CN210594180U

CN210594180U - Grabbing mechanism

Info

Publication number: CN210594180U
Application number: CN201921067189.0U
Authority: CN
Inventors: 江军潮
Original assignee: Marsilli Automation Technology Suzhou Co ltd
Current assignee: Marsilli Automation Technology Suzhou Co ltd
Priority date: 2019-07-09
Filing date: 2019-07-09
Publication date: 2020-05-22
Anticipated expiration: 2029-07-09

Abstract

The utility model discloses a snatch mechanism, including the base, with the base passes through actuating mechanism that rotary mechanism links to each other, and the drive actuating mechanism of actuating mechanism motion, rotary mechanism include the several swinging boom, and set up in the rotatory fixed axle at swinging boom both ends, the swinging boom with actuating mechanism is in can wind under actuating mechanism's the drive rotary motion is made to rotatory fixed axle in the XY axial plane. The grabbing mechanism is simple in structure, and under the driving of one driving mechanism, the executing mechanism can move on an X axis and a Y axis simultaneously, so that the equipment cost is reduced, and the equipment operation efficiency is improved.

Description

Grabbing mechanism

Technical Field

The utility model relates to the technical field of mechanical equipment, especially, relate to a snatch mechanism.

Background

The modern manufacturing industry pursues an efficient and safe production mode, and one of the ways to replace manual operation by using mechanical automation is to create benefits for enterprises. The currently used grabbing mechanism generally needs two driving mechanisms in the picking and placing transportation process, namely a driving mechanism in the vertical direction and a driving mechanism in the horizontal direction, so as to realize the transportation of products, the arrangement of the two driving mechanisms increases the equipment cost, and the working efficiency is reduced, so that a new grabbing mechanism is urgently needed to be designed to solve the problems.

Disclosure of Invention

The utility model aims at providing a snatch mechanism, this snatch mechanism simple structure, under a actuating mechanism's drive, actuating mechanism can move in X axle and Y axle simultaneously, reduces equipment cost, improve equipment operating efficiency.

In order to achieve the above purpose, the utility model adopts the technical scheme that: a grabbing mechanism comprises a base, an executing mechanism and a driving mechanism, wherein the executing mechanism is connected with the base through a rotating mechanism, the driving mechanism drives the executing mechanism to move, the rotating mechanism comprises a plurality of rotating arms and rotating fixing shafts arranged at two ends of the rotating arms, and the rotating arms and the executing mechanism can rotate around the rotating fixing shafts in an XY axial plane under the driving of the driving mechanism.

In the above technical solution, the actuating mechanism includes an actuating arm, and a grabbing component disposed at an end of the actuating arm away from the base, wherein the grabbing component is driven by the actuating arm to reciprocate on the first station and the second station.

In the technical scheme, the grabbing component comprises a connecting piece and a grabbing head, one end of the connecting piece is connected to the execution arm in a clamped mode, and the other end of the connecting piece is connected to the grabbing head in a clamped mode.

In the above technical scheme, the gripping head is an vacuum suction type gripping head, an air cylinder type gripping head or an electromagnet type gripping head.

In the technical scheme, the base is provided with the positioning pin, and the positioning pin can adjust the height to control the rotation angle of the rotating mechanism so as to control the moving path of the executing mechanism.

In the above technical solution, the positioning pins include a first positioning pin and a second positioning pin, the first positioning pin is used for determining the position of the first station, and the second positioning pin is used for determining the position of the second station.

In the above technical scheme, the rotating arm includes a first rotating arm, the first rotating arm is disposed between the first positioning pin and the second positioning pin, and the first positioning pin and the second positioning pin are located in a rotating surface of the first rotating arm.

In the above technical scheme, the actuating arm is provided with a cam follower roller, and the cam follower roller is matched with the driving mechanism so as to drive the actuating arm to move.

In the above technical solution, the driving element of the driving mechanism is a cylinder or a motor.

Due to the application of the technical scheme, compared with the prior art, the invention has the following advantages:

1. the utility model discloses well slewing mechanism includes the several swinging boom, the swinging boom both ends are provided with rotatory fixed axle, swinging boom and actuating mechanism can make rotary motion in XY axle plane around rotatory fixed axle under actuating mechanism's drive, realize that actuating mechanism takes place the motion of X axle and Y axle direction simultaneously under an actuating mechanism's drive, reduced the cost of using actuating mechanism, synthesize the motion route of two directions into a rotation route simultaneously, the moving speed is improved, and then work efficiency has been improved.

2. The grabbing head can be a vacuum sucking type grabbing head or a cylinder type grabbing head or an electromagnet type grabbing head, and can be replaced according to actual needs to adapt to different occasion demands.

3. The positioning pin is arranged on the base and comprises a first positioning pin and a second positioning pin, and the rotation angle of the first rotating arm between the first positioning pin and the second positioning pin is limited by adjusting the height of the first positioning pin and the second positioning pin, so that the moving path of the grabbing assembly is controlled, the carrying direction, the carrying starting position and the carrying finishing position of a processed product are determined, and the adjustment is simple and easy.

Drawings

FIG. 1 is a schematic structural view of the gripping mechanism of the present invention;

fig. 2 is a schematic view of the working state of the gripping mechanism of the present invention;

FIG. 3 is a schematic view of the working state of the gripping mechanism of the present invention;

fig. 4 is a schematic view showing the working state of the grabbing mechanism of the present invention.

Wherein: 1. a base; 2. a rotating arm; 3. rotating the fixed shaft; 4. an actuator arm; 5. a connecting member; 6. a gripper head; 7. a first positioning pin; 8. a second positioning pin; 9. a first rotating arm; 10. a cam follower roller; 11. a drive mechanism.

Detailed Description

The invention will be further described with reference to the following drawings and examples:

the first embodiment is as follows: referring to fig. 1 to 4, a grabbing mechanism includes a base 1, an executing mechanism connected to the base 1 through a rotating mechanism, and a driving mechanism 11 for driving the executing mechanism to move, where the rotating mechanism includes a plurality of rotating arms 2 and rotating fixing shafts 3 disposed at two ends of the rotating arms 2, and the rotating arms 2 and the executing mechanism can rotate around the rotating fixing shafts 3 in an XY axis plane under the driving of the driving mechanism 11. By combining the motion paths in two directions into a rotation path of the actuating mechanism under the driving of one driving mechanism 11, the moving speed is improved, the working efficiency is further improved, and the equipment cost is reduced.

Referring to fig. 2 to 4, the actuating mechanism includes an actuating arm 4, and a grabbing component disposed at an end of the actuating arm 4 away from the base 1, wherein the grabbing component is driven by the actuating arm 4 to reciprocate on a first station and a second station. The grabbing component comprises a connecting piece 5 and a grabbing head 6, one end of the connecting piece 5 is connected to the execution arm 4 in a clamped mode, the other end of the connecting piece 5 is connected to the grabbing head 6 in a clamped mode, the grabbing head 6 is an vacuum-suction type grabbing head or a cylinder type grabbing head or an electromagnet type grabbing head, different requirements of different occasions can be met, and the grabbing component is simple and practical.

In order to be suitable for carrying products on different stations, the base 1 is provided with a positioning pin, and the height of the positioning pin can be adjusted to control the rotation angle of the rotating mechanism, so that the moving path of the actuating mechanism is controlled. The locating pin includes first locating pin 7 and second locating pin 8, swinging boom 2 includes first swinging boom 9, first swinging boom 9 set up in first locating pin 7 with between second locating pin 8, just first locating pin 7 with second locating pin 8 is located in the rotating plane of first swinging boom 9, first locating pin 7 is used for confirming the position of first station, second locating pin 8 is used for confirming the position of second station, see that fig. 2 ~ 4 shows.

Referring to fig. 1, a cam follower roller 10 is disposed on the actuating arm 4, the cam follower roller 10 cooperates with the driving mechanism 11 to drive the actuating arm 4 to move, and a driving element of the driving mechanism 11 is an air cylinder or a motor.

The above embodiments are only for illustrating the technical concept and features of the present invention, and the purpose of the embodiments is to enable people skilled in the art to understand the contents of the present invention and to implement the present invention, which cannot limit the protection scope of the present invention. All equivalent changes and modifications made according to the spirit of the present invention should be covered by the protection scope of the present invention.

Claims

1. A snatch mechanism which characterized in that: the device comprises a base, an actuating mechanism and a driving mechanism, wherein the actuating mechanism is connected with the base through a rotating mechanism, the driving mechanism drives the actuating mechanism to move, the rotating mechanism comprises a plurality of rotating arms and rotating fixed shafts arranged at two ends of the rotating arms, and the rotating arms and the actuating mechanism can rotate around the rotating fixed shafts in an XY axial plane under the driving of the driving mechanism.

2. The grasping mechanism according to claim 1, characterized in that: the executing mechanism comprises an executing arm and a grabbing component arranged on the executing arm and deviated from the base end, and the grabbing component is driven by the executing arm to reciprocate on a first station and a second station.

3. The grasping mechanism according to claim 2, characterized in that: the grabbing component comprises a connecting piece and a grabbing head, one end of the connecting piece is connected to the execution arm in a clamped mode, and the other end of the connecting piece is connected to the grabbing head in a clamped mode.

4. The grasping mechanism according to claim 3, wherein: the grabbing head is an absorption vacuum type grabbing head or a cylinder type grabbing head or an electromagnet type grabbing head.

5. The grasping mechanism according to claim 2, characterized in that: the base is provided with a positioning pin, and the height of the positioning pin can be adjusted to control the rotation angle of the rotating mechanism, so that the moving path of the actuating mechanism is controlled.

6. The grasping mechanism according to claim 5, wherein: the positioning pins comprise a first positioning pin and a second positioning pin, the first positioning pin is used for determining the position of the first station, and the second positioning pin is used for determining the position of the second station.

7. The grasping mechanism according to claim 6, wherein: the swinging boom includes first swinging boom, first swinging boom set up in first locating pin with between the second locating pin, just first locating pin with the second locating pin is located in the swinging plane of first swinging boom.

8. The gripping mechanism of claim 2, wherein the actuator arm has a cam follower roller that cooperates with the drive mechanism to move the actuator arm.

9. The grasping mechanism according to claim 8, wherein the driving element of the driving mechanism is a cylinder or a motor.