CN205394535U - Gripping device - Google Patents
Gripping device Download PDFInfo
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- CN205394535U CN205394535U CN201620130004.6U CN201620130004U CN205394535U CN 205394535 U CN205394535 U CN 205394535U CN 201620130004 U CN201620130004 U CN 201620130004U CN 205394535 U CN205394535 U CN 205394535U
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- grabbing device
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- 230000007246 mechanism Effects 0.000 claims abstract description 148
- 230000001360 synchronised effect Effects 0.000 claims description 9
- 230000002459 sustained effect Effects 0.000 claims description 3
- 238000000034 method Methods 0.000 abstract description 4
- 230000008569 process Effects 0.000 description 3
- 238000004140 cleaning Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000002372 labelling Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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Abstract
The utility model provides a grabbing device, include: a support mechanism (10); the traveling mechanism (20), the traveling mechanism (20) is arranged on the supporting mechanism (10); the material grabbing mechanism (30) is arranged on the traveling mechanism (20), the material grabbing mechanism (30) comprises a manipulator, the manipulator comprises a fixed support (31), a clamping plate (32) arranged on the fixed support (31) and a first driving mechanism, and the first driving mechanism drives the clamping plate (32) to clamp or release a workpiece to be moved. The technical scheme of the utility model the problem that the in-process efficiency is lower, intensity of labour is great of having solved the air condensing units connecting pipe among the prior art of unloading effectively.
Description
Technical field
This utility model relates to the technical field of frock, in particular to a kind of grabbing device.
Background technology
At present, the air-conditioner production automation advances constantly, and one of necessary operation packed as every kind of air-conditioner production, its main complete process is dependent on workman and repeatedly manually completes.In packing process, it is necessary to by the connecting tube manual cleaning of air-conditioner outdoor unit.Above-mentioned manual cleaning's is inefficient, and labor intensity is bigger.
Utility model content
Main purpose of the present utility model is in that to provide a kind of grabbing device, to solve inefficient, problem that labor intensity is bigger in air-conditioner outdoor unit connecting pipe discharge process of the prior art.
To achieve these goals, this utility model provides a kind of grabbing device, including: supporting mechanism；Walking mechanism, walking mechanism is arranged on supporting mechanism；Material grabbing mechanism, material grabbing mechanism is arranged in walking mechanism, and material grabbing mechanism includes mechanical hand, and mechanical hand includes fixed support, the clamping plate that are arranged on fixed support and the first driving mechanism, and wherein, the first driving mechanism drives clamping plate gripping or decontrols workpiece to be moved.
Further, walking mechanism includes horizontal running mechanism and vertical walking mechanism, and horizontal running mechanism is arranged on supporting mechanism, and vertical walking mechanism is connected with horizontal running mechanism, and material grabbing mechanism is fixed on one end of vertical walking mechanism.
Further, horizontal running mechanism includes the first horizontal running mechanism and the second horizontal running mechanism, wherein, supporting mechanism is provided with the first guide rail, first horizontal running mechanism includes the roof beam structure being arranged on the first guide rail, being provided with the second guide rail on roof beam structure, the second horizontal running mechanism includes the slide carriage being arranged on the second guide rail, and fixed support is connected on slide carriage.
Further, supporting mechanism includes gantry structure, first guide rail includes being arranged on the first crossbeam above gantry structure and second cross beam, first crossbeam and second cross beam and arranges parallel and horizontally extending, and the two ends of roof beam structure are movably attached on first crossbeam and second cross beam.
Further, the bearing of trend of roof beam structure and the bearing of trend of first crossbeam are vertical.
Further, the moving direction of slide carriage and the moving direction of roof beam structure are vertical.
Further, grabbing device also includes the second driving mechanism and the 3rd driving mechanism, and the second driving mechanism drives roof beam structure to slide on first crossbeam and second cross beam, and the 3rd driving mechanism drives slide carriage at the second slide on rails.
Further, the first horizontal running mechanism also includes driving pulley, synchronous cog belt and driven pulley, and the second driving mechanism is connected with driving pulley, and synchronous cog belt is arranged between driving pulley and driven pulley.
Further, second horizontal running mechanism also includes gear, tooth bar and the second guide rail, roof beam structure includes spaced first pressure pin and the second pressure pin, first pressure pin and the second pressure pin be arranged in parallel at sustained height, and the 3rd driving mechanism is connected with gear, and tooth bar is arranged on the side of the first pressure pin, wheel and rack is meshed, 3rd driving mechanism is arranged on slide carriage, and the second guide rail is two, and two the second guide rails are separately positioned on the first pressure pin and the second pressure pin.
Further, vertical walking mechanism includes the first cylinder and the axis of guide, and the first cylinder and the axis of guide are fixed on slide carriage, and the axle of the first cylinder is connected with fixed support.
Further, fixed support also includes connecting plate and mounting bracket, connecting plate and the first cylinder and the axis of guide is all connected with, and mounting bracket is fixed on connecting plate.
Further, mechanical hand also includes the mounting plate, bottom plate, the 3rd guide rail and the second cylinder that are set in distance up and down, 3rd guide rail and the second cylinder are arranged in mounting bracket, one end of mounting plate is arranged on the 3rd guide rail, and the second air cylinder driven mounting plate is walked on the 3rd guide rail so that the distance between mounting plate and bottom plate increases or reduces.
Further, mechanical hand also includes the 3rd cylinder and the 4th guide rail, 3rd cylinder and the 4th guide rail are arranged in mounting bracket, and one end of bottom plate is arranged on the 4th guide rail, and the 3rd air cylinder driven bottom plate is walked on the 4th guide rail so that the distance between bottom plate and mounting plate increases or reduces.
Further, mechanical hand also includes baffle plate and microswitch, and baffle plate is arranged between the first end of mounting plate and the first end of bottom plate, is provided with opening in the middle part of baffle plate, and microswitch is arranged on the opening part on baffle plate.
Application the technical solution of the utility model, material grabbing mechanism is moved to workpiece place to be moved by walking mechanism, drives clamping plate by workpiece holding to be moved by the first driving mechanism.Then, material grabbing mechanism moves to the position that workpiece to be moved needs are placed again through walking mechanism, and the first driving mechanism drives clamping plate to decontrol workpiece to be moved.Said structure ensure that the automatization taking, putting workpiece to be moved work, this avoid the problem that manual operation efficiency is low, labor intensity is big.
Accompanying drawing explanation
The Figure of description constituting the part of the application is used for providing being further appreciated by of the present utility model, and schematic description and description of the present utility model is used for explaining this utility model, is not intended that improper restriction of the present utility model.In the accompanying drawings:
Fig. 1 illustrates the perspective view of the embodiment according to material catching apparatus of the present utility model；
Fig. 2 illustrates the perspective view of the second driving mechanism of the material catching apparatus of Fig. 1；
Fig. 3 illustrates the perspective view of the horizontal running mechanism of the material catching apparatus of Fig. 1；And
Fig. 4 illustrates the perspective view of the mechanical hand of the material catching apparatus of Fig. 1.
Wherein, above-mentioned accompanying drawing includes the following drawings labelling:
10, supporting mechanism；11, the first guide rail；20, walking mechanism；21, horizontal running mechanism；211, the first horizontal running mechanism；212, the second horizontal running mechanism；22, vertical walking mechanism；221, the first cylinder；222, the axis of guide；30, material grabbing mechanism；31, fixed support；32, clamping plate；33, baffle plate；34, microswitch；40, the second driving mechanism；50, the 3rd driving mechanism.
Detailed description of the invention
It should be noted that when not conflicting, the embodiment in the application and the feature in embodiment can be mutually combined.Describe this utility model below with reference to the accompanying drawings and in conjunction with the embodiments in detail.
As shown in Figure 1 and Figure 4, a kind of grabbing device of the present embodiment includes: supporting mechanism 10, walking mechanism 20 and material grabbing mechanism 30.Walking mechanism 20 is arranged on supporting mechanism 10.Material grabbing mechanism 30 is arranged in walking mechanism 20, and material grabbing mechanism 30 includes mechanical hand, and mechanical hand includes fixed support 31, the clamping plate 32 that are arranged on fixed support 31 and the first driving mechanism.Wherein, the first driving mechanism drives clamping plate 32 to grip or decontrol workpiece to be moved.
The technical scheme of application the present embodiment, material grabbing mechanism 30 is moved to workpiece place to be moved by walking mechanism 20, drives clamping plate 32 by workpiece holding to be moved by the first driving mechanism.Then, material grabbing mechanism 30 moves to the position that workpiece to be moved needs are placed again through walking mechanism 20, and the first driving mechanism drives clamping plate 32 to decontrol workpiece to be moved.Said structure ensure that the automatization taking, putting workpiece to be moved work, this avoid the problem that manual operation efficiency is low, labor intensity is big.
As shown in Figure 1, Figure 3 and Figure 4, in the technical scheme of the present embodiment, walking mechanism 20 includes horizontal running mechanism 21 and vertical walking mechanism 22, horizontal running mechanism 21 is arranged on supporting mechanism 10, vertical walking mechanism 22 is connected with horizontal running mechanism 21, and material grabbing mechanism 30 is fixed on one end of vertical walking mechanism 22.The material grabbing mechanism of said structure can move at horizontal plane and vertical direction so that the moving range of material grabbing mechanism is bigger.
As it is shown in figure 1, in the technical scheme of the present embodiment, horizontal running mechanism 21 includes the first horizontal running mechanism 211 and the second horizontal running mechanism 212.Wherein, being provided with the first guide rail 11 on supporting mechanism 10, the first horizontal running mechanism 211 includes the roof beam structure being arranged on the first guide rail 11, and roof beam structure is provided with the second guide rail, second horizontal running mechanism 212 is the slide carriage being arranged on the second guide rail, and fixed support 31 is connected on slide carriage.The activity of horizontal plane is realized by the first horizontal running mechanism 211 and the second horizontal running mechanism 212.Said structure arranges simply, it is easy to processing.
As shown in Figure 1, in the technical scheme of the present embodiment, supporting mechanism 10 includes gantry structure, first guide rail 11 includes being arranged on the first crossbeam above gantry structure and second cross beam, first crossbeam and second cross beam are arranged and horizontally extending parallel, and the two ends of roof beam structure are movably attached on first crossbeam and second cross beam.Said structure is easily worked.
Specifically, the bearing of trend of roof beam structure and the bearing of trend of first crossbeam are vertical.Said structure is arranged simply.Further specifically, the moving direction of slide carriage and the moving direction of roof beam structure are vertical.Said structure makes material grabbing mechanism can move in horizontal plane.
As shown in Figures 2 and 3, in the technical scheme of the present embodiment, grabbing device also includes the second driving mechanism 40 and the 3rd driving mechanism 50, and the second driving mechanism drives roof beam structure to slide on first crossbeam and second cross beam, and the 3rd driving mechanism drives slide carriage at the second slide on rails.Said structure ensure that the automatization that grabbing device moves, and reduces the labor intensity of workman.
As depicted in figs. 1 and 2, in the technical scheme of the present embodiment, the first horizontal running mechanism 211 also includes driving pulley, synchronous cog belt and driven pulley, and the second driving mechanism is connected with driving pulley, and synchronous cog belt is arranged between driving pulley and driven pulley.Said structure ensure that the stabilized walking of the first horizontal running mechanism 211.Specifically, the rate of tension of synchronous cog belt can regulate.Further specifically, the second driving mechanism is motor, and motor is arranged on motor cabinet, is connected with driving pulley by shaft coupling, and synchronous cog belt has metalwork, and the metalwork of synchronous cog belt is connected with roof beam structure and is driven walking.
As shown in figures 1 and 3, in the technical scheme of the present embodiment, second horizontal running mechanism 212 also includes gear, tooth bar and the second guide rail, roof beam structure includes spaced first pressure pin and the second pressure pin, first pressure pin and the second pressure pin be arranged in parallel at sustained height, 3rd driving mechanism is connected with gear, tooth bar is arranged on the side of the first pressure pin, wheel and rack is meshed, 3rd driving mechanism is arranged on slide carriage, second guide rail is two, and two the second guide rails are separately positioned on the first pressure pin and the second pressure pin.Said structure arranges and makes the second horizontal running mechanism 212 walking stable.Specifically, the two ends of the second guide rail are provided with limited block to carry out spacing to slide carriage.
As it is shown on figure 3, in the technical scheme of the present embodiment, vertical walking mechanism 22 includes the first cylinder 221 and the axis of guide 222, the first cylinder 221 and the axis of guide 222 are fixed on slide carriage, and the axle of the first cylinder 221 is connected with fixed support 31.Said structure is arranged simply.Specifically, the axis of guide 222 is four, and what surround is arranged on the first cylinder 221 around.
As shown in Figure 1 and Figure 4, in the technical scheme of the present embodiment, fixed support 31 also includes connecting plate and mounting bracket, connecting plate and the first cylinder 221 and the axis of guide 222 is all connected with, and mounting bracket is fixed on connecting plate.Said structure is easily worked.
As shown in Figure 1 and Figure 4, in the technical scheme of the present embodiment, mechanical hand also includes the mounting plate, bottom plate, the 3rd guide rail and the second cylinder that are set in distance up and down, 3rd guide rail and the second cylinder are arranged in mounting bracket, one end of mounting plate is arranged on the 3rd guide rail, and the second air cylinder driven mounting plate is walked on the 3rd guide rail so that the distance between mounting plate and bottom plate increases or reduces.Said structure is easily worked, flexible operation.
As shown in Figure 4, in the technical scheme of the present embodiment, mechanical hand also includes the 3rd cylinder and the 4th guide rail, 3rd cylinder and the 4th track are arranged in mounting bracket, one end of bottom plate is arranged on the 4th guide rail, and the 3rd air cylinder driven bottom plate is walked on the 4th guide rail so that the distance between bottom plate and mounting plate increases or reduces.The mounting plate of said structure and bottom plate all can move, and the use so making mechanical hand is convenient, and the workpiece to be moved once gripped is more.
As shown in Figure 4, in the technical scheme of the present embodiment, mechanical hand also includes baffle plate 33 and microswitch 34, and baffle plate 33 is arranged between the first end of mounting plate and the first end of bottom plate, being provided with opening in the middle part of baffle plate 33, microswitch 34 is arranged on the opening part on baffle plate.Specifically, workpiece to be moved is connecting tube material.Connecting tube material is stacked state, and in order to guarantee clamping, it is necessary to the bottom plate of load-bearing selects the thin cylinder (the 3rd cylinder) that internal diameter is big, stroke is short, pen type cylinder (i.e. the second cylinder) that internal diameter is little, stroke is big selected by mounting plate.When mechanical hand grips connecting tube material, the cylinder rod action of pen type cylinder and thin cylinder, drive mounting plate and bottom plate gripping connecting tube material, microswitch 34 is used for ensureing that connecting tube material clamp gets position；When mechanical hand unloads connecting tube material, the cylinder rod of pen type cylinder and thin cylinder stretches out, and mounting plate and bottom plate unclamp and unload material；The backing plate arranged on bottom plate plays buffering and anti-skidding effect.
The foregoing is only preferred embodiment of the present utility model, be not limited to this utility model, for a person skilled in the art, this utility model can have various modifications and variations.All within spirit of the present utility model and principle, any amendment of making, equivalent replacement, improvement etc., should be included within protection domain of the present utility model.
Claims (14)
1. a grabbing device, it is characterised in that including:
Supporting mechanism (10)；
Walking mechanism (20), described walking mechanism (20) is arranged on described supporting mechanism (10)；
Material grabbing mechanism (30), described material grabbing mechanism (30) is arranged in described walking mechanism (20), described material grabbing mechanism (30) includes mechanical hand, described mechanical hand includes fixed support (31), be arranged on described fixed support (31) clamping plate (32) and the first driving mechanism, wherein, described first driving mechanism drives described clamping plate (32) to grip or decontrol workpiece to be moved.
2. grabbing device according to claim 1, it is characterized in that, described walking mechanism (20) includes horizontal running mechanism (21) and vertical walking mechanism (22), described horizontal running mechanism (21) is arranged on described supporting mechanism (10), described vertical walking mechanism (22) is connected with described horizontal running mechanism (21), and described material grabbing mechanism (30) is fixed on one end of described vertical walking mechanism (22).
3. grabbing device according to claim 2, it is characterized in that, described horizontal running mechanism (21) includes the first horizontal running mechanism (211) and the second horizontal running mechanism (212), wherein, described supporting mechanism (10) is provided with the first guide rail (11), described first horizontal running mechanism (211) includes the roof beam structure being arranged on described first guide rail (11), described roof beam structure is provided with the second guide rail, described second horizontal running mechanism (212) includes the slide carriage being arranged on described second guide rail, described fixed support (31) is connected on described slide carriage.
4. grabbing device according to claim 3, it is characterized in that, described supporting mechanism (10) includes gantry structure, described first guide rail (11) includes being arranged on the first crossbeam above described gantry structure and second cross beam, described first crossbeam and described second cross beam are arranged and horizontally extending parallel, and the two ends of described roof beam structure are movably attached on described first crossbeam and described second cross beam.
5. grabbing device according to claim 4, it is characterised in that the bearing of trend of described roof beam structure is vertical with the bearing of trend of described first crossbeam.
6. the grabbing device according to claim 4 or 5, it is characterised in that the moving direction of described slide carriage is vertical with the moving direction of described roof beam structure.
7. grabbing device according to claim 4, it is characterized in that, described grabbing device also includes the second driving mechanism (40) and the 3rd driving mechanism (50), described second driving mechanism (40) drives described roof beam structure to slide on described first crossbeam and described second cross beam, and described 3rd driving mechanism (50) drives described slide carriage at described second slide on rails.
8. grabbing device according to claim 7, it is characterized in that, described first horizontal running mechanism (211) also includes driving pulley, synchronous cog belt and driven pulley, described second driving mechanism (40) is connected with described driving pulley, and described synchronous cog belt is arranged between described driving pulley and described driven pulley.
9. grabbing device according to claim 7, it is characterized in that, described second horizontal running mechanism (212) also includes gear, tooth bar and the second guide rail, described roof beam structure includes spaced first pressure pin and the second pressure pin, described first pressure pin and described second pressure pin be arranged in parallel at sustained height, described 3rd driving mechanism (50) is connected with described gear, described tooth bar is arranged on the side of described first pressure pin, described gear is meshed with described tooth bar, described 3rd driving mechanism (50) is arranged on described slide carriage, described second guide rail is two, said two the second guide rail is separately positioned on described first pressure pin and described second pressure pin.
10. grabbing device according to claim 6, it is characterized in that, described vertical walking mechanism (22) includes the first cylinder (221) and the axis of guide (222), described first cylinder (221) and the described axis of guide (222) are fixed on described slide carriage, and the axle of described first cylinder (221) is connected with described fixed support (31).
11. grabbing device according to claim 10, it is characterized in that, described fixed support (31) also includes connecting plate and mounting bracket, described connecting plate is all connected with described first cylinder (221) and the described axis of guide (222), and described mounting bracket is fixed on described connecting plate.
12. grabbing device according to claim 11, it is characterized in that, described mechanical hand also includes the mounting plate, bottom plate, the 3rd guide rail and the second cylinder that are set in distance up and down, described 3rd guide rail and described second cylinder are arranged in described mounting bracket, one end of described mounting plate is arranged on described 3rd guide rail, and mounting plate described in described second air cylinder driven is walked on described 3rd guide rail so that the distance between described mounting plate and described bottom plate increases or reduces.
13. grabbing device according to claim 12, it is characterized in that, described mechanical hand also includes the 3rd cylinder and the 4th guide rail, described 3rd cylinder and described 4th guide rail are arranged in described mounting bracket, one end of described bottom plate is arranged on described 4th guide rail, and bottom plate described in described 3rd air cylinder driven is walked on described 4th guide rail so that the distance between described bottom plate and described mounting plate increases or reduces.
14. grabbing device according to claim 12, it is characterized in that, described mechanical hand also includes baffle plate (33) and microswitch (34), described baffle plate (33) is arranged between the first end of described mounting plate and the first end of described bottom plate, described baffle plate (33) middle part is provided with opening, and described microswitch (34) is arranged on the opening part on described baffle plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620130004.6U CN205394535U (en) | 2016-02-19 | 2016-02-19 | Gripping device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620130004.6U CN205394535U (en) | 2016-02-19 | 2016-02-19 | Gripping device |
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| Publication Number | Publication Date |
|---|---|
| CN205394535U true CN205394535U (en) | 2016-07-27 |
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|---|---|---|---|
| CN201620130004.6U Active CN205394535U (en) | 2016-02-19 | 2016-02-19 | Gripping device |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105538297A (en) * | 2016-02-19 | 2016-05-04 | 珠海格力电器股份有限公司 | gripping device |
| CN106759064A (en) * | 2016-12-08 | 2017-05-31 | 浙江省三门县远峰水电建设有限公司 | A kind of construction of hydro project field operation automation equipment |
| CN109201973A (en) * | 2018-10-26 | 2019-01-15 | 浙江鸿盛环保科技集团有限公司 | Modularization bag cage preparation system |
| CN109397184A (en) * | 2018-12-27 | 2019-03-01 | 江苏新宏大集团有限公司 | A kind of rotation desk vacuum filter self-action tool for press strip |
| CN111906531A (en) * | 2019-11-15 | 2020-11-10 | 中车大同电力机车有限公司 | Electric locomotive wheel drive unit assembly line |
-
2016
- 2016-02-19 CN CN201620130004.6U patent/CN205394535U/en active Active
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105538297A (en) * | 2016-02-19 | 2016-05-04 | 珠海格力电器股份有限公司 | gripping device |
| CN106759064A (en) * | 2016-12-08 | 2017-05-31 | 浙江省三门县远峰水电建设有限公司 | A kind of construction of hydro project field operation automation equipment |
| CN109201973A (en) * | 2018-10-26 | 2019-01-15 | 浙江鸿盛环保科技集团有限公司 | Modularization bag cage preparation system |
| CN109201973B (en) * | 2018-10-26 | 2024-03-08 | 浙江鸿盛新材料科技集团股份有限公司 | Modular bag cage preparation system |
| CN109397184A (en) * | 2018-12-27 | 2019-03-01 | 江苏新宏大集团有限公司 | A kind of rotation desk vacuum filter self-action tool for press strip |
| CN111906531A (en) * | 2019-11-15 | 2020-11-10 | 中车大同电力机车有限公司 | Electric locomotive wheel drive unit assembly line |
| CN111906531B (en) * | 2019-11-15 | 2022-02-11 | 中车大同电力机车有限公司 | Electric locomotive wheel drive unit assembly line |
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