CN213674173U - Grabbing jig - Google Patents
Grabbing jig Download PDFInfo
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- CN213674173U CN213674173U CN202022671434.8U CN202022671434U CN213674173U CN 213674173 U CN213674173 U CN 213674173U CN 202022671434 U CN202022671434 U CN 202022671434U CN 213674173 U CN213674173 U CN 213674173U
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- clamping jaw
- walking
- clamping
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Abstract
The utility model provides a snatch tool, include: matrix: at least two walking rails are arranged on the base body, and the walking rails are arranged along the same radial center; a clamping jaw mechanism: the clamping jaw type walking device comprises clamping jaws, wherein each walking rail is provided with one clamping jaw, and the clamping jaws can walk along the walking rails; a driving mechanism: is connected with a clamping jaw to drive the clamping jaw to walk along the walking rail; a disc seat: the rotary device is rotatably arranged on the base body; connecting rods: each clamping jaw is connected with the disc seat through a connecting rod, the first end of the connecting rod is in shaft connection with the clamping jaw, and the second end of the connecting rod is in shaft connection with the disc seat. This snatch tool structure is nimble, and convenient assembling can realize need not to adopt the supplementary locking of compressed air to snatch from centering machinery locking of getting the thing, and factor of safety is high, can realize the demand of snatching of heavy load and jumbo size product.
Description
Technical Field
The utility model relates to a snatch tool.
Background
A robot is a common automatic clamping device. The centering grabbing mechanical claw is mainly used for grabbing cylindrical objects, comprises a driving mechanism and a plurality of clamping jaws, and is usually required to synchronously drive the plurality of clamping jaws to perform centering synchronous movement in order to adapt to the objects with different diameters.
In the prior art, two typical structures of the centering jaw structure are:
1. wire coiling type claw. The claw with the structure is complex to process, high in cost and limited by the external dimension, and cannot meet the use requirement of large load.
2. Air cylinder driven type clamping jaw. The single clamping jaw is driven to move by the air cylinder, so that synchronous centering motion of the multiple clamping jaws is difficult to realize; simultaneously, cylinder drive security is low, in case the cylinder trouble, snatchs the tool and became invalid, easily causes the potential safety hazard.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a have from the centering effect, can realize stabilizing the tool that snatchs of centre gripping.
In order to achieve the above object, the utility model adopts the following technical scheme:
a grabbing jig comprises:
matrix: at least two walking rails are arranged on the base body, and the walking rails are arranged along the same radial center;
a clamping jaw mechanism: the clamping jaw type walking device comprises clamping jaws, wherein each walking rail is provided with one clamping jaw, and the clamping jaws can walk along the walking rails;
a driving mechanism: is connected with a clamping jaw to drive the clamping jaw to walk along the walking rail;
a disc seat: the disc seat is rotatably arranged on the base body and defines the rotation center of the disc seat along the base body as an axis;
connecting rods: each clamping jaw is connected with the disc seat through a connecting rod, the first end of the connecting rod is in shaft connection with the clamping jaw, and the second end of the connecting rod is in shaft connection with the disc seat.
In some embodiments of the present invention, the substrate comprises:
a body;
the body is provided with at least two base arms, the base arms extend along the radial direction of the body, each base arm is provided with a walking rail, and the walking rails are arranged along the length direction of the base arms.
In some embodiments, the base is triangular, the number of base arms and clamping jaws is three, and each connecting rod is connected to a vertex of the triangular base.
The utility model discloses in some embodiments, under the initial condition, every connecting rod all inclines towards same direction relative to the orbit of walking of its clamping jaw that corresponds.
In some embodiments of the present invention, the driving mechanism includes:
a motor;
synchronous wheel set: the synchronous motor comprises a first synchronous wheel and a second synchronous wheel, wherein the first synchronous wheel is connected with an output shaft of a motor, and the first synchronous wheel is connected with the second synchronous wheel through a synchronous belt;
a screw rod: the second synchronous wheel is connected with a shaft;
a nut: is arranged on the screw rod and is connected with a clamping jaw.
The utility model discloses in some embodiments, the first side at first base arm is installed to the motor, the second side at first base arm is installed to the lead screw.
In some embodiments of the present invention, the nut is connected to the clamping jaw via the nut seat.
In some embodiments of the present invention, the base arms are circumferentially and uniformly arranged along the rotation center of the base relative to the base.
In some embodiments of the present invention, the clamping jaw mechanism further comprises a clamping jaw seat, and the clamping jaw is mounted to the walking rail through the clamping jaw seat.
The utility model discloses in some embodiments, the clamping jaw includes main part and installation end, and its main part is the L type, forms the centre gripping end of buckling, and each clamping jaw main part all buckles towards the center of rotation of the relative base member of dish seat.
The utility model provides a snatch tool's beneficial effect lies in:
the mechanical clamping jaws are arranged along the circumferential direction of the axis, the multi-clamping-jaw is driven to move concentrically along the axis in a rotation driving mode, a grabbing instruction is executed, and objects with different diameters can be grabbed according to different rotation angles. This snatch tool structure is nimble, and convenient assembling can realize need not to adopt the supplementary locking of compressed air to snatch from centering machinery locking of getting the thing, and factor of safety is high, can realize the demand of snatching of heavy load and jumbo size product.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the embodiments or the prior art descriptions will be briefly introduced 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 inventive labor.
Fig. 1 is a schematic view of a first viewing angle structure of the gripping jig of the present invention;
fig. 2 is a schematic view of a second view structure of the gripping jig of the present invention;
fig. 3 is a schematic view of a gripping jig clamping jaw mechanism of the utility model;
wherein, in the figures, the respective reference numerals:
1-base, 101-running rail, 102-body, 103-base arm;
2-clamping jaw, 201-main body part, 202-bending part, 203-anti-skid pad, 204-clamping jaw seat;
3-a nut seat;
4-disc seat;
5-a disk seat shaft;
6-connecting rod;
7-a motor;
801-first synchronous wheel, 802-second synchronous wheel, 803-synchronous belt;
9-a lead screw;
10-nut.
Detailed Description
In order to make the technical problem, technical solution and advantageous effects to be solved by the present invention more clearly understood, the following description is given in conjunction with the accompanying drawings and embodiments to illustrate the present invention in further detail. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
It will be understood that when an element is referred to as being "disposed on," "connected to" another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element.
It is to be understood that the terms "upper", "lower", "top", "bottom", "inner", "outer", and the like, are used in the orientations and positional relationships indicated in the drawings for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed in a particular orientation, and be operated in a particular manner, and are not to be construed as limiting the present invention.
It should be noted that the terms "first" and "second" are used for descriptive purposes only and are not intended to imply relative importance.
The utility model provides a snatch tool can be used to the centre gripping of article such as tire and get and put.
The grabbing jig comprises a base body 1, a clamping jaw mechanism, a disc seat, a connecting rod and the like.
Base body 1: at least two walking rails 101 are arranged on the substrate 1, and the walking rails are arranged along the same radial center; for example, if two running rails 101 are included, the two running rails 101 are arranged at an angle of 180 ° at the same radial center, and if three running rails 101 are included, the three running rails 101 are arranged circumferentially at an angle of 120 ° at the same radial center. According to the clamping requirement, more walking rails 101 can be arranged, and all the walking rails are uniformly distributed along the circumferential direction at the same radial center.
The clamping jaw mechanism is used for clamping an article. The clamping jaw device comprises clamping jaws 2, wherein each walking rail 101 is provided with one clamping jaw 2, and the clamping jaws 2 can walk along the walking rails 101; to facilitate the installation of the clamping jaw 2, a clamping jaw seat 204 may be further provided, the clamping jaw seat 204 being mounted on the running rail 101, and the clamping jaw 2 being mounted on the clamping jaw seat 204. The clamping jaws 2 are used for grabbing objects to be grabbed, the number of the clamping jaws can be selected according to the adaptability of the shapes of the objects to be grabbed, the clamping jaws are mounted on the corresponding walking rails 101, and each clamping jaw 2 can walk along the walking rails 101 mounted on the clamping jaw. In a preferred embodiment, the clamping jaws 2 are also arranged circumferentially and uniformly with radial centers after being mounted, so as to ensure a stable clamping effect. Each clamping jaw 2 encloses a clamping space. When all the clamping jaws 2 move towards the radial center, the clamping space is reduced, and an object is clamped; when all the clamping jaws move away from the radial center, the clamping space is enlarged and the object is released.
A drive mechanism for controlling the movement of the jaws 2. Is connected with a clamping jaw 2 to drive the clamping jaw 2 to walk along the walking rail.
A disc seat 4: is rotatably arranged on the base body 1; specifically, the disk seat 4 is connected to the base 1 via a disk seat shaft 5 and is rotatable about the disk seat shaft 5.
A connecting rod 6: each clamping jaw 2 is connected with the disc seat 4 through a connecting rod 6, the first end of the connecting rod 6 is in shaft connection with the clamping jaw, and the second end of the connecting rod is in shaft connection with the disc seat 4.
In the above structure, the jaw 2 connected to the driving mechanism is an active jaw, and the link 6 connected to the active jaw is defined as an active link. The force of the drive structure is applied directly to the active jaw, which travels along its travel rail 101. And in the walking process of the driving clamping jaw, the driving connecting rod is driven to move. The acting force of the driving connecting rod is applied to the disk seat 4 to drive the disk seat 4 to rotate around the base body 1. In the rotating process of the disk seat 4, other connecting rods except the driving connecting rod rotate along with the rotating process. Each link will drive the jaw connected thereto to move along the travel rail. Based on the structure, all the clamping jaws 2 form a concentric movement structure, and the object clamping is completed.
In the above embodiment, the structure of the holding jaw 2 is as follows. The clamping jaw 2 comprises a body 201 and a mounting end 202, wherein the body 201 is L-shaped and forms a clamping and bending end, and each clamping jaw body 201 bends towards the same clamping space. Specifically, the connecting rod 6 is coupled with the mounting end 202 of the clamping jaw 2, and the mounting end is coupled with the clamping jaw seat
The bent ends can bear the grabber and face the axial joint of the disc seat 4 and the base body 1. Preferably, the end face of the bent end of the clamping jaw 2 can be provided with a non-slip pad, so that the grabbing stability is improved.
In some embodiments of the present invention, a structure for implementing the base 1 is further provided. The substrate 1 includes:
a body 102; the body 102 is provided with at least two substrate arms 103, the substrate arms 103 extend along the radial direction of the body 102 at the axial joint of the disk seat 4 and the substrate 1, each substrate arm 103 is provided with a walking rail 101, the walking rails 101 are arranged along the length direction of the substrate arms 103, and each walking rail 101 is provided with a clamping jaw 2. The plurality of substrate arms 103 are arranged uniformly in the circumferential direction with respect to the axial center of the disk base 4 and the substrate 1. Taking the structure of a clamping fixture with three clamping jaws as an example, the clamping fixture comprises three base arms 103, which are arranged along an angle of 120 degrees at intervals by taking the base shaft 5 on the body 102 as a center.
In the above embodiment, to adapt to the mounting structure of three substrate arms 103, the disk base 4 is triangular, specifically, isosceles triangle, and each link 6 is connected to one vertex of the triangular disk base 4. The structure can ensure that the three clamping jaws 2 symmetrically move towards the radial center to stably grab products.
The utility model discloses in some embodiments, for better start-up initial drive effect, under initial condition, every connecting rod 6 all inclines towards same direction along circumference relative to its walking rail 101 that corresponds clamping jaw 2. Referring to the drawings, when the jaws 2 are located at the end of the running rails 101, in the non-rotated state, the initial state of the links 6 is not parallel to the base arm 103 but inclined with respect to the base arm 103, and the inclination directions of all the links 6 are the same, and in a more preferred embodiment, the inclination angles are also the same. If the orientation of the link 6 is parallel to the orientation of the base arm 103, the initial force exerted by the jaws 2 on the link 6 is approximately vertical, in a manner that is detrimental to the actuation of the link 6. By changing the installation angle of the link 6, the direction of the initial acting force of the base arm 103 on the link 6 can be changed, which is beneficial to driving the link 6 to rotate.
In some embodiments, the present invention further provides a structure of the driving structure. The driving mechanism comprises a motor 7, a synchronous wheel set, a lead screw 9, a nut 10 and the like.
And the motor 7 is arranged on the first side edge of the first base body arm 103.
Synchronous wheel set: the synchronous motor comprises a first synchronous wheel 801 and a second synchronous wheel 802, wherein the first synchronous wheel 801 is connected with an output shaft of a motor 7, and the first synchronous wheel 801 is connected with the second synchronous wheel 802 through a synchronous belt 803.
A screw rod 9: the second synchronous wheel 802 is connected with the shaft and can be driven to rotate by the second synchronous wheel 802; the lead screw 9 is mounted on a second side of the first base arm 103, which is the end opposite to the side on which the motor 7 is mounted. The axial direction of the lead screw 9 is the same as the longitudinal direction of the base arm 103.
A nut 10: is arranged on a screw rod 9 and is connected with the active clamping jaw 2, in particular, a screw 10 is connected with the clamping jaw 2 through a screw seat 11
The motor 7 is started, the first synchronous wheel 801 rotates, the second synchronous wheel 802 is driven to rotate through the synchronous belt 803, the lead screw 9 is further driven to rotate, the screw nut 10 moves along the axis of the lead screw, the driving clamping jaw 2 is driven to move along the walking rail 101, and finally all the clamping jaws 2 are driven to concentrically convey to grab a product.
Under the condition that the motor 7 is powered off, the screw rod 9 stops rotating, so that the movement locking is realized, and the safety coefficient of the mechanism is improved. Besides the above driving structures, driving structures such as an electric cylinder and an air cylinder can be adopted, and are not described again.
The above description is only exemplary of the present invention and should not be taken as limiting the scope of the present invention, as any modifications, equivalents, improvements and the like made within the spirit and principles of the present invention are intended to be included within the scope of the present invention.
Claims (10)
1. The utility model provides a snatch tool which characterized in that includes:
matrix: at least two walking rails are arranged on the base body, and the walking rails are arranged along the same radial center;
a clamping jaw mechanism: the clamping jaw type walking device comprises clamping jaws, wherein each walking rail is provided with one clamping jaw, and the clamping jaws can walk along the walking rails;
a driving mechanism: is connected with a clamping jaw to drive the clamping jaw to walk along the walking rail;
a disc seat: the rotary device is rotatably arranged on the base body;
connecting rods: each clamping jaw is connected with the disc seat through a connecting rod, the first end of the connecting rod is in shaft connection with the clamping jaw, and the second end of the connecting rod is in shaft connection with the disc seat.
2. The grasping jig according to claim 1, wherein the base includes:
a body;
the body is provided with at least two base arms, the base arms extend along the radial direction of the body, each base arm is provided with a walking rail, and the walking rails are arranged along the length direction of the base arms.
3. The grasping jig according to claim 2, wherein: the plate seat is triangular, the number of the base arms and the number of the clamping jaws are three, and each connecting rod is connected to one vertex of the triangular plate seat.
4. The grasping jig according to claim 1 or 2, wherein in the initial state, each link is inclined in the same direction with respect to the travel rail of its corresponding jaw.
5. The grasping jig according to claim 1 or 2, characterized in that: the drive mechanism includes:
a motor;
synchronous wheel set: the synchronous motor comprises a first synchronous wheel and a second synchronous wheel, wherein the first synchronous wheel is connected with an output shaft of a motor, and the first synchronous wheel is connected with the second synchronous wheel through a synchronous belt;
a screw rod: the second synchronous wheel is connected with a shaft;
a nut: is arranged on the screw rod and is connected with a clamping jaw.
6. The grasping jig according to claim 5, wherein: the motor is installed at the first side of first base arm, the lead screw is installed at the second side of first base arm.
7. The grasping jig according to claim 5, wherein: the nut is connected with the clamping jaw through the nut seat.
8. The grasping jig according to claim 2, wherein: the substrate arms are uniformly arranged along the circumferential direction of the disk seat relative to the rotation center of the substrate.
9. The grasping jig according to claim 1, wherein: the clamping jaw mechanism further comprises a clamping jaw seat, and the clamping jaw is installed to the walking rail through the clamping jaw seat.
10. The grasping jig according to claim 1, wherein: the clamping jaw comprises a main body part and a mounting end, wherein the main body part is L-shaped and forms a clamping and bending end, and each clamping jaw main body part bends towards the rotation center of the disc seat relative to the base body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022671434.8U CN213674173U (en) | 2020-11-17 | 2020-11-17 | Grabbing jig |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022671434.8U CN213674173U (en) | 2020-11-17 | 2020-11-17 | Grabbing jig |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN213674173U true CN213674173U (en) | 2021-07-13 |
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ID=76733670
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202022671434.8U Active CN213674173U (en) | 2020-11-17 | 2020-11-17 | Grabbing jig |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114506665A (en) * | 2022-01-28 | 2022-05-17 | 倍施力(厦门)智能装备有限公司 | Multi-claw opening and closing mechanism and method |
| CN114523318A (en) * | 2022-03-17 | 2022-05-24 | 顺达模具科技有限公司 | Chassis bracket aluminum casting machine tooling anchor clamps for car |
| CN115889326A (en) * | 2022-10-31 | 2023-04-04 | 河南森空仪器设备有限公司 | Glassware multistage pure water cleaning device and method |
-
2020
- 2020-11-17 CN CN202022671434.8U patent/CN213674173U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114506665A (en) * | 2022-01-28 | 2022-05-17 | 倍施力(厦门)智能装备有限公司 | Multi-claw opening and closing mechanism and method |
| CN114523318A (en) * | 2022-03-17 | 2022-05-24 | 顺达模具科技有限公司 | Chassis bracket aluminum casting machine tooling anchor clamps for car |
| CN114523318B (en) * | 2022-03-17 | 2022-11-15 | 顺达模具科技有限公司 | Chassis bracket aluminum casting machine tooling anchor clamps for car |
| CN115889326A (en) * | 2022-10-31 | 2023-04-04 | 河南森空仪器设备有限公司 | Glassware multistage pure water cleaning device and method |
| CN115889326B (en) * | 2022-10-31 | 2024-03-26 | 河南森空仪器设备有限公司 | Multistage pure water cleaning device and method for glassware |
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