate, and the installation that matches of Y-axis sensing chip and Y-axis photoelectric sensor; Described y-axis motor drives the rotation of Y-axis rotary main shaft, by Y-axis follow-up pulley, Y-axis belt is rotated, thereby the cylinder mounting plate that makes to be connected on Y-axis belt can slide under the guiding of lead and Y-axis slide rail on Y-axis fixed head; Described Y-axis photoelectric sensor has three, and the displacement of cylinder mounting plate is determined by Y-axis photoelectric sensor.
Described lifting clip claw mechanism is arranged in Y-axis mechanism; Described lifting clip claw mechanism comprises cylinder mounting plate 30, lift cylinder 31, lifter plate 32, jaw cylinder 33 and jaw 34, described cylinder mounting plate is arranged in Y-axis mechanism, lift cylinder has two, be arranged on respectively on cylinder mounting plate, the piston end of each lift cylinder is connecting lifter plate, on each lifter plate, connect jaw cylinder, on each jaw cylinder, connecting two jaws.
Described guiding mechanism is arranged on the side of base.Described guiding mechanism comprises correcting mounting blocks 35, connecting plate 36, correcting cylinder holder 37, correcting cylinder 38 and pushing block 39, described correcting mounting blocks is fixed on the bottom of the X-axis fixed head of X-axis mechanism, and described connecting plate is fixedly connected on the below of correcting mounting blocks; Described correcting cylinder holder is fixedly connected on the side of base, and correcting cylinder fixed seating is in the top of connecting plate; Described correcting cylinder is arranged on correcting cylinder holder, connects pushing block before correcting cylinder.
The utility model course of work: when product is transported to connecting plate from streamline, correcting air cylinder driven pushing block is by after product correcting, Y-axis mechanism drives lifting clip claw mechanism in X-axis, to move to above product, lift cylinder drives jaw cylinder to move down, move to product place, jaw air cylinder driven jaw is picked up product, and then Y-axis mechanism drives lifting clip claw mechanism that product is positioned over to standard operation position again.
Above-described embodiment is the specific descriptions that the utility model is carried out; just the utility model is further described; can not be interpreted as the restriction to the utility model protection domain, within those skilled in the art makes some nonessential improvement according to the content of above-mentioned utility model and adjusts and all to fall into protection domain of the present utility model.
Claims (5)
1. a grasping mechanism, is characterized in that: it comprises base, X-axis mechanism, Y-axis mechanism, lifting clip claw mechanism and guiding mechanism, and described X-axis mechanism is arranged on base; Described Y-axis mechanism is arranged in X-axis mechanism; Described lifting clip claw mechanism is arranged in Y-axis mechanism; Described guiding mechanism is arranged on the side of base;
Described guiding mechanism comprises correcting mounting blocks, connecting plate, correcting cylinder holder, correcting cylinder and pushing block, and described correcting mounting blocks is fixed on the bottom of the X-axis fixed head of X-axis mechanism, and described connecting plate is fixedly connected on the below of correcting mounting blocks; Described correcting cylinder holder is fixedly connected on the side of base, and correcting cylinder fixed seating is in the top of connecting plate; Described correcting cylinder is arranged on correcting cylinder holder, connects pushing block before correcting cylinder;
Described lifting clip claw mechanism comprises cylinder mounting plate, lift cylinder, lifter plate, jaw cylinder and jaw, described cylinder mounting plate is arranged in Y-axis mechanism, lift cylinder has two, be arranged on respectively on cylinder mounting plate, the piston end of each lift cylinder is connecting lifter plate, on each lifter plate, connect jaw cylinder, on each jaw cylinder, connecting two jaws.
2. a kind of grasping mechanism according to claim 1, it is characterized in that: described X-axis mechanism comprises X-axis fixed head, X-axis motor, X-axis shaft coupling, X-axis rotary main shaft, X-axis pulley, X-axis follow-up pulley, X-axis belt, X-axis slide rail, X-axis slide block, X-axis movable plate, X-axis mounting bar, X-axis photoelectric sensor and X-axis sensing chip, described X-axis fixed head is arranged on base, described X-axis motor is installed on base below, X-axis motor is connected with X-axis rotary main shaft by X-axis shaft coupling, X-axis rotary main shaft is through base, and its upper end is connecting X-axis pulley; Described X-axis follow-up pulley is connected on base, at X-axis pulley, is being connected X-axis belt with on X-axis follow-up pulley; Described X-axis slide rail has two, is fixedly mounted on respectively on X-axis fixed head, and is positioned at X-axis belt both sides; On described X-axis slide rail, coordinate X-axis slide block is installed, described X-axis movable plate is arranged on two X-axis slide blocks, and the bottom of X-axis movable plate is provided with guide member and is connected on X-axis belt; Described X-axis mounting bar is arranged on X-axis fixed head, and X-axis photoelectric sensor is arranged on X-axis mounting bar, and X-axis sensing chip is arranged on the side of X-axis movable plate, and the installation that matches of X-axis sensing chip and X-axis photoelectric sensor; Described X-axis motor drives the rotation of X-axis rotary main shaft, by X-axis follow-up pulley, X-axis belt is rotated, thereby the X-axis movable plate that makes to be connected on X-axis belt can move along X-axis slide rail.
3. a kind of grasping mechanism according to claim 1, it is characterized in that: described Y-axis mechanism comprises Y-axis fixed head, y-axis motor, Y-axis shaft coupling, Y-axis rotary main shaft, Y-axis pulley, Y-axis follow-up pulley, Y-axis belt, Y-axis slide rail, Y-axis slide block, Y-axis mounting bar, Y-axis photoelectric sensor, Y-axis sensing chip, mount pad, lead and mounting blocks, described Y-axis fixed head is arranged on X-axis movable plate, described y-axis motor is installed on Y-axis fixed head left side, y-axis motor is connected with Y-axis rotary main shaft by Y-axis shaft coupling, Y-axis rotary main shaft is through Y-axis fixed head, its upper end is connecting Y-axis pulley, described Y-axis follow-up pulley is connected on Y-axis fixed head, at Y-axis pulley, is being connected Y-axis belt with on Y-axis follow-up pulley, described Y-axis slide rail is fixedly mounted on Y-axis fixed head, on Y-axis slide rail, coordinates Y-axis slide block is installed, two mount pads are installed on described Y-axis fixed head, between two mount pads, lead are housed, mounting blocks is housed on lead, the described cylinder mounting plate back side is fixed on mounting blocks and Y-axis slide block simultaneously, and the cylinder mounting plate back side is provided with guide member and is connected on Y-axis belt, described Y-axis mounting bar is arranged on Y-axis fixed head side, and Y-axis photoelectric sensor is arranged on Y-axis mounting bar, and Y-axis sensing chip is arranged on cylinder mounting plate, and the installation that matches of Y-axis sensing chip and Y-axis photoelectric sensor, described y-axis motor drives the rotation of Y-axis rotary main shaft, by Y-axis follow-up pulley, Y-axis belt is rotated, thereby the cylinder mounting plate that makes to be connected on Y-axis belt can slide under the guiding of lead and Y-axis slide rail on Y-axis fixed head.
4. a kind of grasping mechanism according to claim 2, is characterized in that: described X-axis photoelectric sensor has three, and the displacement of X-axis movable plate is determined by X-axis photoelectric sensor.
5. a kind of grasping mechanism according to claim 3, is characterized in that: described Y-axis photoelectric sensor has three, and the displacement of cylinder mounting plate is determined by Y-axis photoelectric sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320775475.9U CN203542603U (en) | 2013-11-29 | 2013-11-29 | Grabbing mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320775475.9U CN203542603U (en) | 2013-11-29 | 2013-11-29 | Grabbing mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203542603U true CN203542603U (en) | 2014-04-16 |
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ID=50460769
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201320775475.9U Withdrawn - After Issue CN203542603U (en) | 2013-11-29 | 2013-11-29 | Grabbing mechanism |
Country Status (1)
| Country | Link |
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| CN (1) | CN203542603U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103659802A (en) * | 2013-11-29 | 2014-03-26 | 苏州博众精工科技有限公司 | Grabbing mechanism |
| CN104585976A (en) * | 2014-12-02 | 2015-05-06 | 东莞市万江晖达鞋机厂 | Jaw seat deforming mechanism |
| CN106514179A (en) * | 2016-11-30 | 2017-03-22 | 苏州荣凯克精密机械有限公司 | Spline shaft feeding device of hay mower head section assembling machine |
-
2013
- 2013-11-29 CN CN201320775475.9U patent/CN203542603U/en not_active Withdrawn - After Issue
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103659802A (en) * | 2013-11-29 | 2014-03-26 | 苏州博众精工科技有限公司 | Grabbing mechanism |
| CN104585976A (en) * | 2014-12-02 | 2015-05-06 | 东莞市万江晖达鞋机厂 | Jaw seat deforming mechanism |
| CN104585976B (en) * | 2014-12-02 | 2016-09-14 | 唐明 | Pawl seat deformation mechanism |
| CN106514179A (en) * | 2016-11-30 | 2017-03-22 | 苏州荣凯克精密机械有限公司 | Spline shaft feeding device of hay mower head section assembling machine |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20140416 Effective date of abandoning: 20150617 |
|
| RGAV | Abandon patent right to avoid regrant |