CN103964292B - A kind of movable suction disc hanging apparatus - Google Patents
A kind of movable suction disc hanging apparatus Download PDFInfo
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- CN103964292B CN103964292B CN201410227220.8A CN201410227220A CN103964292B CN 103964292 B CN103964292 B CN 103964292B CN 201410227220 A CN201410227220 A CN 201410227220A CN 103964292 B CN103964292 B CN 103964292B
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- sucker
- counterweight
- steel rope
- hanging apparatus
- guiding
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Abstract
The invention discloses a kind of movable suction disc hanging apparatus, comprise bracing frame, support frame as described above is provided with rotating mechanism, slide mechanism and sucker crane assembling device, the mount pad that described sucker crane assembling device comprises sucker, is connected with slide mechanism, described mount pad is provided with the winch spool being wound with steel rope, described winch spool is rotated by the first Serve Motor Control, and described steel rope is connected with sucker, and described sucker is controlled to produce vacuum by vacuum generator.The present invention can avoid workpiece put procedure to cause damage, and the positional precision picking and placeing workpiece is high, be not subject to external force impact, and mobile range is large, can realize rotating and rectilinear movement.
Description
Technical field
The present invention relates to hanging device field, be specifically related to a kind of movable suction disc hanging apparatus.
Background technology
Generally adopt in two ways for picking and placeing slice work-piece in prior art, one uses manipulator such as clamp or clamping jaw device to carry out, this sample loading mode not only causes that manipulator complicated integral structure, volume are large, whole cost is high on the one hand, on the other hand because manipulator control ratio of precision is poor, in fetching process, easily cause workpiece damage or make dirty; Two is use rigidity hanging apparatus to pick and place workpiece, because rigidity hanging apparatus integral structure is more fixing, if it is not concordant to there is state that is concavo-convex or that place in surface of the work, hanging apparatus is picking and placeing easy bad contact in workpiece fabrication, Hoisting Position not easily adjusts, and easily causes workpiece damage because impulse force affects transferring the process that workpiece contacts with rest area.
As Chinese Patent Application No. 201310289704.0, patent name " Telescopic arm of pulley block formula glass holder suspension bracket ", comprise and hang connecting panel, expansion link, straight-arm, adjusting seat, erecting frame, sucker, pore, vacuum pump, motor, top gem of a girdle-pendant rail, suspension cable and track sled, stand; It is characterized in that, vacuum pump is fixed at erecting frame rear portion, and sucker is installed in erecting frame front portion, and have pore in the middle part of sucker, this pore is communicated with vacuum pump, and erecting frame top connects straight-arm, is connected hang connecting panel above straight-arm by expansion link; On bottom surface, vertical fixing stand, fixes top gem of a girdle-pendant rail at stand upper level, connects suspension cable and leads back stand upper end and fix, track sled installed by top gem of a girdle-pendant rail, will hang connecting panel and be connected with track sled at the far-end of top gem of a girdle-pendant rail.Although this device can carry out glass horizontal and vertical lifting in the case of movement, but this device belongs to the relative position being controlled sucker and workpiece by expansion link and straight-arm, this structure belongs to and is rigidly connected, if it is not concordant to there is state that is concavo-convex or that place in surface of the work, hanging apparatus is picking and placeing easy bad contact in workpiece fabrication, Hoisting Position not easily adjusts, and easily causes workpiece damage because impulse force affects transferring the process that workpiece contacts with rest area.
Summary of the invention
The object of this invention is to provide a kind of movable suction disc hanging apparatus, this hanging apparatus can avoid workpiece put procedure to cause damage, and the positional precision picking and placeing workpiece is high, is not subject to external force impact, and mobile range is large, can realize rotating and rectilinear movement.
The technical solution used in the present invention is as follows:
A kind of movable suction disc hanging apparatus, comprise bracing frame, support frame as described above is provided with rotating mechanism, slide mechanism and sucker crane assembling device, the mount pad that described sucker crane assembling device comprises sucker, is connected with slide mechanism, described mount pad is provided with the winch spool being wound with steel rope, described winch spool is rotated by the first Serve Motor Control, and described steel rope is connected with sucker, and described sucker is controlled to produce vacuum by vacuum generator.
Described steel rope is connected with sucker by keeping the guiding hanging apparatus of sucker vertical lifting.
Described vacuum generator is connected to spiral expanding tracheae, and described spiral expanding tracheae is connected with guiding hanging apparatus.
Movable suction disc hanging apparatus designed by the present invention adopts servomotor can keep steel rope constant tension stretch workpiece, keeps its vertical motion by guiding hanging apparatus; Described vacuum generator is controlled by external device (ED), by the connection of spiral expanding tracheae with guiding hanging apparatus, produces sucker vacuum state thus draws workpiece.
Described slide mechanism comprises slide unit, a pair line slideway, tooth bar, the gear be arranged on slide unit, third planet reductor and the 3rd servomotor, described slide unit, line slideway and tooth bar are located on pivoted arm, and line slideway and tooth bar and pivoted arm connect as one, the mount pad of described sucker crane assembling device is located on slide unit, and the 3rd servomotor be arranged on slide unit realizes the movement of slide unit by third planet reductor driven wheel and the tooth bar engaged transmission be arranged on pivoted arm.
Described guiding hanging apparatus comprises steel rope guiding, counterweight orienting sleeve, counterweight guide head, clump weight, sucker guide holder, linear bearing, sucker hollow guiding post, wherein, described steel rope guiding is fixedly connected with slide unit with counterweight orienting sleeve, described counterweight orienting sleeve has through hole, described counterweight guide head, clump weight is connected successively with sucker guide holder, described steel rope overlaps through steel rope guiding and counterweight buffer and connects as one with counterweight guide head successively, described counterweight guide head, clump weight is connected successively with sucker guide holder, described counterweight orienting sleeve and counterweight guide head are that axis hole contacts and coordinates, described clump weight has a pore, described pore is communicated with spiral expanding tracheae, sucker hollow guiding post is provided with by linear bearing in described sucker guide holder, described sucker hollow guiding post one end is connected with sucker by a sucker disk seat, the other end is communicated with clump weight pore.
Wherein, steel rope guiding keeps the motion of steel rope vertical direction, avoids steel rope swag phenomenon to occur, play guiding, the effect of restraint of liberty degree; The pore that described clump weight is offered, by being communicated with spiral expanding tracheae, can being taken the air of guiding hanging apparatus inside away, realize sucker vacuum state and draw workpiece under the control of outside vacuum extractor.
Also be provided with counterweight buffer cover in described counterweight orienting sleeve through hole, in described steel rope guiding and counterweight buffer cover, be provided with the first recoil spring.
It is to the first servomotor feedback signal that the effect arranging the first recoil spring herein mainly contains two: one, counterweight buffer cover is contacted in counterweight guide head uphill process, the first recoil spring extrusion that counterweight buffer cover is inner, produce elastic force, thus change steel rope stressing conditions, and the first servomotor can adjust moment of torsion in real time according to the change of stressing conditions thus finally make the stressed recovery constant-tension state of steel rope; Two has been buffer actions, can avoid counterweight guide head and counterweight orienting sleeve and counterweight buffer overlap between concussion damage.
Described counterweight guide head and clump weight coaxial line have through hole, described through hole is communicated with pore, and is provided with the second recoil spring in through hole, and described second recoil spring one end is connected with counterweight guide head, the other end is connected with sucker guidepost, described sucker guidepost in through hole slidably.
The present invention arranges the second recoil spring herein and mainly plays buffer action; due to clump weight and counterweight guide head total quality heavier; the sucker hollow guiding post being provided with the second recoil spring at sucker contact workpiece instantaneously just can have the slip of disconnected short travel to alleviate application force impact in through hole; playing the effect of protection device and workpiece, damages in the surface avoiding workpiece to frame up causing when stacking.
Described guiding hanging apparatus also comprises tracheae orienting sleeve and strut bar, and described tracheae orienting sleeve is connected as one by strut bar and clump weight.
The object that the present invention is arranged herein is that the phenomenon swung in dipping and heaving process in order to avoid spiral expanding tracheae occurs.
Described rotating mechanism comprises S. A., pivoted arm, the second planetary reducer and the second servomotor, described second servomotor and the second planetary reducer are arranged on bracing frame, described S. A. is located in bracing frame, and the second servomotor drives the S. A. be connected with pivoted arm, for realizing the rotary motion of pivoted arm by the second planetary reducer.
Described winch spool is also provided with the locking axle of steel rope; Described vacuum generator is located on slide unit; Described first servomotor is located on mount pad, and controls winch spool rotation by first planet reductor; Described spiral expanding tracheae is wrapped in steel rope.
Compared with prior art, the beneficial effect that has of the present invention:
1. the first servomotor drives winch spool to rotate the dipping and heaving realizing the sucker suspender be connected with steel rope by first planet reductor, this device can complete the hovering of arbitrary height position, workpiece for Different Weight can adjust tensioning moment of torsion automatically, damages and steel rope disengaging winch spool when avoiding workpiece to stack.
2. adopt steel rope to coordinate with sucker to pick and place workpiece and can ensure with absorption surface near firmly, and be provided with pooling feature when picking and placeing workpiece and can protect workpiece, avoid causing damage to workpiece.
3. the rotating mechanism arranged and slide mechanism can realize moving of hanging apparatus on a large scale.
Accompanying drawing explanation
Fig. 1: structural representation of the present invention;
Fig. 2: front view of the present invention;
Fig. 3: birds-eye view of the present invention;
Fig. 4: B-B cutaway view of the present invention;
Fig. 5: the present invention leads the structural representation of hanging apparatus;
Fig. 6: A-A cutaway view of the present invention;
Fig. 7: A enlarged drawing of the present invention.
Detailed description of the invention
Below in conjunction with the drawings and specific embodiments, the present invention is described in further detail.
Embodiment: as Fig. 1, Fig. 2, Fig. 3, shown in Fig. 4, a kind of movable suction disc hanging apparatus, comprise bracing frame 25, support frame as described above 25 is provided with rotating mechanism, slide mechanism and sucker crane assembling device, described sucker crane assembling device comprises sucker 11, the mount pad 14 be connected with slide mechanism, described mount pad 14 is provided with the winch spool 1 being wound with steel rope, described winch spool 1 is also provided with the locking axle 15 of steel rope, described first servomotor 12 drives winch spool 1 to rotate by first planet reductor 13, described sucker 11 is controlled to produce vacuum by vacuum generator 24, described vacuum generator 24 is connected to spiral expanding tracheae 18, described vacuum generator 24 is located on slide unit 17, described steel rope 16 is connected with sucker 11 by keeping the guiding hanging apparatus of sucker vertical lifting, described spiral expanding tracheae 18 is connected with guiding hanging apparatus.
Described rotating mechanism comprises S. A. 26, pivoted arm, the second planetary reducer 28 and the second servomotor 29, described second servomotor 29 and the second planetary reducer 28 are arranged in bracing frame 25, described S. A. 26 is located in bracing frame 25, and the second servomotor 29 drives the S. A. 26 be connected with pivoted arm, for realizing the rotary motion of pivoted arm by the second planetary reducer 28.
Realized the large rotation of hanging apparatus by this rotating mechanism, concrete second servomotor 29 is rotated by the second planetary reducer 28 driven rotary axle 26, thus drives pivoted arm to rotate.
Described slide mechanism comprises slide unit 17, a pair line slideway 30, tooth bar 31, the gear 32 be arranged on slide unit 17, third planet reductor 33 and the 3rd servomotor 34, described slide unit 17, line slideway 30 and tooth bar 31 are located on pivoted arm, and line slideway 30 and tooth bar 32 connect as one with pivoted arm, the mount pad 14 of described sucker crane assembling device is located on slide unit 17, and the 3rd servomotor 34 be arranged on slide unit 17 realizes the movement of slide unit 17 by third planet reductor 33 driven wheel 32 and tooth bar 31 engaged transmission be arranged on pivoted arm.
Whole guiding hanging apparatus can be made to realize radially sliding by this slide mechanism, concrete 3rd servomotor 34 is rotated by third planet reductor 33 driven wheel 32, gear 32 and tooth bar 31 engaged transmission, realize the movement of guiding hanging apparatus under line slideway 30 leads.
As Fig. 5, shown in Fig. 6 and Fig. 7, described guiding hanging apparatus comprises steel rope guiding 2, counterweight buffer cover 3, counterweight orienting sleeve 4, counterweight guide head 5, clump weight 6, sucker guide holder 7, linear bearing 8, sucker hollow guiding post 9, tracheae orienting sleeve 19 and strut bar 20, wherein, described steel rope guiding 2 is fixedly connected with slide unit 17 with counterweight orienting sleeve 4, and described steel rope guiding 2 is located in slide unit 17, slide unit 17 lower end is located at by described counterweight orienting sleeve 4, described counterweight orienting sleeve 4 has through hole, counterweight buffer cover 3 is provided with in through hole, the first recoil spring 21 is equipped with in described steel rope guiding 2 and counterweight buffer cover 3, described counterweight guide head 5, clump weight 6 is connected successively with sucker guide holder 7, described counterweight orienting sleeve 4 coordinates for axis hole contacts with counterweight guide head 5, described steel rope 16 overlaps 3 through steel rope guiding 2 and counterweight buffer and connects as one with counterweight guide head 5 successively, described clump weight has a pore 23, described pore 23 is communicated with spiral expanding tracheae 18, described counterweight guide head and 5 clump weight 6 coaxial lines have through hole, pore 23 is communicated with through hole, and in through hole, be provided with the second recoil spring 22, sucker hollow guiding post 9 is provided with by linear bearing 8 in described sucker guide holder 7, described sucker hollow guiding post 9 one end is connected with the second recoil spring 22, the other end is connected with sucker 11 by a sucker disk seat 10, described tracheae orienting sleeve 19 is connected as one by strut bar 29 and clump weight 6.
Guiding hanging apparatus principle of work: the first servomotor 12 adopts and becomes moment of torsion control (additional bidirectional speed restriction), the counterweight balance of steel rope 16 connection is affected by the torque rating changing the first servomotor 12, realize the dipping and heaving of sucker 11, lifting process steel rope 16 is constant-tension state.If rising or falling speed exceedes the speed limit of setting, first servomotor 12 automatically adjustment torque rating makes speed return in setting range, this phenomenon appears at workpiece changes in weight, when foreign intervention, avoids because excessive velocities causes the damage of workpiece or part.When speed close to 0 time, the first servomotor 12 counterweight that automatically adjustment torque rating makes steel rope 16 connect reaches balance, realizes arbitrary height and hovers.
Claims (7)
1. a movable suction disc hanging apparatus, comprise bracing frame, support frame as described above is provided with rotating mechanism, slide mechanism and sucker crane assembling device, it is characterized in that, the mount pad that described sucker crane assembling device comprises sucker, is connected with slide mechanism, described mount pad is provided with the winch spool being wound with steel rope, and described winch spool is rotated by the first Serve Motor Control, described steel rope is connected with sucker, and described sucker is controlled to produce vacuum by vacuum generator;
Described steel rope is connected with sucker by keeping the guiding hanging apparatus of sucker vertical lifting;
Described vacuum generator is connected to spiral expanding tracheae, and described spiral expanding tracheae is connected with guiding hanging apparatus;
Described slide mechanism comprises slide unit, a pair line slideway, tooth bar, the gear be arranged on slide unit, third planet reductor and the 3rd servomotor, described slide unit, line slideway and tooth bar are located on pivoted arm, and line slideway and tooth bar and pivoted arm connect as one, the mount pad of described sucker crane assembling device is located on slide unit, and the 3rd servomotor be arranged on slide unit realizes the movement of slide unit by third planet reductor driven wheel and the tooth bar engaged transmission be arranged on pivoted arm.
2. movable suction disc hanging apparatus according to claim 1, it is characterized in that, described guiding hanging apparatus comprises steel rope guiding, counterweight orienting sleeve, counterweight guide head, clump weight, sucker guide holder, linear bearing, sucker hollow guiding post, wherein, described steel rope guiding is fixedly connected with slide unit with counterweight orienting sleeve, described counterweight orienting sleeve has through hole, described counterweight guide head, clump weight is connected successively with sucker guide holder, described counterweight orienting sleeve and counterweight guide head are that axis hole contacts and coordinates, described steel rope overlaps through steel rope guiding and counterweight buffer and connects as one with counterweight guide head successively, described counterweight guide head, clump weight is connected successively with sucker guide holder, described clump weight has a pore, described pore is communicated with spiral expanding tracheae, sucker hollow guiding post is provided with by linear bearing in described sucker guide holder, described sucker hollow guiding post one end is connected with sucker by a sucker disk seat, the other end is communicated with clump weight pore.
3. movable suction disc hanging apparatus according to claim 2, is characterized in that, is also provided with counterweight buffer cover in described counterweight orienting sleeve through hole, is provided with the first recoil spring in described steel rope guiding and counterweight buffer cover.
4. the movable suction disc hanging apparatus according to Claims 2 or 3, it is characterized in that, described counterweight guide head and clump weight coaxial line have through hole, described through hole is communicated with pore, and in through hole, be provided with the second recoil spring, described second recoil spring one end is connected with counterweight guide head, and the other end is connected with sucker guidepost, described sucker guidepost in through hole slidably.
5. movable suction disc hanging apparatus according to claim 4, is characterized in that, described guiding hanging apparatus also comprises tracheae orienting sleeve and strut bar, and described tracheae orienting sleeve is connected as one by strut bar and clump weight.
6. movable suction disc hanging apparatus according to claim 1, it is characterized in that, described rotating mechanism comprises S. A., pivoted arm, the second planetary reducer and the second servomotor, described second servomotor and the second planetary reducer are arranged on bracing frame, described S. A. is located in bracing frame, and the second servomotor drives the S. A. be connected with pivoted arm, for realizing the rotary motion of pivoted arm by the second planetary reducer.
7. movable suction disc hanging apparatus according to claim 1, is characterized in that, described winch spool is also provided with the locking axle of steel rope; Described vacuum generator is located on slide unit; Described first servomotor is located on mount pad, and controls winch spool rotation by first planet reductor; Described spiral expanding tracheae is wrapped in steel rope.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410227220.8A CN103964292B (en) | 2014-05-27 | 2014-05-27 | A kind of movable suction disc hanging apparatus |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410227220.8A CN103964292B (en) | 2014-05-27 | 2014-05-27 | A kind of movable suction disc hanging apparatus |
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| CN103964292A CN103964292A (en) | 2014-08-06 |
| CN103964292B true CN103964292B (en) | 2016-01-20 |
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| CN201410227220.8A Active CN103964292B (en) | 2014-05-27 | 2014-05-27 | A kind of movable suction disc hanging apparatus |
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Families Citing this family (9)
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| CN104944281A (en) * | 2015-05-08 | 2015-09-30 | 陈焕祥 | Transverse static-force shifting device of high-power lifting machine for factory |
| CN105600559B (en) * | 2015-10-20 | 2017-07-18 | 中南林业科技大学 | Engagement type driving sucker motion |
| CN105197787B (en) * | 2015-11-06 | 2017-02-01 | 盐城工学院 | Lightweight loading and unloading machine |
| CN105841628B (en) * | 2016-05-23 | 2018-07-06 | 西安电子科技大学 | A kind of photogrammetric auxiliary system of helical orbit formula malformation |
| CN106769403B (en) * | 2016-12-12 | 2023-06-20 | 苏州市吴江滨湖检测技术有限公司 | Positioning mechanical device for detecting physical properties of steel wire rope and cable |
| CN110815130A (en) * | 2019-11-11 | 2020-02-21 | 中国原子能科学研究院 | High-torque sucker for packaging high-temperature radioactive source |
| CN114799807A (en) * | 2022-06-02 | 2022-07-29 | 安徽省含山县风华铸造厂（普通合伙） | Hoisting workbench for assembling automobile parts |
| CN115159111A (en) * | 2022-07-15 | 2022-10-11 | 广西电网有限责任公司北海供电局 | Portable intelligent ceramic tile sucking disc device |
| CN116040444B (en) * | 2023-02-04 | 2024-01-05 | 南通力福通起重机械有限公司 | Cantilever crane |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US4557659A (en) * | 1982-09-14 | 1985-12-10 | M. Scaglia S.P.A. | Device for supporting and handling loads by means of vacuum operated suction pads |
| DE19724067A1 (en) * | 1997-06-07 | 1998-12-10 | Saechsische Werkzeug Und Sonde | Swivel arm for pallet loading stations |
| CN2890000Y (en) * | 2005-12-08 | 2007-04-18 | 番禺珠江钢管有限公司 | Vacuum sling |
| CN201770398U (en) * | 2010-05-13 | 2011-03-23 | 宋矿复 | Vacuum suction cup device |
| DE202011100015U1 (en) * | 2011-04-30 | 2012-05-02 | Bystronic Armatec Gmbh | Handling device with a jib crane for guiding a glass plate, in particular a multilayer glass package |
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Effective date of registration: 20191023 Address after: 518106 4th Floor, Building B, Hongmanting Creative Park, Gongming Street, Guangming New District, Shenzhen City, Guangdong Province Patentee after: Shenzhen Jimeijia Investment Development Co., Ltd. Address before: 510663 A410, No. 3, spectrum East Road, Guangzhou hi tech Industrial Development Zone, Guangdong, Guangzhou Patentee before: Guangzhou great Zheng new material Science and Technology Ltd. |