The present invention relates to a kind of automation equipment field for conveyor line, particularly relating to a kind of grabbing device for capturing thin and yielding product.
Along with development that is economic and science and technology, the utilization of automation equipment is more and more extensive in the industrial production, replaces by automation equipment the problem that man efficiency is low, cost is high.When being particularly shifted to the crawl of weight, automation equipment can solve the low problem of man efficiency to a great extent.In prior art, automation grabbing device has a lot, the grabbing device of different structure for different classes of product design, and grabbing device comprises the different institutions such as actuating device, control setup and grabbing device, for different products, be provided with corresponding grabbing device to capture product.
Core and be not with filter core, same air-conditioning needs mounting strap filter core and two kinds of filtering nets not with filter core simultaneously.For the product of different size, adopt same grabbing device to realize that to capture be the subject matter that existing automation enterprise faces, must ensure that the structure of grabbing device is simple, the basis of low production cost realizes the accurate crawl of the crawl of products of different specifications.Especially as the crawl to air-conditioning filter net, an air-conditioning manufacturing line often needs two kinds of different size size filtering nets, its buckle distance of the filtering net of different size is also different, and in addition, often kind of filtering net divides again band filter core and is not with filter core.Moreover, also need monitoring filtering net whether pros and cons whether put back, whether conveyor line lack the problems such as material.
Therefore, be necessary to provide a kind of grabbing device to realize the problems referred to above.
Summary of the invention
When the object of the invention is to provide one to capture product again, there is the grabbing device of buffer action.
For achieving the above object, the present invention is by following technical solution:
A kind of grabbing device, it comprises connecting device, be positioned at the press device below described connecting device, a pair clamp device below described press device and at this to the control apparatus between clamp device, described connecting device comprises adapter plate and is installed on described adapter plate, described adapter plate has the limited post being installed on its lower surface, described limited post is to downward-extension, described press device comprises adapter plate, be installed on described adapter plate lower surface and to some joint pins of downward-extension, be individually fixed in the briquetting of described joint pin lower end, described adapter plate and the spaced and parallel arrangement of adapter plate, be connected by some guide pillars between described adapter plate with described adapter plate, described adapter plate have some accepting grooves, guide pin bushing is respectively arranged with in described accepting groove, bearing is accommodated respectively in described guide pin bushing, described guide pillar lower end is contained in described bearing respectively, described guide pillar upper end is individually fixed in described adapter plate.
Described press device also has and is sheathed on guide post surface and the elastic component abutting adapter plate and adapter plate.
This to clamp device have respectively mounting blocks, described mounting blocks side and away from the described stopper of control apparatus side, the spring between stopper and adapter plate and the jaw that is installed on below described mounting blocks, described stopper is fixed on described adapter plate, described control apparatus has for stoping the regulating block that mounting blocks departs from spring and the adjusting cylinders driving described regulating block to run, described regulating block has two different sizes of thickness, and described mounting blocks all can against the described regulating plate at two size places.
Described regulating block has large end and the small end from the smooth extension of described large end, and when described adjusting cylinders promotes described regulating block, described mounting blocks is respectively against described large end or the described small end of different-thickness size.
Described stopper and described adapter plate have respectively accommodates described spring host cavity, and described spring is contained in this in host cavity, and described stopper and described mounting blocks remain the state compressing described spring.
Described mounting blocks is provided with gripper cylinder, and described gripper cylinder connects a pair described jaw for product clamping, and described gripper cylinder and described stopper lay respectively at the upper and lower surface of described adapter plate.
The outside being positioned at described jaw is also provided with for the paw by die pressing product, and described paw is installed on described gripper cylinder.
Described grabbing device also has the detecting device being arranged at and being fixed on described adapter plate, described detecting device comprise be fixed on described adapter plate connecting panel, be fixed on detection seat below described connecting panel, described detection seat is provided with the first opto-electronic pickup, matches and can slide up and down first detect slide bar, the second opto-electronic pickup and match with described second opto-electronic pickup and can slide up and down second detect slide bar with described first opto-electronic pickup, described first detects slide bar and second, and to detect the terminal position height of slide bar different.
Described detecting device also has the color sensor be installed on described adapter plate.
Compared with prior art, grabbing device of the present invention has following technology effect: the position of whole crawl is led to some guide pillars and bearing is made floating, reduces an accuracy requirement for position, both plays buffer action, can rely on again the gravity-pressing product of jaw self.
Promote regulating block by adjusting cylinders, change the distance between the jaw below mounting blocks, the clamping of the product to different size specification can be completed.According to gripping position need not, adopt the cooperation profile of spring and mounting blocks, regulating block, utilize adjusting cylinders to drive, this is changed fast between jaw spacing, thus reaches the object of remodeling fast.
Can also in real time monitoring filtering net whether pros and cons whether put back, whether conveyor line lack material, the need of problems such as filter cores.
Accompanying drawing explanation
Fig. 1 is the three-dimensional assembly diagram of grabbing device of the present invention.
The clamp device of Fig. 2 for grabbing device shown in Fig. 1 and the structural representation of control apparatus.
The structural representation that Fig. 3 is the clamp device of grabbing device shown in Fig. 1 and another angle of control apparatus.
Fig. 4 is the view that detecting device shown in Fig. 1 is detected filter screen.
Detailed description of the invention
Refer to shown in Fig. 1 to Fig. 4, the present invention discloses a kind of grabbing device 100, for capturing product, it has connecting device 1, press device 2, a pair clamp device 3 below press device 1 and the control apparatus between clamp device 34 below connecting device 1.
As shown in Figure 1, connecting device 1 comprises adapter plate 12 and is installed on the contiguous block 13 above adapter plate 12, and contiguous block 13 is for connecting mechanical arm (not shown).Adapter plate 12 has the limited post 14 being installed on its lower surface, and limited post 14 is to downward-extension.
As shown in Figure 2 and Figure 3, press device 2 comprises adapter plate 21, adapter plate 21 and the spaced and parallel arrangement of adapter plate 12, be connected by some guide pillars 22 between adapter plate 21 with adapter plate 12, adapter plate 21 has some accepting grooves (instruction), in accepting groove, be respectively arranged with guide pin bushing 23, in guide pin bushing 23, accommodate bearing (not shown) respectively, guide pillar 22 lower end is contained in bearing respectively, and guide pillar 22 upper end is individually fixed in adapter plate 12.Press device 2 also has and is sheathed on guide pillar 22 surface and the elastic component 26 abutting adapter plate 21 and adapter plate 12.From the lower surface of adapter plate 21 to the some joint pins 24 of downward-extension, the joint pin 24 being positioned at the same side is fixed for the briquetting 25 by die pressing product respectively jointly.Limited post 14 has certain distance apart from adapter plate 21, is suspended on the top of adapter plate 21.
This is installed on the lower surface of adapter plate 21 respectively to clamp device 3, relative to the both sides of control apparatus 4.Clamp device 3 is between this is to briquetting 25.Clamp device 3 comprises the mounting blocks 31 being fixed on adapter plate 21 lower surface, be positioned at the side of mounting blocks 31 and away from control apparatus 4 side, there is stopper 32, stopper 32 and adapter plate 21 are compressed by spring 33, stopper 32 and adapter plate 21 have respectively accommodates spring host cavity 34, spring 33 is contained in this to host cavity 34, stopper 32 and mounting blocks 31 Compress Spring 33, stopper 32 other end is against control apparatus 4, and control apparatus 4 stops stopper 32 to move forward.Mounting blocks 31 is provided with gripper cylinder 35, and gripper cylinder 35 connects a pair jaw 36 for product clamping, and by starting gripper cylinder 35, gripper cylinder 35 drives jaw 36 to open or closes, thus captures product or place product.The outside being positioned at jaw 36 is also provided with for the paw 37 by die pressing product, and paw 37 is installed on gripper cylinder 35.The bottom of paw 37 is a little less than the bottom of jaw 35.Be positioned at mounting blocks 31 both sides and be also provided with a pair transverse guidance block 38, mounting blocks 31 and transverse guidance block 38 are to coordinating, and when mounting blocks 31 is subject to external force, mounting blocks 31 transversely bootstrap block 38 bearing of trend slides.
When real-world operation is to clamping air-conditioning filter net, filtering net, because of the reason of material, has the situation of distortion, therefore first by briquetting 25, paw 37 pairs of filtering net pressings, jaw 35 clamps the grab be positioned on filtering net.The position of whole crawl is led to some guide pillars 22 and bearing is made floating, reduce the accuracy requirement of a position, both played buffer action, the gravity-pressing product of jaw 35 self can be relied on again.
Because this has control apparatus 4 between the mounting blocks 31 of clamp device 3.This can be regulated the distance between clamp device 3 by control apparatus 4.
As shown in Figure 3, control apparatus 4 has the regulating block 41 for stoping mounting blocks 31 to depart from spring 33, and regulating block 31 is between this is to mounting blocks 31.Be positioned at regulating block 41 both sides and be also provided with longitudinal guide block 42, when regulating block 41 is subject to external force, regulating block 41 longitudinally bootstrap block 38 bearing of trend slides.Be provided with contiguous block 43 above regulating block 41, what contiguous block 43 lower end was vertical is installed on regulating block 41, and the end of what contiguous block 43 upper end was vertical the be installed on output shaft 441 of an adjusting cylinders 44, what adjusting cylinders 44 was direct or indirect is installed on adapter plate 21.Adjusting cylinders 44, mounting blocks 31 are installed on the upper and lower surface of adapter plate 21 respectively.Regulating block 41 have large end 411 and with the small end 412 holding greatly 411 smooth extensions.When adjusting cylinders 44 promotes regulating block 41, mounting blocks 31 abuts large end 411 and the small end 412 of different-thickness size respectively.By actual measurement, when mounting blocks 31 abuts large end 411, jaw 35 can clamp the larger product of grab distance.When adjusting cylinders 44 promotes regulating block 41, regulating block 41 moves forward, and mounting blocks 31 is subject to the resist force of the spring 33 of opposite side, along with the lower end 412 of regulating block 41 contacts with mounting blocks 41 gradually, the mounting blocks 31 being positioned at regulating block 41 both sides inwardly slides, and mounting blocks 31 abuts small end 412 completely.Distance Shortened between jaw 35 below mounting blocks 31, jaw 35 can clamp the less product of grab distance.
Therefore, promote regulating block 41 by adjusting cylinders 44, change the distance between the jaw 35 below mounting blocks 31, the clamping of the product to different size specification can be completed.According to gripping position need not, adopt the cooperation profile of spring 33 and mounting blocks 31, regulating block 41, utilize adjusting cylinders 44 to drive, this is changed fast between jaw 35 spacing, thus reaches the object of remodeling fast.
When in jaw 35 pairs of filtering net reclaiming process, there will be filtering net and manually put back (reverse side does not have hasp, is plane), lack material, and have filter core and the situation such as batch mixing not having filter core.
As shown in Figure 1, grabbing device 100 of the present invention also has the detecting device 5 being arranged at and being fixed on adapter plate 21, detecting device 5 comprise be fixed on adapter plate 21 connecting panel 51, be fixed on detection seat 52 below connecting panel 51, detect seat 52 is provided with the first opto-electronic pickup 531, match with the first opto-electronic pickup 531 first detect slide bar 532, second opto-electronic pickup 541 and match with the second opto-electronic pickup 541 second detect slide bar 542.When needs detect, first detects slide bar 532, if when the second detection slide bar 542 lower end touches certain parts of product, first detects slide bar 532, second detects slide bar 542 receives resistance, slowly upward sliding, first detects slide bar 532, upper end shield first opto-electronic pickup 531 of the second detection slide bar 542, second opto-electronic pickup 541, so illustrate that product to be checked has this parts, if first detects slide bar 532, second detects slide bar 542 lower end does not touch anything, then first detect slide bar 532, second detects slide bar 542 can not upward sliding, the first opto-electronic pickup 531 can not be covered, second opto-electronic pickup 541, so illustrate that product to be checked does not have these parts.The lower end of slide bar 542 is detected in first lower end detecting slide bar 532 higher than second.Whether first detects slide bar 532 has snap fit for being detected filter screen front, if snap fit do not detected, then product has put back, second detects slide bar 542 for detecting below seat 52 whether have filtering net, if filtering net do not detected, then by signal feedback to terminal, this conveyor line does not have filtering net.In addition, in air-conditioning filter net, also need whether to detect with filter core.As shown in Figure 1, different with the color of filter screen according to the color of filter core, this grabbing device 100 also provides a kind of color sensor 55 be installed on adapter plate 21, when color sensor 55 senses the color with filter screen different colours, confirms that there is filter core below.Each sensor is prior art, does not describe one by one at this.Filter core is softer material, and with the bad judgement of general fashion, the present invention adopts color sensor 55 to judge to have judged whether filter core accurately.
Above-described is only some embodiments of the present invention.For the person of ordinary skill of the art, without departing from the concept of the premise of the invention, can also make some distortion and improvement, these all belong to protection scope of the present invention.