CN105564981B - Grabbing device - Google Patents
Grabbing device Download PDFInfo
- Publication number
- CN105564981B CN105564981B CN201511028695.5A CN201511028695A CN105564981B CN 105564981 B CN105564981 B CN 105564981B CN 201511028695 A CN201511028695 A CN 201511028695A CN 105564981 B CN105564981 B CN 105564981B
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- China
- Prior art keywords
- installing plate
- fixed
- mounting blocks
- grabbing device
- plate
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/905—Control arrangements
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention is a kind of grabbing device, it includes attachment means, press device below attachment means, a pair of clamp devices below press device and positioned at this to the adjusting means between clamp device, attachment means include fixed plate, fixed plate has the limited post for being installed on its lower surface, limited post extends downwardly, press device includes installing plate, some connecting poles for being installed on the lower surface of the installing plate and extending downwardly, it is individually fixed in the briquetting of connecting pole lower end, installing plate and the spaced and parallel arrangement of fixed plate, connected between installing plate and fixed plate by some guide pillars, there are some accepting grooves on installing plate, guide pin bushing is respectively arranged with accepting groove, bearing is housed in guide pin bushing respectively, guide pillar lower end is contained in the bearing respectively, guide pillar upper end is individually fixed in the fixed plate.Both cushioning effect is played, and can relies on the gravity-pressing product of clamping jaw itself.
Description
Technical field
The present invention relates to a kind of automation equipment field for streamline, more particularly to one kind are thin and variable for capturing
The grabbing device of shape product.
Background technology
With economic and science and technology development, the utilization of automation equipment is more and more extensive in the industrial production, by automatic
Change equipment to substitute the problem of man efficiency is low, cost is high.During crawl displacement particularly to weight, automation equipment can be
Largely solves the low problem of man efficiency.In the prior art, automation grabbing device has a lot, for different classes of
The product design grabbing device of different structure, grabbing device include drive device, control device machine different from grabbing device etc.
Structure, for different products, there is provided corresponding grabbing device to capture product.
Need to install two kinds of screen packs with filter core and without filter core on same air-conditioning simultaneously.For the production of different size
Product, realize that crawl is the subject matter that existing automation enterprise faces using same grabbing device, it is necessary to assure grabbing device
Structure is simple, realized on the basis of low production cost products of different specifications crawl accurate crawl.Especially as to sky
The crawl of screen pack is adjusted, two kinds of different size size screen packs, different size of mistake are generally required on an air-conditioning production line
Filter screen its buckle distance is also different, in addition, every kind of screen pack divides band filter core and without both filter cores again.Furthermore, it is also necessary to monitor
Whether whether positive and negative puts back, whether lacks the problems such as expecting on streamline screen pack.
Therefore, it is necessary to a kind of grabbing device is provided to realize above mentioned problem.
The content of the invention
When capturing product again present invention aims at offer one kind, there is the grabbing device of cushioning effect.
To achieve the above object, the present invention by following technical solution：
A kind of grabbing device, it includes attachment means, the press device below the attachment means, pressed positioned at described
A pair of clamp devices below pressure device and positioned at this to the adjusting means between clamp device, the attachment means include fixing
Plate, the fixed plate have the limited post for being installed on its lower surface, and the limited post extends downwardly, and the press device includes peace
Loading board, the lower surface for being installed on the installing plate and some connecting poles extended downwardly, it is individually fixed in the connecting pole lower end
Briquetting, the installing plate and fixed plate spaced and parallel arrangement pass through some guide pillars between the installing plate and the fixed plate
Connect, there are some accepting grooves on the installing plate, be respectively arranged with guide pin bushing in the accepting groove, housed respectively in the guide pin bushing
Bearing, the guide pillar lower end are contained in the bearing respectively, and the guide pillar upper end is individually fixed in the fixed plate.
The press device also has the elastic component for being sheathed on guide post surface and abutting installing plate and fixed plate.
This has mounting blocks to clamp device, positioned at the side of the mounting blocks and away from the adjusting means side respectively
Stopper, the spring between stopper and installing plate and the clamping jaw being installed on below the mounting blocks, the stopper
The installing plate is fixed on, the adjusting means has the regulating block for being used for preventing mounting blocks from departing from spring and the driving regulation
The regulation cylinder of block operation, the regulating block have two different sizes of thickness, and the mounting blocks can be against two sizes
The adjustable plate at place.
The regulating block has big end and the small end from the big smooth extension in end, when the regulation cylinder promotes the tune
During locking nub, the mounting blocks bear against the big end of different-thickness size or the small end.
The stopper has respectively with the installing plate houses the spring host cavity, and the spring is contained in this to receiving
In cavity volume, the stopper remains the state for compressing the spring with the mounting blocks.
Gripper cylinder is installed, the gripper cylinder connects a pair of folders for being used for product clamping on the mounting blocks
Pawl, the gripper cylinder are located at the upper and lower surface of the installing plate with the stopper respectively.
It is additionally provided with the outside of the clamping jaw for the paw by die pressing product, the paw is installed on the clamping gas
On cylinder.
The grabbing device also has the detection means for being arranged at and being fixed on the installing plate, and the detection means includes
The detection seat for be fixed on the connecting plate of the installing plate, being fixed on below the connecting plate, described detect are provided with first on seat
Photoelectric sensor, first that is engaged and can slide up and down with first photoelectric sensor detect slide bar, the second photoelectric sensing
Device and the second detection slide bar that is engaged and can slide up and down with second photoelectric sensor, the first detection slide bar and the
The terminal position height of two detection slide bars is different.
The detection means also has the color sensor being installed on the installing plate.
Compared with prior art, grabbing device of the present invention has following technical effect：The position entirely captured is led to some
Guide pillar and bearing make floating, reduce the required precision of a position, both play cushioning effect, and and can relies on the gravity of clamping jaw itself
Compress product.
Regulating block is promoted by adjusting cylinder, changes the distance between the clamping jaw below mounting blocks, you can complete to difference
The clamping of the product of dimensions.Do not had to according to gripping position, using spring and mounting blocks, the cooperation profile of regulating block, utilized
Adjust cylinder driving so that this between clamping jaw spacing to quickly changing, so as to reach the purpose quickly remodeled.
Can also in real time monitoring filtering net whether positive and negative whether put back, on streamline whether lack material, whether need filter core etc.
Problem.
Brief description of the drawings
Fig. 1 is the three-dimensional assembly diagram of grabbing device of the present invention.
Fig. 2 is the clamp device of grabbing device shown in Fig. 1 and the structural representation of adjusting means.
Fig. 3 is the structural representation of another angle of the clamp device of grabbing device shown in Fig. 1 and adjusting means.
Fig. 4 is the view of the detection screen pack of detection means shown in Fig. 1.
Embodiment
Refer to shown in Fig. 1 to Fig. 4, the invention discloses a kind of grabbing device 100, and for capturing product, it has connection
Device 1, the press device 2 positioned at the lower section of attachment means 1, a pair of clamp devices 3 positioned at the lower section of press device 1 and positioned at gripping
Adjusting means 4 between device 3.
As shown in figure 1, attachment means 1 include fixed plate 12 and are installed on the contiguous block 13 of the top of fixed plate 12, contiguous block
13 are used to connect mechanical arm (not shown).Fixed plate 12 is downward with the limited post 14 for being installed on its lower surface, limited post 14
Extension.
As shown in Figure 1 to Figure 3, press device 2 includes installing plate 21, installing plate 21 and 12 spaced and parallel arrangement of fixed plate,
Connected between installing plate 21 and fixed plate 12 by some guide pillars 22, there are some accepting grooves (not indicating) on installing plate 21, received
Guide pin bushing 23 is respectively arranged with tank, houses bearing (not shown) in guide pin bushing 23 respectively, the lower end of guide pillar 22 is contained in bearing respectively
Interior, the upper end of guide pillar 22 is individually fixed in fixed plate 12.Press device 2, which also has, is sheathed on the surface of guide pillar 22 and abutting installing plate 21
With the elastic component 26 of fixed plate 12.The lower surface of self installation plate 21 extends downwardly some connecting poles 24, the connection positioned at the same side
Post 24 is fixed for the briquetting 25 by die pressing product jointly respectively.Limited post 14 has certain distance away from installing plate 21, is suspended on peace
The top of loading board 21.
This is respectively arranged in the lower surface of installing plate 21 to clamp device 3, relative to the both sides of adjusting means 4.Gripping dress
It is between briquetting 25 in this to put 3.Clamp device 3 includes the mounting blocks 31 for being fixed on the lower surface of installing plate 21, positioned at mounting blocks
31 side and there is stopper 32 away from the side of adjusting means 4, stopper 32 is compressed with installing plate 21 by spring 33, stop
Block 32 has respectively with installing plate 21 houses spring host cavity 34, and spring 33 is contained in this to host cavity 34, stopper 32 and peace
The compression spring 33 of block 31 is filled, the other end of stopper 32 prevents stopper 32 from moving forward against adjusting means 4, adjusting means 4.Peace
Dress block 31 is provided with gripper cylinder 35, and gripper cylinder 35 connects a pair of clamping jaws 36 for being used for product clamping, and gas is clamped by starting
Cylinder 35, gripper cylinder 35 drive clamping jaw 36 to open or close, so as to capture product or place product.Positioned at the outside of clamping jaw 36 also
It is provided with and is installed on for the paw 37 by die pressing product, paw 37 on gripper cylinder 35.The bottom of paw 37 is slightly below clamping jaw 35
Bottom.Be additionally provided with a pair of transverse guidance blocks 38 positioned at the both sides of mounting blocks 31, mounting blocks 31 and transverse guidance block 38 to cooperation,
When mounting blocks 31 are by external force, transversely the bearing of trend of bootstrap block 38 slides mounting blocks 31.
When actual motion is to clamping air-conditioning filter net, the reason for screen pack is because of material, the situation of deformation is had, therefore, first
Screen pack is pressed by briquetting 25, paw 37, the grab that clamping jaw 35 is pointed on screen pack is clamped.By what is entirely captured
Position, which leads to some guide pillars 22 and bearing, makes floating, reduces the required precision of a position, both plays cushioning effect, and can is by folder
The gravity-pressing product of pawl 35 itself.
Because having adjusting means 4 between the mounting blocks 31 to clamp device 3.It is right that this can be adjusted by adjusting means 4
The distance between clamp device 3.
As shown in figure 3, adjusting means 4 has the regulating block 41 for being used to prevent mounting blocks 31 from departing from spring 33, regulating block 31
Positioned at this between mounting blocks 31.Longitudinal guide block 42 is additionally provided with positioned at the both sides of regulating block 41, when regulating block 41 is by external force,
Regulating block 41 slides along the bearing of trend of longitudinal guide block 38.The top of regulating block 41 is provided with contiguous block 43, and the lower end of contiguous block 43 is hung down
Straight is installed on regulating block 41, the end of the vertical output shaft 441 for being installed on a regulation cylinder 44 in the upper end of contiguous block 43, regulation
Cylinder 44 is direct or indirect to be installed on installing plate 21.Regulation cylinder 44, mounting blocks 31 are respectively arranged under installing plate 21
Surface.Regulating block 41 has big end 411 and the small end 412 with the 411 smooth extensions of big end.When regulation cylinder 44 promotes regulating block 41
When, mounting blocks 31 abut big end 411 and the small end 412 of different-thickness size respectively.By actual measurement, when mounting blocks 31 abut
During big end 411, clamping jaw 35 can clamp grab product in larger distance.When adjusting the promotion regulating block 41 of cylinder 44, regulating block
41 move forward, mounting blocks 31 by the spring 33 of opposite side resist force, with regulating block 41 lower end 412 gradually with installation
Block 41 contacts, and the slid inward of mounting blocks 31 positioned at the both sides of regulating block 41, mounting blocks 31 abut small end 412 completely.Mounting blocks 31
The distance between clamping jaw 35 of lower section shortens, and clamping jaw 35 can clamp grab product in small distance.
Therefore, regulating block 41 is promoted by adjusting cylinder 44, changes the distance between the clamping jaw 35 of the lower section of mounting blocks 31, i.e.,
The clamping of the product to different dimensions can be completed.Do not had to according to gripping position, using spring 33 and mounting blocks 31, regulating block
41 cooperation profile, driven using cylinder 44 is adjusted so that this between the spacing of clamping jaw 35 to quickly changing, so as to reach fast quick change
The purpose of type.
When clamping jaw 35 is in screen pack reclaiming process, it may appear that screen pack is manually put back, and (reverse side does not have hasp, is flat
Face), material is lacked, and have situations such as filter core is with the batch mixing without filter core.
As shown in figure 1, grabbing device 100 of the present invention also has the detection means 5 for being arranged at and being fixed on installing plate 21, inspection
Surveying device 5 includes being fixed on the connecting plate 51 of installing plate 21, is fixed on the detection seat 52 of the lower section of connecting plate 51, detects and pacifies on seat 52
The first detection slide bar 532, the second photoelectric sensing being engaged equipped with the first photoelectric sensor 531, with the first photoelectric sensor 531
Device 541 and the second detection slide bar 542 being engaged with the second photoelectric sensor 541.When needing detection, the first detection slide bar
The 532nd, if the second detection slide bar 542 lower end touches some part of product, the first detection slide bar 532, second detects slide bar 542
Resistance is received, slowly upward sliding, the first detection slide bar 532, second detects the photoelectric sensor of upper end shield first of slide bar 542
531st, the second photoelectric sensor 541, then illustrate that product to be checked has the parts, if the first detection slide bar 532, second detects
The lower end of slide bar 542 does not touch anything, then first detection slide bar 532, second detect slide bar 542 will not upward sliding, no
The first photoelectric sensor 531, the second photoelectric sensor 541 can be covered, then illustrate that product to be checked does not have the parts.First
Detect lower end of the lower end higher than the second detection slide bar 542 of slide bar 532.First detection slide bar 532 is used to detect screen pack front
Whether snap fit is had, if being not detected by snap fit, product is put back, and the second detection slide bar 542, which is used to detect below detection seat 52, is
It is no to have screen pack, if being not detected by screen pack, terminal is fed back to by signal, the streamline does not have screen pack.In addition, in sky
Adjust in screen pack, it is also necessary to detect whether to carry filter core.As shown in figure 1, it is different from the color of filter screen according to the color of filter core,
This grabbing device 100 also provides a kind of color sensor 55 being installed on installing plate 21, when color sensor 55 sense with
During the color of filter screen different colours, confirm that there is filter core lower section.Each sensor is prior art, is not described one by one herein.Filter
Core is softer material, with the bad judgement of general fashion, the present invention judge accurately to judge using color sensor 55 be
It is no to have filter core.
Above-described is only some embodiments of the present invention.For the person of ordinary skill of the art, not
On the premise of departing from the invention design, various modifications and improvements can be made, these belong to the protection model of the present invention
Enclose.
Claims (9)
1. a kind of grabbing device, it includes attachment means, the press device below the attachment means, positioned at the pressing
A pair of clamp devices below device and positioned at this to the adjusting means between clamp device, it is characterised in that：The connection dress
Put including fixed plate, the fixed plate has the limited post for being installed on its lower surface, and the limited post extends downwardly, the pressing
Device includes installing plate, is installed on the lower surface of the installing plate and extends downwardly some connecting poles, be individually fixed in it is described
The briquetting of connecting pole lower end, the installing plate and the spaced and parallel arrangement of fixed plate, lead between the installing plate and the fixed plate
Some guide pillar connections are crossed, there are some accepting grooves on the installing plate, guide pin bushing, the guide pin bushing are respectively arranged with the accepting groove
Bearing is inside housed respectively, and the guide pillar lower end is contained in the bearing respectively, and the guide pillar upper end is individually fixed in described solid
Fixed board.
2. grabbing device as claimed in claim 1, it is characterised in that：The press device also have be sheathed on guide post surface and
Abut installing plate and the elastic component of fixed plate.
3. grabbing device as claimed in claim 2, it is characterised in that：This has mounting blocks to clamp device, positioned at institute respectively
State the side of mounting blocks and stopper, spring and peace between stopper and installing plate away from the adjusting means side
Loaded on the clamping jaw below the mounting blocks, the stopper is fixed on the installing plate, and the adjusting means, which has, to be used to prevent
Mounting blocks, which depart from the regulating block of spring and the regulation cylinder of the driving regulating block operation, the regulating block, has thickness different
Two sizes, the mounting blocks can be fast against the regulation at two sizes.
4. grabbing device as claimed in claim 3, it is characterised in that：The regulating block has big end and smooth from the big end
The small end of extension, when the regulation cylinder promotes the regulating block, the mounting blocks bear against the institute of different-thickness size
State big end or the small end.
5. grabbing device as claimed in claim 3, it is characterised in that：The stopper has respectively with the installing plate to be housed
The host cavity of the spring, the spring are contained in this in host cavity, the stopper remains compression with the mounting blocks
The state of the spring.
6. grabbing device as claimed in claim 5, it is characterised in that：Gripper cylinder, the folder are installed on the mounting blocks
Hold cylinder and connect a pair of clamping jaws for being used for product clamping, the gripper cylinder is located at the installation respectively with the stopper
The lower surface of plate.
7. grabbing device as claimed in claim 6, it is characterised in that：It is additionally provided with the outside of the clamping jaw for pressing
The paw of product, the paw are installed on the gripper cylinder.
8. grabbing device as claimed in claim 7, it is characterised in that：The grabbing device also have be arranged at be fixed on it is described
Detection means on installing plate, the detection means include being fixed on the connecting plate of the installing plate, are fixed on the connecting plate
The detection seat of lower section, the first photoelectric sensor is installed on the detection seat, is engaged with first photoelectric sensor and energy
First slided up and down detects slide bar, the second photoelectric sensor and is engaged and can slide up and down with second photoelectric sensor
Second detection slide bar, it is described first detection slide bar with second detection slide bar terminal position highly it is different.
9. grabbing device as claimed in claim 8, it is characterised in that：The detection means, which also has, is installed on the installing plate
On color sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201511028695.5A CN105564981B (en) | 2015-12-31 | 2015-12-31 | Grabbing device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201511028695.5A CN105564981B (en) | 2015-12-31 | 2015-12-31 | Grabbing device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105564981A CN105564981A (en) | 2016-05-11 |
| CN105564981B true CN105564981B (en) | 2018-01-26 |
Family
ID=55875718
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201511028695.5A Active CN105564981B (en) | 2015-12-31 | 2015-12-31 | Grabbing device |
Country Status (1)
| Country | Link |
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| CN (1) | CN105564981B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106276226A (en) * | 2016-08-24 | 2017-01-04 | 浩科机器人（苏州）有限公司 | A kind of robot gripper |
| CN108067731A (en) * | 2016-11-18 | 2018-05-25 | 大族激光科技产业集团股份有限公司 | A kind of mechanism that is fixed and clamped of integral type |
| CN106826893A (en) * | 2016-12-16 | 2017-06-13 | 北京京东尚科信息技术有限公司 | Terminal-collecting machine and robot transportation system |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN203497720U (en) * | 2013-09-05 | 2014-03-26 | 富鼎电子科技(嘉善)有限公司 | Picking and placing device |
| EP2813446A1 (en) * | 2013-06-10 | 2014-12-17 | Magna Steyr Fuel Systems GesmbH | Device and method for transporting board-shaped goods |
| CN204523955U (en) * | 2015-04-10 | 2015-08-05 | 温州兴机电器有限公司 | Handle square hole decompressor |
| CN204869968U (en) * | 2015-08-05 | 2015-12-16 | 苏州博众精工科技有限公司 | Full -automatic jacking laminating equipment |
| CN105173721A (en) * | 2015-09-10 | 2015-12-23 | 华中科技大学 | Pneumatic tongs for feeding and discharging of crankshafts |
-
2015
- 2015-12-31 CN CN201511028695.5A patent/CN105564981B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2813446A1 (en) * | 2013-06-10 | 2014-12-17 | Magna Steyr Fuel Systems GesmbH | Device and method for transporting board-shaped goods |
| CN203497720U (en) * | 2013-09-05 | 2014-03-26 | 富鼎电子科技(嘉善)有限公司 | Picking and placing device |
| CN204523955U (en) * | 2015-04-10 | 2015-08-05 | 温州兴机电器有限公司 | Handle square hole decompressor |
| CN204869968U (en) * | 2015-08-05 | 2015-12-16 | 苏州博众精工科技有限公司 | Full -automatic jacking laminating equipment |
| CN105173721A (en) * | 2015-09-10 | 2015-12-23 | 华中科技大学 | Pneumatic tongs for feeding and discharging of crankshafts |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105564981A (en) | 2016-05-11 |
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Address after: The 215200 West Jiangsu city of Suzhou province Wujiang economic and Technological Development Zone No. 666 Patentee after: Bo Seiko Polytron Technologies Inc Address before: The 215200 West Jiangsu city of Suzhou province Wujiang economic and Technological Development Zone No. 666 Patentee before: Suzhou Bozhong Precision Industry Technology Co., Ltd. |
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