CN221111826U - Automatic gripping apparatus of manipulator - Google Patents
Automatic gripping apparatus of manipulator Download PDFInfo
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- CN221111826U CN221111826U CN202323050770.0U CN202323050770U CN221111826U CN 221111826 U CN221111826 U CN 221111826U CN 202323050770 U CN202323050770 U CN 202323050770U CN 221111826 U CN221111826 U CN 221111826U
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- 238000009434 installation Methods 0.000 claims abstract description 11
- 238000005096 rolling process Methods 0.000 claims description 9
- 230000033001 locomotion Effects 0.000 abstract description 14
- 238000004519 manufacturing process Methods 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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Abstract
The utility model relates to the field of clamps. The utility model provides an automatic gripper of a manipulator, which comprises: the grabbing assembly comprises an X-direction driving piece, a Y-direction driving piece and a clamping piece, wherein the X-direction driving piece is used for driving the clamping piece to reciprocate along the X-axis direction, and the Y-direction driving piece is used for driving the X-direction driving piece to slide back and forth along the Y-axis direction; the lifting assembly is used for driving the grabbing assembly to do translational motion along the Z-axis direction; the installation platform, snatch the subassembly install in the upper surface of installation platform, lifting unit install in the lower surface of installation platform, through setting up snatch subassembly and lifting unit, snatch the subassembly and can realize carrying out the operation of snatching of work piece on same horizontal plane, lifting unit can drive snatch the subassembly and carry out reciprocating motion in the direction of height, like this, just can satisfy the work piece of clamping different height.
Description
Technical Field
The utility model relates to the field of design clamps, in particular to an automatic gripper for a mechanical arm.
Background
The existing clamp can only clamp workpieces on the same horizontal plane, the application scene is very limited, and when application scenes with different height differences are involved, the clamp can be replaced only often, so that the cost of equipment investment is too high, the product profit is reduced, and the flexibility of the clamp is poor.
Disclosure of utility model
The utility model aims to provide the automatic gripper of the manipulator, which has wide application scenes.
The application provides an automatic gripper of a manipulator, which comprises:
The grabbing assembly comprises an X-direction driving piece, a Y-direction driving piece and a clamping piece, wherein the X-direction driving piece is used for driving the clamping piece to reciprocate along the X-axis direction, and the Y-direction driving piece is used for driving the X-direction driving piece to slide back and forth along the Y-axis direction;
The lifting assembly is used for driving the grabbing assembly to vertically move along the Z-axis direction;
The installation platform, snatch the subassembly install in the upper surface of installation platform, lifting unit install in the lower surface of installation platform, through setting up snatch subassembly and lifting unit, snatch the subassembly and can realize carrying out the operation of snatching of work piece on same horizontal plane, lifting unit can drive snatch the subassembly and carry out reciprocating motion in the direction of height, like this, just can satisfy to press from both sides and get the work piece of different height, in addition, also available lifting unit carries out the operation of work piece, can use manpower sparingly, improves production efficiency.
In a specific embodiment, the Y is to driving piece including first driving piece and first slider, first driving piece include first motor and connect in the belt pulley of first motor drive end, first slider with belt pulley fixed connection, first slider is used for driving X is to driving piece and makes a round trip to slide along Y axis direction, drives X through Y to driving piece and drives the horizontal movement in Y axis direction, like this, can make the centre gripping scope of holder bigger, satisfies the demand of different working scenario better.
In a specific embodiment, the X-direction driving piece comprises a second driving piece and a second sliding piece, the second driving piece comprises a second motor and a screw rod connected to the driving end of the second motor, the screw rod is in threaded connection with the clamping piece, the clamping piece reciprocates along the X direction along with the rotation of the screw rod, the screw rod is driven to rotate through the second motor, and then the clamping piece is driven to horizontally move along the X axis direction through the rotation of the screw rod.
In a specific embodiment, the second sliding member includes a supporting plate, a guide rail and a wire rail seat matched with the guide rail, the lower surface of the supporting plate is connected with the first sliding member, the guide rail is installed on the upper surface of the supporting plate, the clamping member is installed on the upper end surface of the wire rail seat, and slides along with the sliding of the wire rail seat.
In a specific embodiment, the motor driving device further comprises a connecting piece, wherein the connecting piece is located between the second motor and the screw rod and used for connecting the second motor with the screw rod, and the second motor and the screw rod are connected through the connecting piece, so that the stability of transmission is higher, and the power output is stable.
In a specific embodiment, the connecting piece includes a set of connecting portion and joint with the joint portion of connecting portion, connecting portion are equipped with fretwork form recess, joint portion be equipped with recess matched with lug, one of them connecting portion with the second motor is connected, another with screw connection, through recess and the lug of mutual joint, the structure of connecting like this is more stable, is difficult to become flexible, and stability is good.
In a specific embodiment, the lifting assembly comprises a third driving piece and a connecting rod mechanism driven by the third driving piece, the execution end of the connecting rod mechanism is connected with the mounting platform, the connecting rod mechanism is driven by the third driving piece, and then the mounting platform is driven to lift through the movement of the connecting rod mechanism, so that the change of the clamping piece in the height direction can be realized, the defect that the clamping piece can only work on a plane is overcome, and the connecting rod mechanism is simple in structure and stable in work.
In a specific embodiment, the link mechanism comprises an outer frame and a link rod arranged in the outer frame, a rolling element is arranged at the end part of the link rod, the rolling element slides back and forth along the length direction of the outer frame, and the rolling element is arranged at the end part of the link rod, so that the link rod can slide back and forth in the outer frame, and the friction force is reduced.
In a specific embodiment, the third driving piece includes a third motor and a screw rod connected to an output end of the third motor, the screw rod is in threaded connection with the connecting rod, and the rotational movement of the third driving piece is adjusted to be linear movement through threaded connection of the connecting rod and the screw rod, so that the up-and-down movement of the connecting rod mechanism is driven, and the structure is simple and easy to realize.
The beneficial effects are that:
① Through setting up grabbing component and lifting unit, grabbing component can realize carrying out the operation of snatching of work piece on same horizontal plane, and lifting unit can drive grabbing component and carry out reciprocating motion in the direction of height, just so, can satisfy and press from both sides the work piece of getting different height, in addition, also usable lifting unit carries out the operation of carrying of work piece, can use manpower sparingly, improves production efficiency.
② The Y-direction driving piece drives the X-direction driving piece to horizontally move in the Y-axis direction, so that the clamping range of the clamping piece is larger, and the requirements of different working scenes are better met.
③ Through setting up the connecting piece, wherein, the connecting piece includes the joint portion of a set of connecting portion and joint and connecting portion, and the connecting portion is equipped with fretwork form recess, and joint portion is equipped with the lug that matches with the recess, through the recess and the lug of mutual joint, the structure of connecting like this is more stable, is difficult to become flexible, stability is good.
Drawings
FIG. 1 is a schematic perspective view of a mechanical automatic gripper of the present example;
FIG. 2 is a schematic perspective view of a grasping assembly;
FIG. 3 is a front view of the connector;
fig. 4 is a schematic perspective view of a lifting assembly.
Reference numerals: 100. an automatic gripper; 1. a grabbing component; 10. a clamping member; 11. an X-direction driving member; 110. a second motor; 111. a screw rod; 112. a wire rail seat; 113. a guide rail; 114. a support plate; 12. a Y-direction driving member; 120. a first motor; 121. pulley, 122, first slider; 2. a lifting assembly; 20. a screw; 21. a connecting rod; 22. a rolling member; 3. a mounting platform; 4. a connecting piece; 40. a connection part; 41. and a clamping part.
Detailed Description
Embodiments of the present utility model are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative only and are not to be construed as limiting the utility model.
In the description of the present utility model, it should be understood that the terms "center", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "counterclockwise", "clockwise", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present utility model and to simplify the description, and do not indicate or imply that the device or element being referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present utility model. In the description of the present utility model, unless otherwise indicated, the meaning of "a plurality" is two or more.
In the description of the present utility model, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; the two components can be connected mechanically or electrically, can be connected directly or indirectly through an intermediate medium, and can be communicated inside the two components. The specific meaning of the above terms in the present utility model can be understood by those of ordinary skill in the art according to the specific circumstances.
Examples:
Referring to fig. 1-4, the present embodiment provides a robot automatic gripper 100, which includes a grabbing component 1, a lifting component 2, and a mounting platform 3 for mounting the grabbing component 1 and the lifting component 2.
Referring to fig. 1, the grabbing assembly 1 comprises an X-direction driving member 11, a Y-direction driving member 12 and a clamping member 10, wherein the X-direction driving member 11 is used for driving the clamping member 10 to reciprocate along the X-axis direction, and the Y-direction driving member 12 is used for driving the X-direction driving member 11 to slide back and forth along the Y-axis direction; the lifting assembly 2 is used for driving the grabbing assembly 1 to vertically move along the Z-axis direction; the grabbing component 1 is installed on the upper surface of the installation platform 3, the lifting component 2 is installed on the lower surface of the installation platform 3, grabbing operations of workpieces on the same horizontal plane can be achieved through the grabbing component 1 and the lifting component 2, the lifting component 2 can drive the grabbing component 1 to reciprocate in the height direction, and therefore workpieces with different heights can be clamped.
Wherein, the clamping piece 10 drives the clamping arms which move in opposite directions by the air cylinder, thereby realizing the functional requirement of clamping the workpiece.
Referring to fig. 2, the Y-direction driving member 12 includes a first driving member and a first sliding member 122, where the first driving member includes a first motor 120 and a belt pulley 121 connected to a driving end of the first motor 120, the first sliding member 122 is fixedly connected to the belt pulley 121, and the first sliding member 122 is used to drive the X-direction driving member 11 to slide back and forth along the Y-axis direction, and drives the X-direction driving member 12 to move horizontally in the Y-axis direction, so that the clamping range of the clamping member 10 is larger, and requirements of different working scenarios can be better met.
With continued reference to fig. 2, the X-direction driving member 11 includes a second driving member and a second sliding member, the second driving member includes a second motor 110 and a screw rod 111 connected to a driving end of the second motor 110, the screw rod 111 is in threaded connection with the clamping member 10, the clamping member 10 reciprocates along the X-direction along with rotation of the screw rod 111, the screw rod 111 is driven to rotate by the second motor 110, and then the clamping member 10 is driven to horizontally move along the X-axis direction by the rotation of the screw rod 111.
Specifically, the second sliding member includes a supporting plate 114, a guide rail 113 and a wire rail seat 112 matched with the guide rail 113, the lower surface of the supporting plate 114 is connected with the first sliding member 122, the guide rail 113 is installed on the upper surface of the supporting plate 114, the clamping member 10 is installed on the upper end surface of the wire rail seat 112, the clamping member 10 slides along with the sliding of the wire rail seat 112, and by arranging the guide rail 113 and the wire rail seat 112, the movement of the clamping member 10 is more stable, the cost is low, and the manufacturing is easy.
In addition, in order to improve the stability of the connection between the second motor 110 and the screw 111, referring to fig. 3, the connection member 4 is positioned between the second motor 110 and the screw 111 for connecting the second motor 110 and the screw 111, and the second motor 110 and the screw 111 are connected through the connection member 4, so that the stability of the transmission is higher and the power output is stable.
Wherein, connecting piece 4 includes a set of connecting portion 40 and joint and the joint portion 41 of connecting portion 40, and connecting portion 40 are equipped with fretwork form recess, and joint portion 41 is equipped with the lug that matches with the recess, and one of them connecting portion 40 is connected with second motor 110, and another is connected with lead screw 111, through the recess and the lug of mutual joint, and the structure of connecting like this is more stable, is difficult to become flexible, and stability is good.
Referring to fig. 4, the lifting assembly 2 includes a third driving member and a link mechanism driven by the third driving member, an execution end of the link mechanism is connected with the mounting platform 3, the link mechanism is driven by the third driving member, and then the mounting platform 3 is driven to lift by movement of the link mechanism, so that the change of the clamping member 10 in the height direction can be realized, the defect that the clamping member 10 can only work on a plane is overcome, and the link mechanism has a simple structure and stable work.
Specifically, the link mechanism comprises an outer frame and a link 21 arranged in the outer frame, a rolling element 22 is arranged at the end part of the link 21, the rolling element 22 slides back and forth along the length direction of the outer frame, and the rolling element 22 is arranged at the end part of the link 21, so that the link 21 can slide back and forth in the outer frame, and friction force is reduced.
The rolling elements 22 may be bearings, wheels, etc., which are not limited in this regard.
Referring to fig. 4, the third driving member includes a third motor (not shown in the drawing) and a screw 20 connected to an output end of the third motor, the screw 20 is in threaded connection with a connecting rod 21, and the rotational movement of the third driving member is adjusted to be linear movement through the threaded connection between the connecting rod 21 and the screw 20, so as to drive the up-and-down movement of the connecting rod mechanism, so that the structure is simple and easy to implement.
The present application is not limited to the above embodiments, and any changes or substitutions within the technical scope of the present application should be covered by the scope of the present application. Therefore, the protection scope of the application is subject to the protection scope of the claims.
Claims (9)
1. A robotic automatic gripper, comprising:
The grabbing assembly comprises an X-direction driving piece, a Y-direction driving piece and a clamping piece, wherein the X-direction driving piece is used for driving the clamping piece to reciprocate along the X-axis direction, and the Y-direction driving piece is used for driving the X-direction driving piece to slide back and forth along the Y-axis direction;
The lifting assembly is used for driving the grabbing assembly to vertically move along the Z-axis direction;
The installation platform, snatch the subassembly install in the upper surface of installation platform, lifting unit install in the lower surface of installation platform.
2. A robotic automatic gripper as defined in claim 1, wherein: the Y-direction driving piece comprises a first driving piece and a first sliding piece, the first driving piece comprises a first motor and a belt pulley connected to the driving end of the first motor, the first sliding piece is fixedly connected with the belt pulley, and the first sliding piece is used for driving the X-direction driving piece to slide back and forth along the Y-axis direction.
3. A robotic automatic gripper as claimed in claim 2, wherein: the X-direction driving piece comprises a second driving piece and a second sliding piece, the second driving piece comprises a second motor and a screw rod connected to the driving end of the second motor, the screw rod is in threaded connection with the clamping piece, and the clamping piece reciprocates along the X direction along with the rotation of the screw rod.
4. A robotic automatic gripper as claimed in claim 3, wherein: the second sliding piece comprises a supporting plate, a guide rail and a wire rail seat matched with the guide rail, the lower surface of the supporting plate is connected with the first sliding piece, the guide rail is installed on the upper surface of the supporting plate, the clamping piece is installed on the upper end face of the wire rail seat, and the clamping piece slides along with the sliding of the wire rail seat.
5. A robotic automatic gripper as defined in claim 4, wherein: the connecting piece is located between the second motor and the screw rod and used for connecting the second motor and the screw rod.
6. A robotic automatic gripper as defined in claim 5, wherein: the connecting piece includes a set of connecting portion and joint with the joint portion of connecting portion, connecting portion are equipped with fretwork form recess, joint portion be equipped with recess matched with lug, one of them connecting portion with the second motor is connected, another with screw connection.
7. A robotic automatic gripper as defined in claim 1, wherein: the lifting assembly comprises a third driving piece and a connecting rod mechanism driven by the third driving piece, and the execution end of the connecting rod mechanism is connected with the mounting platform.
8. A robotic automatic gripper as defined in claim 7, wherein: the connecting rod mechanism comprises an outer frame and a connecting rod arranged in the outer frame, wherein a rolling piece is arranged at the end part of the connecting rod and slides back and forth along the length direction of the outer frame.
9. A robotic automatic gripper as defined in claim 8, wherein: the third driving piece comprises a third motor and a screw rod connected to the output end of the third motor, and the screw rod is in threaded connection with the connecting rod.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202323050770.0U CN221111826U (en) | 2023-11-10 | 2023-11-10 | Automatic gripping apparatus of manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202323050770.0U CN221111826U (en) | 2023-11-10 | 2023-11-10 | Automatic gripping apparatus of manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN221111826U true CN221111826U (en) | 2024-06-11 |
Family
ID=91361661
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202323050770.0U Active CN221111826U (en) | 2023-11-10 | 2023-11-10 | Automatic gripping apparatus of manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN221111826U (en) |
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2023
- 2023-11-10 CN CN202323050770.0U patent/CN221111826U/en active Active
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