CN111469152A

CN111469152A - Automatic change and go up unloading machinery and grab

Info

Publication number: CN111469152A
Application number: CN202010364896.7A
Authority: CN
Inventors: 朱建军; 赵中华
Original assignee: Shanghai University of Engineering Science
Current assignee: Shanghai University of Engineering Science
Priority date: 2020-04-30
Filing date: 2020-04-30
Publication date: 2020-07-31

Abstract

The invention relates to an automatic feeding and discharging mechanical gripper which comprises a main body plate connected with one end of a mechanical arm through a mounting hole, a plurality of lifting components arranged on the main body plate side by side and used for realizing vertical lifting of a mechanical gripper, a visual detection module fixed on the main body plate and used for identifying a workpiece to be gripped, and a proximity switch used for detecting the position of the mechanical gripper above the workpiece to be gripped. Compared with the prior art, the automatic feeding and discharging device has the advantages of simple structure, reasonable layout, automation, accurate feeding and discharging, convenience in overhauling and disassembling and the like.

Description

Automatic change and go up unloading machinery and grab

Technical Field

The invention relates to the field of automatic feeding and discharging of workpiece transplanting, in particular to an automatic feeding and discharging mechanical claw.

Background

At present, the workpiece is transplanted, manual operation or manual trolley is mostly adopted for transferring, however, the manual operation cannot guarantee 24-hour continuous uninterrupted operation, not only is the working efficiency lower, but also the workpiece is easy to collide due to manual operation errors in the transferring process, so that the quality of the workpiece is reduced.

The problems not only affect the product quality of an enterprise, but also are not beneficial to the long-term development of the enterprise, so that an automatic feeding and discharging mechanical claw is needed to meet the automation requirements of the enterprise, and the requirements of the long-term development of the enterprise are met.

Disclosure of Invention

The invention aims to overcome the defects in the prior art and provide an automatic feeding and discharging mechanical gripper.

The purpose of the invention can be realized by the following technical scheme:

the utility model provides an automatic change and go up unloading machinery and grab, this machinery is grabbed including the main part board of being connected through mounting hole and arm one end, install a plurality of lifting unit who is used for realizing the vertical lift of mechanical gripper on the main part board side by side, fix and be used for discerning on the main part board and wait to snatch the visual detection module of work piece and be used for detecting the proximity switch of mechanical gripper waiting to snatch the work piece top position.

The main body plate is integrally formed by a mechanical arm mounting hole area, a detection module mounting hole area and a lifting assembly mounting area.

The mounting hole is a round hole and is arranged in the triangular mechanical arm mounting hole area.

The detection module mounting hole is provided with a visual detection module mounting hole and a proximity switch mounting hole side by side, the visual detection module mounting hole and the proximity switch mounting hole are both in a right-angle trapezoid shape and are symmetrically arranged along the central line of the main body plate.

The visual detection module is hung on the visual detection module mounting hole through the visual detection module mounting plate, and the detection area of the visual detection module covers the mechanical gripper and the area of a workpiece to be grabbed.

The proximity switch is hung on the visual detection module mounting hole through the proximity switch mounting plate and is positioned above the workpiece to be grabbed.

The lifting assembly comprises a lifting cylinder arranged in a lifting assembly mounting area, a guide connecting plate connected with a piston rod of the lifting cylinder and a clamping cylinder arranged on the guide connecting plate, and the mechanical gripper is arranged on the clamping cylinder.

The guide connecting plate include the connecting plate that is used for connecting the piston rod of lift cylinder and die clamping cylinder and install on the connecting plate and with the main part board on the guide hole cooperation be used for the guide bar of direction, the connecting plate plays the effect of connecting die clamping cylinder and main part board, the guide post avoids lift cylinder to take place lateral displacement at the lift in-process, also avoids simultaneously removing the in-process die clamping cylinder dislocation at the gripper.

The main part board adopt the aluminum alloy material, light in weight, structural performance is good, provides basic support for automatic unloading gripper of going up.

The main part board on install the aluminum alloy protection casing of shade detection module mounting hole region and lifting unit installing zone, this protection casing has the characteristic of opening and shutting, makes things convenient for operating personnel to overhaul gripper inner structure.

Compared with the prior art, the invention has the following advantages:

the device has the advantages of simple structure and reasonable layout: the main body board is divided into three functional areas which are not mutually influenced, so that the interference among all parts can be effectively prevented;

secondly, automatic and accurate feeding and discharging: according to the invention, after a workpiece to be grabbed is determined by the visual detection module, the mechanical arm drives the horizontal main body plate to move above the workpiece, in the process of descending of the mechanical claw, the lifting cylinder drives the mechanical claw to move in the vertical direction by cooperating with the proximity switch, when the mechanical claw reaches a set height above the workpiece, the proximity switch sends a mechanical claw positioning signal, the lifting cylinder stops descending, and the guide column is adopted to prevent the lifting cylinder from generating lateral displacement in the lifting process and prevent the clamping cylinder from being misplaced in the moving process of the mechanical claw.

Thirdly, the maintenance and the disassembly are convenient: the protective cover formed by welding the aluminum alloy plates is arranged, has the opening and closing characteristic, and is convenient for operators to overhaul the internal structure of the mechanical claw.

Drawings

FIG. 1 is a schematic structural diagram of the present invention.

Fig. 2 is a schematic view of the internal structure of the present invention.

Fig. 3 is a front view of the present invention.

Fig. 4 is a side view of the present invention.

The notation in the figure is:

001. the die clamping cylinder, 002, the direction connecting plate, 003, protection casing, 004, the visual inspection module, 005, the visual inspection module mounting panel, 006, proximity switch, 007, proximity switch mounting panel, 008, main part board, 009, lift cylinder, 010, gripper.

Detailed Description

The following detailed description of the automatic loading and unloading gripper of the present invention will be made with reference to the accompanying drawings, so as to better understand the functions and features of the present invention. The present embodiment is implemented on the premise of the technical solution of the present invention, and a detailed implementation manner and a specific operation process are given, but the scope of the present invention is not limited to the following embodiments.

Examples

As shown in fig. 1 and 2, the present invention provides an automatic mechanical gripper for loading and unloading, which is used for clamping, transporting, placing and the like of workpieces.

This machinery is grabbed the mounting hole through main part board 008 and is installed to arm one end, realize the motion of gripper through the arm motion, visual detection module 004 (adopt industry CCD camera in this example) articulates through visual detection module mounting panel 005 and proximity switch mounting panel 007 respectively with proximity switch 006 and fixes on main part board 008, lift cylinder 009 is installed on main part board 008, and three lift cylinder 009 of equipartition on the main part board, direction connecting plate 002 passes through the guide post and is connected with the guiding hole on the main part board 008, realize the guide effect, direction connecting plate 002 is connected with lift cylinder 009 piston rod.

Above visual detection module 004, proximity switch 006, lift cylinder 009 carry out safety protection by protection casing 003.

When the equipment runs, the industrial personal computer is assisted by the visual detection module 004 and the mechanical arm to accurately position a machined workpiece or a workpiece on a conveying belt, when the visual detection module 004 determines the workpiece, the mechanical claw is suspended above the workpiece, the lifting cylinder 001 and the proximity switch 006 are cooperated, the lifting cylinder drives the mechanical claw 010 to move in the vertical direction, when the workpiece reaches a set height above the workpiece, the proximity switch 006 sends an in-position signal to the industrial personal computer, the lifting cylinder stops descending, and the clamping cylinder starts to act.

As shown in fig. 3 and 4, the clamping cylinder 001 is installed on the guide connection plate 002, the gripper 010 is installed on the clamping cylinder 001, the clamping cylinder 001 and the gripper 010 are driven by the lifting cylinder 009 to move vertically along with the guide connection plate 002, when the piston rod of the lifting cylinder 009 reaches a set length, the clamping cylinder 001 drives the gripper 010 to perform a grabbing action, and a workpiece is transferred under the action of the robot arm, so that the work of clamping, conveying and placing the workpiece is completed.

The embodiments described above are described to facilitate an understanding and use of the invention by those skilled in the art. It will be readily apparent to those skilled in the art that various modifications to these embodiments may be made, and the generic principles described herein may be applied to other embodiments without the use of the inventive faculty. Therefore, the present invention is not limited to the above embodiments, and those skilled in the art should make improvements and modifications within the scope of the present invention based on the disclosure of the present invention.

Claims

1. The utility model provides an automatic go up unloading machinery and grab, its characterized in that, this machinery is grabbed and is included main part board (008) of being connected through mounting hole and arm one end, install a plurality of lifting unit who is used for realizing the vertical lift of mechanical gripper (010) side by side on main part board (008), fix visual detection module (004) that are used for discerning to wait to snatch the work piece on main part board (008) and be used for detecting proximity switch (006) that mechanical gripper (010) are waiting to snatch the work piece top position.

2. The automated mechanical gripper for feeding and discharging materials as claimed in claim 1, wherein the main body plate (008) is integrally formed with a robot arm mounting hole area, a detection module mounting hole area and a lifting assembly mounting area.

3. The automated mechanical gripper for feeding and discharging materials of claim 2, wherein the mounting hole is a circular hole and is disposed in a triangular mounting hole area of the mechanical arm.

4. The automatic mechanical gripper for feeding and discharging of claim 1, wherein the detection module mounting hole is provided with a visual detection module mounting hole and a proximity switch mounting hole in parallel, the visual detection module mounting hole and the proximity switch mounting hole are both in a right trapezoid shape and are symmetrically arranged along a center line of the main body plate (008).

5. The automated mechanical gripper for loading and unloading of claim 4, wherein the vision inspection module (004) is hung on the mounting hole of the vision inspection module through a vision inspection module mounting plate (005), and the inspection area of the vision inspection module covers the mechanical gripper (010) and the area of the workpiece to be gripped.

6. The automated mechanical gripper for feeding and discharging materials as claimed in claim 4, wherein the proximity switch (006) is hung on the mounting hole of the vision inspection module through a proximity switch mounting plate (007) and is located above the workpiece to be gripped.

7. The automated mechanical gripper for feeding and discharging of claim 2, wherein the lifting assembly comprises a lifting cylinder (009) installed in the mounting area of the lifting assembly, a guide connection plate (002) connected to the piston rod of the lifting cylinder (009), and a clamping cylinder (001) installed on the guide connection plate (002), and the gripper (010) is installed on the clamping cylinder (001).

8. The automated mechanical gripper for feeding and discharging of claim 7, wherein the guiding connection plate (002) comprises a connection plate for connecting a piston rod of the lifting cylinder (009) and a clamping cylinder (001) and a guiding rod installed on the connection plate and matched with a guiding hole on the main plate (008) for guiding.

9. The automated mechanical gripper for feeding and discharging materials as claimed in claim 1, wherein the main plate (008) is made of aluminum alloy.

10. The automated mechanical gripper for feeding and discharging of claim 2, wherein the main plate (008) is mounted with a protective cover (003) made of aluminum alloy for covering the mounting hole area of the inspection module and the mounting area of the lifting assembly.