CN110550456A - Gripper device - Google Patents
Gripper device Download PDFInfo
- Publication number
- CN110550456A CN110550456A CN201910957390.4A CN201910957390A CN110550456A CN 110550456 A CN110550456 A CN 110550456A CN 201910957390 A CN201910957390 A CN 201910957390A CN 110550456 A CN110550456 A CN 110550456A
- Authority
- CN
- China
- Prior art keywords
- gripper
- main
- grip
- auxiliary
- main body
- Prior art date
- 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.)
- Pending
Links
- 229920000049 Carbon (fiber) Polymers 0.000 claims abstract description 16
- 239000004917 carbon fiber Substances 0.000 claims abstract description 16
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 claims abstract description 16
- 229910000838 Al alloy Inorganic materials 0.000 claims abstract description 7
- 238000001514 detection method Methods 0.000 claims description 18
- 239000000956 alloy Substances 0.000 claims description 3
- 238000009434 installation Methods 0.000 claims description 2
- 239000000463 material Substances 0.000 abstract description 3
- 239000011521 glass Substances 0.000 description 12
- 210000003437 trachea Anatomy 0.000 description 3
- 230000007547 defect Effects 0.000 description 1
- 238000012994 industrial processing Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000001179 sorption measurement Methods 0.000 description 1
Classifications
-
- 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
- B65G49/00—Conveying systems characterised by their application for specified purposes not otherwise provided for
- B65G49/05—Conveying systems characterised by their application for specified purposes not otherwise provided for for fragile or damageable materials or articles
- B65G49/06—Conveying systems characterised by their application for specified purposes not otherwise provided for for fragile or damageable materials or articles for fragile sheets, e.g. glass
- B65G49/061—Lifting, gripping, or carrying means, for one or more sheets forming independent means of transport, e.g. suction cups, transport frames
-
- 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
- B65G2249/00—Aspects relating to conveying systems for the manufacture of fragile sheets
- B65G2249/04—Arrangements of vacuum systems or suction cups
Landscapes
- Manipulator (AREA)
Abstract
The invention relates to a gripper device which comprises a gripper main body, wherein two sides of the gripper main body are respectively provided with an integrated vacuum generator, and a control unit is arranged in the gripper main body; the device also comprises 2 gripper main beams which are horizontally and symmetrically arranged; the device also comprises 6 grip auxiliary beams vertical to the grip main beams; the device also comprises a sucker unit, and the sucker unit is fixed below the gripper secondary beam through a clamping plate. By adopting the gripper device, the gripper main body is made of aluminum alloy, the gripper main beam and the gripper auxiliary beam are made of carbon fiber tubes, and the gripper device is high in material strength, light in weight and simple in structure. The integrated vacuum generator is convenient for the layout of the air path and the circuit, and in addition, the ultra-large inner space of the carbon fiber tube structure enables the air tube and the cable to be inserted from the inside, so that the layout is greatly simplified, and the appearance is beautified.
Description
Technical Field
The invention relates to the field of automation devices, in particular to the field of grabbing and carrying in the glass industry, and particularly relates to a grabbing device.
Background
Along with the continuous development of industrial processing production automation, the demand of automation equipment devices is larger and larger, the competition is more and more intense, in the current glass product industry, the sizes of glass are different, sucking discs are adopted for sucking, particularly, the number of sucking disc clamps for large and thin glass is larger, and the gas circuit and the circuit layout on the gripper device are more complicated and slightly heavy.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide a gripper device which has the advantages of high strength, high light weight, simple structure and beautiful layout.
In order to achieve the above object, the gripper of the present invention comprises:
The gripper device is mainly characterized by comprising a gripper main body, wherein integrated vacuum generators are respectively arranged on two sides of the gripper main body, and a control unit is arranged in the gripper main body and used for controlling the operation of the gripper device; the device also comprises 2 horizontally and symmetrically placed main gripper beams, and the main gripper beams are connected with the main gripper body and are arranged below the main gripper body; the device also comprises 6 grip auxiliary beams vertical to the grip main beam, the grip auxiliary beams are connected with the grip main beam and are arranged below the grip main beam, and the grip main body, the grip main beam and the grip auxiliary beams are connected and fixed through connecting plates; the device also comprises a sucker unit, and the sucker unit is fixed below the gripper secondary beam through a clamping plate.
Preferably, the device further comprises a detection unit, and the detection unit is positioned above the auxiliary gripper beam and near the sucker unit through a clamping plate.
Preferably, the front end of the gripper main body is provided with a flange plate, and the flange plate is composed of flange connecting pieces.
Preferably, waist-shaped holes are formed in the joints of the gripper main beam, the gripper main body and the gripper auxiliary beam and used for wiring and pipe distribution; the connection part of the gripper auxiliary beam and the gripper main beam is provided with a waist-shaped hole, and the installation part of the gripper auxiliary beam and the sucker unit is provided with a hole site for wiring and pipe arrangement.
Preferably, the detection unit is connected with the control unit through a cable, and the cable is connected with the detection unit and the control unit through a hole site of the gripper main beam and a hole site of the gripper auxiliary beam.
Preferably, the sucker unit is connected with the integrated vacuum generator through an air pipe, and the air pipe is connected with the sucker unit and the integrated vacuum generator through a hole site of the gripper main beam and a hole site of the gripper auxiliary beam.
preferably, the device is provided with 36 sucker units which are uniformly distributed below the gripper secondary beam.
Preferably, the device has 4 detection units.
Preferably, the grip main body is made of aluminum alloy material.
Preferably, the gripper main beam is of an 8080 carbon fiber tube structure, and the gripper secondary beam is of a 4060 carbon fiber tube structure.
By adopting the gripper device, the gripper main body is made of aluminum alloy, the gripper main beam and the gripper auxiliary beam are made of carbon fiber tubes, and the gripper device is high in material strength, light in weight and simple in structure. The integrated vacuum generator is convenient for the layout of the air path and the circuit, and in addition, the ultra-large inner space of the carbon fiber tube structure enables the air tube and the cable to be inserted from the inside, so that the layout is greatly simplified, and the appearance is beautified.
Drawings
Fig. 1 is a structural front view of the gripper of the present invention.
Fig. 2 is an isometric view of the gripper of the present invention.
Fig. 3 is a schematic layout of carbon fiber tube and tubing of the gripper of the present invention.
Reference numerals:
1 tongs main body
2 tongs girder
3 tongs auxiliary beam
4 suction cup unit
5 detection unit
6 Flange plate
7 integrated vacuum generator
8 control unit
9 connecting plate
10 clamping plate
11 trachea
12 cable
Detailed Description
In order to more clearly describe the technical contents of the present invention, the following further description is given in conjunction with specific embodiments.
The gripper device comprises a gripper main body 1, wherein integrated vacuum generators 7 are respectively arranged on two sides of the gripper main body 1, and a control unit 8 is arranged in the gripper main body 1 and used for controlling the operation of the gripper device; the device also comprises 2 gripper main beams 2 which are horizontally and symmetrically arranged, wherein the gripper main beams 2 are connected with the gripper main body 1 and are arranged below the gripper main body 1; the device also comprises 6 grip auxiliary beams 3 which are vertical to the grip main beam 2, wherein the grip auxiliary beams 3 are connected with the grip main beam 2 and are arranged below the grip main beam 2, and the grip main body 1, the grip main beam 2 and the grip auxiliary beams 3 are fixedly connected through a connecting plate 9; the device further comprises a sucker unit 4, and the sucker unit 4 is fixed below the gripper auxiliary beam 3 through a clamping plate 10.
In a preferred embodiment of the present invention, the apparatus further comprises a detection unit 5, and the detection unit 5 is located above the gripper sub-beam 3 and near the suction unit 4 through a clamping plate 10.
In a preferred embodiment of the present invention, a flange plate 6 is disposed at the front end of the gripper body 1, and the flange plate 6 is composed of a flange connector.
As a preferred embodiment of the invention, waist-shaped holes are arranged at the joints of the grip main beam 2, the grip main body 1 and the grip auxiliary beam 3 for wiring and piping; the joint of the gripper auxiliary beam 3 and the gripper main beam 2 is provided with a waist-shaped hole, and the mounting position of the gripper auxiliary beam and the sucker unit 4 is provided with a hole position for wiring and pipe arrangement.
In a preferred embodiment of the present invention, the detecting unit 5 and the control unit 8 are connected by a cable 12, and the cable 12 connects the detecting unit 5 and the control unit 8 through a hole of the gripper main beam 2 and a hole of the gripper auxiliary beam 3.
As a preferred embodiment of the present invention, the suction cup unit 4 and the integrated vacuum generator 7 are connected through an air pipe 11, and the air pipe 11 connects the suction cup unit 4 and the integrated vacuum generator 7 through a hole of the gripper main beam 2 and a hole of the gripper auxiliary beam 3.
As a preferred embodiment of the present invention, the device has 36 suction cup units 4, and the suction cup units 4 are uniformly distributed below the gripper sub-beam 3.
As a preferred embodiment of the invention, the device has 4 detection units 5.
In a preferred embodiment of the present invention, the gripper body 1 is made of an aluminum alloy material.
As a preferred embodiment of the present invention, the gripper main beam 2 adopts an 8080 carbon fiber tube structure, and the gripper secondary beam 3 adopts a 4060 carbon fiber tube structure.
In the embodiment of the invention, as shown in fig. 1, the novel gripper device comprises a gripper main body 1, a gripper main beam 2, a gripper auxiliary beam 3, a suction cup unit 4 and a detection unit 5. The front end of the gripper main body 1 is provided with a flange plate 6 which is formed by connecting flange connecting pieces; both ends are respectively provided with an integrated vacuum generator 7; the grip body 1 is provided with a control unit 8 therein. The two gripper main beams 2 are horizontally and symmetrically arranged below the gripper main body 1 through the connecting plate. Six grip auxiliary beams 3 are vertically placed below the grip main beam 2 through a connecting plate.
The suction cup units 4 are thirty-six in total and are uniformly placed below the gripper auxiliary beam 3 through the clamping plates; the four detection units 5 are arranged above the gripper auxiliary beam 3 and beside the sucker unit 4 to form a rectangular frame.
The plate of the gripper main body 1 is made of aluminum alloy, and a hole position is arranged at the joint of the gripper main beam 2, so that wiring and pipe arrangement are facilitated.
The grip main beam 2 is of an 8080 carbon fiber tube structure, and waist-shaped holes are formed in the connecting positions of the grip main beam 1 and the grip auxiliary beam 3, so that wiring and pipe arrangement are facilitated.
The gripper auxiliary beam 3 adopts a 4060 carbon fiber tube structure, a waist-shaped hole is formed in the joint of the gripper main beam 2, and a hole site is formed in the mounting position of the suction disc, so that wiring and pipe arrangement are facilitated.
The gripper main body 1, the gripper main beam 2 and the gripper auxiliary beam 3 are fixedly connected through a connecting plate 9; the sucker unit 4 and the detection unit 5 are fixedly connected with the gripper auxiliary beam 3 through a clamping plate 10; the suction cup unit 4 is connected with the integrated vacuum generator 7 through an air pipe 11, the former is controlled through the latter, and the air pipe 11 is inserted into the gripper main beam 2 and the gripper auxiliary beam 3.
The detection unit 5 is connected with the control unit 8 through a cable 12, the former is controlled through the latter, and the cable 12 is inserted in the grip main beam 2 and the grip auxiliary beam 3.
The air pipe 11 and the cable 12 are respectively connected with the integrated vacuum generator 7 and the control unit 8 on the gripper main body 1 through a hole on the gripper auxiliary beam 3 and a hole on the gripper main beam 2.
During operation, tongs main part 2 and the terminal flange joint of robot, sucking disc and glass surface contact in the sucking disc unit 4 during the glass of snatching, integrated integral type vacuum generator 7 and the control unit 8 begin work on tongs main part 1, form the vacuum in the trachea way, the sucking disc adsorbs glass, detecting element 5 detects glass adsorption state simultaneously, it leaves the workspace to detect wrong glass, detect the indelible back robot control tongs motion and put glass assigned position, integrated integral type vacuum generator 7 and the stop work of control unit 8, the sucking disc separates with glass, the tongs continues to suck next glass and repeat, trachea and circuit all alternate in the carbon fiber pipe in this process, overall arrangement and outward appearance have been beautified.
By adopting the gripper device, the gripper main body is made of aluminum alloy, the gripper main beam and the gripper auxiliary beam are made of carbon fiber tubes, and the gripper device is high in material strength, light in weight and simple in structure. The integrated vacuum generator is convenient for the layout of the air path and the circuit, and in addition, the ultra-large inner space of the carbon fiber tube structure enables the air tube and the cable to be inserted from the inside, so that the layout is greatly simplified, and the appearance is beautified.
In this specification, the invention has been described with reference to specific embodiments thereof. It will, however, be evident that various modifications and changes may be made thereto without departing from the broader spirit and scope of the invention. The specification and drawings are, accordingly, to be regarded in an illustrative rather than a restrictive sense.
Claims (10)
1. The gripper device is characterized by comprising a gripper main body (1), wherein integrated vacuum generators (7) are respectively arranged on two sides of the gripper main body (1), and a control unit (8) is arranged in the gripper main body (1) and used for controlling the operation of the gripper device; the device also comprises 2 horizontally and symmetrically placed main gripper beams (2), wherein the main gripper beams (2) are connected with the main gripper body (1) and are arranged below the main gripper body (1); the device further comprises 6 grip auxiliary beams (3) perpendicular to the grip main beam (2), wherein the grip auxiliary beams (3) are connected with the grip main beam (2) and are arranged below the grip main beam (2), and the grip main body (1), the grip main beam (2) and the grip auxiliary beams (3) are fixedly connected through a connecting plate (9); the device further comprises a sucker unit (4), and the sucker unit (4) is fixed below the gripper auxiliary beam (3) through a clamping plate (10).
2. Gripper according to claim 1, characterized in that said device further comprises a detection unit (5), said detection unit (5) being located above said gripper sub-beam (3) and in proximity of said suction unit (4) by means of a clamping plate (10).
3. The hand grip device as claimed in claim 1, wherein a flange plate (6) is provided at the front end of the hand grip body (1), and the flange plate (6) is composed of a flange connecting member.
4. The gripper device as claimed in claim 1, wherein waist-shaped holes are formed in the joints of the main gripper beam (2) and the main gripper body (1) and the auxiliary gripper beam (3) for routing and piping; the connection part of the gripper auxiliary beam (3) and the gripper main beam (2) is provided with a waist-shaped hole, and the installation part of the gripper auxiliary beam and the sucker unit (4) is provided with a hole site for wiring and piping.
5. The gripper device as claimed in claim 2, wherein the detection unit (5) is connected with the control unit (8) through a cable (12), and the cable (12) is connected with the detection unit (5) and the control unit (8) through a hole of the gripper main beam (2) and a hole of the gripper auxiliary beam (3).
6. The hand grab device as claimed in claim 1, wherein the suction cup units (4) and the integrated vacuum generator (7) are connected through air pipes (11), and the air pipes (11) are connected with the suction cup units (4) and the integrated vacuum generator (7) through hole positions of the main hand grab beam (2) and hole positions of the auxiliary hand grab beam (3).
7. Gripper according to claim 1, characterized in that said device has 36 suction cup units (4), said suction cup units (4) being evenly distributed under the gripper secondary beam (3).
8. The gripper according to claim 2, characterized in that said device has 4 detection units (5).
9. The hand grip device as claimed in claim 1, wherein said grip body (1) is of an aluminum alloy material.
10. The gripper device as claimed in claim 1, wherein the main gripper beam (2) is of an 8080 carbon fiber tube structure, and the secondary gripper beam (3) is of a 4060 carbon fiber tube structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910957390.4A CN110550456A (en) | 2019-10-10 | 2019-10-10 | Gripper device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910957390.4A CN110550456A (en) | 2019-10-10 | 2019-10-10 | Gripper device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110550456A true CN110550456A (en) | 2019-12-10 |
Family
ID=68742366
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910957390.4A Pending CN110550456A (en) | 2019-10-10 | 2019-10-10 | Gripper device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110550456A (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB634553A (en) * | 1948-02-17 | 1950-03-22 | Pilkington Brothers Ltd | Improvements in or relating to apparatus for drawing glass upwardly from a body of molten glass |
| CN202369123U (en) * | 2011-12-07 | 2012-08-08 | 中国建材国际工程集团有限公司 | Multi-functional vacuum gripper device |
| CN205238064U (en) * | 2015-12-07 | 2016-05-18 | 中建材凯盛机器人（上海）有限公司 | A tongs structure for huge flat -sheet material of pile up neatly |
| US20190084012A1 (en) * | 2017-09-21 | 2019-03-21 | AMP Robotics Corporation | Systems and methods for robotic suction grippers |
| CN109888691A (en) * | 2019-02-28 | 2019-06-14 | 顺丰科技有限公司 | A kind of connecton layout and unmanned plane for unmanned plane |
| CN209289312U (en) * | 2018-10-15 | 2019-08-23 | 广州浔沣轨道交通科技股份有限公司 | Robot and its robot end mechanism |
| CN210594242U (en) * | 2019-10-10 | 2020-05-22 | 中建材凯盛机器人（上海）有限公司 | Gripper device |
-
2019
- 2019-10-10 CN CN201910957390.4A patent/CN110550456A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB634553A (en) * | 1948-02-17 | 1950-03-22 | Pilkington Brothers Ltd | Improvements in or relating to apparatus for drawing glass upwardly from a body of molten glass |
| CN202369123U (en) * | 2011-12-07 | 2012-08-08 | 中国建材国际工程集团有限公司 | Multi-functional vacuum gripper device |
| CN205238064U (en) * | 2015-12-07 | 2016-05-18 | 中建材凯盛机器人（上海）有限公司 | A tongs structure for huge flat -sheet material of pile up neatly |
| US20190084012A1 (en) * | 2017-09-21 | 2019-03-21 | AMP Robotics Corporation | Systems and methods for robotic suction grippers |
| CN209289312U (en) * | 2018-10-15 | 2019-08-23 | 广州浔沣轨道交通科技股份有限公司 | Robot and its robot end mechanism |
| CN109888691A (en) * | 2019-02-28 | 2019-06-14 | 顺丰科技有限公司 | A kind of connecton layout and unmanned plane for unmanned plane |
| CN210594242U (en) * | 2019-10-10 | 2020-05-22 | 中建材凯盛机器人（上海）有限公司 | Gripper device |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
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