CN207724330U - A kind of material grasping mechanism - Google Patents
A kind of material grasping mechanism Download PDFInfo
- Publication number
- CN207724330U CN207724330U CN201721825429.XU CN201721825429U CN207724330U CN 207724330 U CN207724330 U CN 207724330U CN 201721825429 U CN201721825429 U CN 201721825429U CN 207724330 U CN207724330 U CN 207724330U
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- China
- Prior art keywords
- working arm
- actuator
- grabbing claw
- pair
- grasping mechanism
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Abstract
A kind of material grasping mechanism, including fixed frame, a pair of the first actuator for being installed in fixed frame side and a pair of working arm for being connected to fixed frame and deviating from the first actuator side, a pair of first actuator passes through fixed frame and is connected respectively with a working arm and a pair of of working arm is driven to be moved to direction close to each other or separate；The both ends of each working arm are respectively equipped with the first grabbing claw, the second actuator and the second grabbing claw on the second actuator, first grabbing claw follows corresponding working arm to be moved to the direction closer or far from another working arm to firmly grasp or unclamp material, two the second grabbing claws of each working arm can be swung to direction close to each other or separate to firmly grasp or unclamp material under the driving of corresponding two the second actuators, compared with prior art, the beneficial effects of the utility model are：If there are two the first grabbing claw and the second grabbing claw that can individually pick and place material, and it is simple in structure conducive to manufacture, material transfer efficiency can be effectively improved.
Description
【Technical field】
The utility model is related to material transfer fields, are specifically related to a kind of material grasping mechanism.
【Background technology】
As constantly consuming for non-renewable resources is increasingly prominent with environmental problem, electric vehicle develops very in recent years
Rapidly and extensively using every field, battery modules are usually packaged in battery case as the power source of battery car mounted on electricity
The enterprising enforcement of vehicle frame of motor-car is used.However, the battery case equipped with battery modules is still to be carried by manpower at present, it is special
Be not carry out on line wiring work must through manpower being transported on assembly line one by one, the weight of usual battery modules is larger
Lead to need the muscle power for largely consuming bearers in the handling process, production efficiency is relatively low and manpower transport is since position cannot be accurate
It is fixed that automation is caused to be difficult to realize, while manpower transport has the security risk of tumble injury battery case or the operating personnel that damages.
In consideration of it, it is really necessary to provide a kind of novel material grasping mechanism with overcome the deficiencies in the prior art.
【Utility model content】
The purpose of this utility model is to provide a kind of material grasping mechanism, can automatically firmly grasp material in favor of automation
Transhipment.
To achieve the goals above, the utility model provides a kind of material grasping mechanism, including fixed frame, a pair are installed in
The first actuator and pair of sliding of the fixed frame side are connected to the fixed frame away from first actuator side
Working arm, the pair of first actuator pass through the fixed frame and are connected respectively with a working arm and drive a pair of of working arm
It is moved to direction close to each other or separate；The both ends of each working arm are respectively equipped with the first grabbing claw, the second actuator and set
The second grabbing claw on second actuator, first grabbing claw follow corresponding working arm to closer or far from another
The direction of a working arm is moved to firmly grasp or unclamp a material, and two the second grabbing claws on each working arm can be corresponding two
It is swung to direction close to each other or separate to firmly grasp or unclamp a material under the driving of a second actuator.
As a kind of improvement of the utility model material grasping mechanism, it is separate that each first grabbing claw is located at corresponding working arm
The side of another working arm, and the one end of each first grabbing claw far from corresponding working arm sets that there are one holding section, the cards
It holds portion and is set to corresponding first grabbing claw close to the side of corresponding working arm.
As a kind of improvement of the utility model material grasping mechanism, the one of separate corresponding first grabbing claw in each holding section
Side is equipped with inductor.
As a kind of improvement of the utility model material grasping mechanism, two the second grabbing claws on each working arm are mutual
Close side is respectively equipped with a card slot.
As a kind of improvement of the utility model material grasping mechanism, each second grabbing claw includes fixed plate and clamping
Plate, one end of the fixed plate are connected with the connected other end of corresponding second actuator with one end of the clamping plate, the card
Slot is set to the clamping plate of corresponding second grabbing claw far from one end of corresponding fixed plate；The one of each close corresponding fixed plate of clamping plate
End is equipped with several slotted holes, and each fixed plate is equipped with several with the slotted hole pair of corresponding clamping plate close to one end of corresponding clamping plate
The screw hole answered passes through corresponding slotted hole and corresponding screw hole that the clamping plate is connected with corresponding fixed plate by screw.
As a kind of improvement of the utility model material grasping mechanism, second actuator is rotary cylinder.
As a kind of improvement of the utility model material grasping mechanism, two the first grabbing claws on each working arm are located at
Between two the second grabbing claws, and the length of second grabbing claw is more than the length of first grabbing claw.
As a kind of improvement of the utility model material grasping mechanism, first actuator is equipped with across the fixed frame
And the link block being connected with corresponding working arm, the fixed frame are equipped with a pair of spaced cunning close to the side of the working arm
Rail, each sliding rail are equipped with a pair of sliding block being connected respectively with a pair of of working arm, and first actuator drives corresponding connection
Block drives corresponding working arm to be moved to the direction closer or far from another working arm along a pair of of sliding rail by corresponding sliding block.
As a kind of improvement of the utility model material grasping mechanism, first actuator is servo motor and includes master
Machine, set on the lead screw of host one end and set on fixed seat of the host far from lead screw one end, the host is set to described with fixed seat
Simultaneously so that the lead screw is parallel with the sliding rail, the link block is arranged in correspondence for side of the fixed seat far from the working arm
It is connected on the lead screw of one actuator and with corresponding wire rod thread, first actuator drives corresponding lead screw to rotate and drives pair
The link block answered is moved along corresponding lead screw.
As a kind of improvement of the utility model material grasping mechanism, side of the fixed frame far from the working arm is also
If there are one installation axle, the both ends of the installation axle are respectively equipped with a mounting flange, and the installation axle passes through one of peace
Dress flange is connected with the fixed frame.
Compared with prior art, the advantageous effect of material grasping mechanism provided by the utility model is：If there are two energy
The first grabbing claw and the second grabbing claw of material are individually picked and placeed, and simple in structure conducive to manufacture, material transfer effect can be effectively improved
Rate.
【Description of the drawings】
Fig. 1 is the stereogram of material grasping mechanism provided by the utility model；
Fig. 2 is the stereogram of another angle of material grasping mechanism shown in Fig. 1；
Fig. 3 is the enlarged drawing of a-quadrant shown in Fig. 1.
【Specific implementation mode】
It is clear in order to make the purpose of this utility model, technical solution and advantageous effects be more clear, below in conjunction with attached
Figure and specific implementation mode, the present invention will be further described in detail.It should be understood that described in this specification
Specific implementation mode is not intended to limit the utility model just for the sake of explaining the utility model.
It please refers to Fig.1 to Fig. 3, a kind of material grasping mechanism 100 provided by the utility model, including fixed frame 10, a pair
It is installed in the first actuator 20 of 10 side of the fixed frame and pair of sliding is connected to the fixed frame 10 and deviates from described first
The working arm 30 of 20 side of actuator, the pair of first actuator 20 pass through the fixed frame 10 and respectively with a working arm
30 are connected and a pair of of working arm 30 are driven to be moved to direction close to each other or separate；The both ends of each working arm 30 are respectively equipped with
First grabbing claw 301, the second actuator 302 and the second grabbing claw 303 on second actuator 302, described first
Grabbing claw 301 follows corresponding working arm 30 to be moved to the direction closer or far from another working arm 30 to firmly grasp or unclamp one
A material, two the second grabbing claws 303 on each working arm 30 can be under the driving of corresponding two the second actuators 302 to phase
Mutually closer or far from direction swing with promptly or unclamp a material.It should be noted that the material grasping mechanism 100 is each
A material is captured by first grabbing claw, 301 or second grabbing claw 303, and first grabbing claw 301 crawl
The structure of material is different from the structure of material that second grabbing claw 303 captures.For example, passing through first grabbing claw 301
Battery case is captured, the pallet by second grabbing claw 303 crawl for placing battery case.
Specifically, the connection that first actuator 20 is equipped with across the fixed frame 10 and is connected with corresponding working arm 30
Block 201, the fixed frame 10 are equipped with a pair of spaced sliding rail 101, each sliding rail 101 close to the side of the working arm 30
It is equipped with a pair of sliding block 1011 being connected respectively with a pair of of working arm 30, first actuator 20 drives corresponding link block
The corresponding working arm 30 of 201 drives is by corresponding sliding block 1011 along a pair of of sliding rail 101 to closer or far from another working arm
30 direction movement, the sliding rail 101 and corresponding sliding block 1011 are used to reduce the frictional force of the movement of corresponding working arm 30, to subtract
The energy consumption of the small material grasping mechanism 100.In the present embodiment, first actuator 20 is servo motor and includes master
Machine 202, set on the lead screw 203 of 202 one end of the host and set on fixation of the lead screw 203 far from 202 one end of the host
Seat 204, the host 202 are set to side of the fixed frame 10 far from the working arm 30 with fixed seat 204 and make described
Lead screw 203 is parallel with the sliding rail 101, the link block 201 be arranged on the lead screw 203 of corresponding first actuator 20 and with it is right
203 screw-thread fit of lead screw, the host 202 is answered to drive corresponding lead screw 203 to rotate and drive corresponding link block 201 along correspondence
Lead screw 203 move.
Further, side of the fixed frame 10 far from the working arm 30 is additionally provided with an installation axle 102, the peace
The both ends of dress axis 102 are respectively equipped with a mounting flange 1021, the installation axle 102 by one of mounting flange 1021 with
The fixed frame 10 is connected, and is connected with other equipment by another mounting flange 1021 with by the material grasping mechanism
100 fix.For example, mounting flange 1021 of the installation axle 102 far from fixed frame 10 is connected with manipulator so that the material
Grasping mechanism 100 can follow the moving for manipulator and pick and place material.
Each first grabbing claw 301 is located at 30 side far from another working arm 30 of corresponding working arm, and each first
The one end of grabbing claw 301 far from corresponding working arm 30 is set there are one holding section 3011, and the holding section 3011 is set to corresponding first
Grabbing claw 301 is close to the side of another working arm 30.In the present embodiment, first grabbing claw 301 is blocked by corresponding
It holds portion 3011 and the material is held in the cooperation of material so that the material grasping mechanism 100 can be under the cooperation of other equipment
Mobile material, that is, the pair of working arm 30 can capture when being moved to direction close to each other or separate by described first
The material held up to hold up a material or is unclamped in holding section 3011 and the edge mate of material on pawl 301.Preferably, often
Side of a holding section 3011 far from corresponding first grabbing claw 301 is equipped with inductor 3012.In the present embodiment, the induction
Device 3012 detects whether corresponding holding section 3011 coordinates in place with material, on the one hand can prevent first grabbing claw 301 will
Material crush or because with material cooperation is unstable that material is caused to fall, be on the other hand conducive to control the pair of working arm 30 to phase
Mutually closer or far from direction move with promptly or unclamp a material.
Two the second grabbing claw 303 sides close to each other on each working arm 30 are respectively equipped with a card slot 3031,
So that two the second grabbing claws 303 on each working arm 30 under the driving of corresponding two the second actuators 302 to mutually leaning on
Close or remote from when can block a material or unclamp the material that is stuck.In the present embodiment, second actuator
302 be rotary cylinder to drive corresponding second grabbing claw 303 to swing, simple in structure, is conducive to reduce manufacturing cost.It is preferred that
, each second grabbing claw 303 includes fixed plate 3032 and clamping plate 3033, one end of the fixed plate 3032 and corresponding the
Two actuators 302 are connected, and the other end is connected with one end of the clamping plate 3033.The card slot 3031 is set to corresponding second crawl
The one end of the clamping plate 3033 of pawl 303 far from corresponding fixed plate 3032.In addition, each clamping plate 3033 is close to corresponding fixed plate
3032 one end is equipped with several slotted holes 3034, each fixed plate 3032 close to one end of corresponding clamping plate 3033 be equipped with it is several with
The 3034 corresponding screw hole 3035 of slotted hole of corresponding clamping plate 3033, by screw pass through corresponding slotted hole 3034 with it is corresponding
The clamping plate 3033 is connected by screw hole 3035 with corresponding fixed plate 3032.In the present embodiment, each clamping plate 3033
If there are two slotted hole 3034, each fixed plate 3032 is equipped with two row screw holes 3035, each slotted hole 3034 and corresponding fixed plate
A row screw hole 3035 on 3032 corresponds to, to when connecting a clamping plate 3033 with corresponding fixed plate 3032, pass through
Different 3035 positions of screw hole is selected to adjust the length of corresponding second grabbing claw 303 so that second grabbing claw 303 can take
Various sizes of material is put, the versatility of the material grasping mechanism 100 can be effectively improved.
Further, two the first grabbing claws 301 on each working arm 30 are located between two the second grabbing claws 303,
And the length of second grabbing claw 303 is more than the length of first grabbing claw 301, to ensure first grabbing claw 301
It will not interfere with the material that second grabbing claw 303 captures.
The utility model material grasping mechanism 100 sets that there are two can individually pick and place the first grabbing claw 301 and second of material
Grabbing claw 303, and it is simple in structure conducive to manufacture, material transfer efficiency can be effectively improved.
The utility model is not only in the description and the implementation described, therefore for the personnel of familiar field
For other advantage and modification is easily implemented, therefore without departing substantially from universal defined by claim and equivalency range
Spirit and scope in the case of, the utility model is not limited to specific details, representative equipment and shown here as with retouch
The diagram example stated.
Claims (10)
1. a kind of material grasping mechanism, it is characterised in that：Including fixed frame, a pair of the first drive for being installed in the fixed frame side
Moving part and pair of sliding are connected to the working arm that the fixed frame deviates from first actuator side, the pair of first driving
Part passes through the fixed frame and is connected respectively with a working arm and drives a pair of of working arm to direction close to each other or separate
It is mobile；The both ends of each working arm be respectively equipped with the first grabbing claw, the second actuator and on second actuator the
Two grabbing claws, first grabbing claw follow corresponding working arm to be moved to the direction closer or far from another working arm to grab
It is tight or unclamp a material, two the second grabbing claws on each working arm can under the driving of corresponding two the second actuators to
Direction close to each other or separate is swung to firmly grasp or unclamp a material.
2. material grasping mechanism as described in claim 1, it is characterised in that：It is remote that each first grabbing claw is located at corresponding working arm
Side from another working arm, and the one end of each first grabbing claw far from corresponding working arm sets that there are one holding sections, it is described
Holding section is set to corresponding first grabbing claw close to the side of corresponding working arm.
3. material grasping mechanism as claimed in claim 2, it is characterised in that：Each holding section is far from corresponding first grabbing claw
Side is equipped with inductor.
4. material grasping mechanism as described in claim 1, it is characterised in that：Two the second grabbing claw phases on each working arm
Mutually close side is respectively equipped with a card slot.
5. material grasping mechanism as claimed in claim 4, it is characterised in that：Each second grabbing claw includes fixed plate and clamping
Plate, one end of the fixed plate are connected with the connected other end of corresponding second actuator with one end of the clamping plate, the card
Slot is set to the clamping plate of corresponding second grabbing claw far from one end of corresponding fixed plate；The one of each close corresponding fixed plate of clamping plate
End is equipped with several slotted holes, and each fixed plate is equipped with several with the slotted hole pair of corresponding clamping plate close to one end of corresponding clamping plate
The screw hole answered passes through corresponding slotted hole and corresponding screw hole that the clamping plate is connected with corresponding fixed plate by screw.
6. material grasping mechanism as described in claim 1, it is characterised in that：Second actuator is rotary cylinder.
7. material grasping mechanism as described in claim 1, it is characterised in that：Two the first grabbing claw positions on each working arm
Between two the second grabbing claws, and the length of second grabbing claw is more than the length of first grabbing claw.
8. material grasping mechanism as described in claim 1, it is characterised in that：First actuator is equipped with across the fixation
Frame and the link block being connected with corresponding working arm, the fixed frame are equipped with a pair of spaced close to the side of the working arm
Sliding rail, each sliding rail are equipped with a pair of sliding block being connected respectively with a pair of of working arm, and first actuator drives corresponding company
Connecing block drives corresponding working arm to be moved to the direction closer or far from another working arm along a pair of of sliding rail by corresponding sliding block
It is dynamic.
9. material grasping mechanism as claimed in claim 8, it is characterised in that：First actuator is servo motor and includes
Host, set on the lead screw of described host one end and set on fixed seat of the lead screw far from described host one end, the host with
The fixed seat is set to side of the fixed frame far from the working arm and makes the lead screw parallel with the sliding rail, described
Link block be arranged on the lead screw of corresponding first actuator and with the connection of corresponding wire rod thread, the corresponding lead screw of the host driven
It rotates and corresponding link block is driven to be moved along corresponding lead screw.
10. material grasping mechanism as described in claim 1, it is characterised in that：The fixed frame far from the working arm one
Side is additionally provided with an installation axle, and the both ends of the installation axle are respectively equipped with a mounting flange, and the installation axle passes through wherein one
A mounting flange is connected with the fixed frame.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721825429.XU CN207724330U (en) | 2017-12-22 | 2017-12-22 | A kind of material grasping mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721825429.XU CN207724330U (en) | 2017-12-22 | 2017-12-22 | A kind of material grasping mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207724330U true CN207724330U (en) | 2018-08-14 |
Family
ID=63086239
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721825429.XU Expired - Fee Related CN207724330U (en) | 2017-12-22 | 2017-12-22 | A kind of material grasping mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207724330U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110394824A (en) * | 2019-07-18 | 2019-11-01 | 南京航空航天大学 | A kind of double cylinder type mechanical paws grabbing irregularly shaped object |
| CN113307031A (en) * | 2021-07-01 | 2021-08-27 | 李东明 | Operation method of robot composite gripper for gripping luggage |
| CN113910277A (en) * | 2021-11-12 | 2022-01-11 | 安徽省配天机器人集团有限公司 | Robot needle claw |
-
2017
- 2017-12-22 CN CN201721825429.XU patent/CN207724330U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110394824A (en) * | 2019-07-18 | 2019-11-01 | 南京航空航天大学 | A kind of double cylinder type mechanical paws grabbing irregularly shaped object |
| CN113307031A (en) * | 2021-07-01 | 2021-08-27 | 李东明 | Operation method of robot composite gripper for gripping luggage |
| CN113910277A (en) * | 2021-11-12 | 2022-01-11 | 安徽省配天机器人集团有限公司 | Robot needle claw |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180814 Termination date: 20191222 |