CN112265824B - Mechanical manufacturing grabbing device - Google Patents
Mechanical manufacturing grabbing device Download PDFInfo
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- CN112265824B CN112265824B CN202011224227.6A CN202011224227A CN112265824B CN 112265824 B CN112265824 B CN 112265824B CN 202011224227 A CN202011224227 A CN 202011224227A CN 112265824 B CN112265824 B CN 112265824B
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- Prior art keywords
- sleeve
- sucker
- air bag
- piston
- connecting pipe
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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
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
- B65G47/917—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers control arrangements
Abstract
The invention discloses a mechanical manufacturing gripping device, and belongs to the technical field of mechanical manufacturing. The gripping device comprises a second sleeve and a first sleeve which are connected in a sliding mode along the vertical direction; a first mounting seat is fixed on the outer wall of the second sleeve, and the second sleeve is connected with a first driving device; the bottom of the first piston is connected with a pressing block, and a conical groove is formed in the bottom of the pressing block; the first piston is connected with a second driving device which is used for enabling the first piston to move up and down along the inner wall of the first sleeve; the claw is hinged to the bottom end of the first sleeve, a second mounting seat is arranged on the claw, and the first mounting seat and the second mounting seat are connected through a connecting rod; the sucker is connected with one side, close to the workpiece, of the gripper through a connecting pipe, the sucker cover is sleeved on the sucker, and the air bag is located between the sucker and the sucker cover. The horizontal bearing plate and the pressing block are matched with each other to clamp the conical workpiece in the vertical direction, and the air bag is inflated to extrude the sucker, so that the sucker can be attached to the arc-shaped surface of the workpiece to improve the grabbing stability.
Description
Technical Field
The invention relates to the technical field of machine manufacturing, in particular to a grabbing device for machine manufacturing.
Background
The machine manufacturing refers to the industrial sector engaged in the production of various power machines, hoisting and transporting machines, chemical machines, textile machines, machine tools, instruments, meters and other mechanical equipment. The machine manufacturing industry provides technical equipment for the whole national economy.
In the mechanical manufacturing process, a grabbing device is often used for transferring workpieces, in order to enable the grabbing device to have stronger universality in the prior art, a paw structure of the grabbing device is designed to be a replaceable structure, when the workpieces are bars, a clamping paw is used, when the workpieces are plates, an airflow negative pressure type sucking disc is used, however, in actual manufacturing, part of special workpieces such as conical workpieces are grabbed, the grabbing difficulty is high, due to the arc-shaped surface of the conical workpieces, the sucking disc is difficult to firmly adsorb on the surface of the conical workpieces, and due to the fact that the surface of the conical workpieces is smooth and has no edges and corners, the clamping difficulty is high in an independent clamping mode, therefore, the grabbing device capable of being used for the conical workpieces is provided.
Disclosure of Invention
The invention aims to overcome the problems in the prior art and provide a mechanical manufacturing gripping device.
The invention provides a mechanical manufacturing gripping device, comprising:
the outer part of the first sleeve is sleeved with a second sleeve, and the second sleeve is connected with the first sleeve in a sliding mode along the vertical direction; a first mounting seat is fixed on the outer wall of the second sleeve, and the second sleeve is connected with a first driving device which is used for enabling the second sleeve to move up and down along the first sleeve;
the compressing device comprises a first piston arranged in a first sleeve, the bottom of the first piston is connected with a compressing block, the compressing block is positioned below the first sleeve, and the bottom of the compressing block is provided with a conical groove; the pressing block is connected with the first piston through a first spring, and the first piston is connected with a second driving device which is used for enabling the first piston to move up and down along the inner wall of the first sleeve;
the paw is hinged to the bottom end of the first sleeve, a second mounting seat is arranged on the paw, and the first mounting seat and the second mounting seat are connected through a connecting rod;
the sucker mechanism comprises a plurality of suckers, a hard sucker cover and an air bag, the suckers are connected with one side, close to a clamping workpiece, of the paw through a connecting pipe, the sucker cover is sleeved on the suckers and is fixedly connected with the connecting pipe, and the air bag is located between the suckers and the sucker cover and is fixed on the inner wall of the sucker cover;
the sucking disc is connected with the negative pressure device, the air bag is connected with the air supply device, and the air bag is provided with an exhaust valve.
Preferably, the bottom of hand claw is equipped with horizontal loading board, be equipped with the recess on the horizontal loading board, it has the clamp plate to articulate in the recess, be equipped with the torsional spring on the articulated shaft of clamp plate and recess, the bottom of recess is equipped with pressure sensor, pressure sensor signal connection has the controller, the controller still is connected with a drive arrangement, vacuum device and air feeder electricity.
Preferably, the paw is provided with an accommodating channel along the length direction, the connecting pipes corresponding to the suckers are connected with a negative pressure detection box through the accommodating channel, the negative pressure detection box is connected with a negative pressure device, and the negative pressure detection box is fixed on the outer wall of the first sleeve;
the inflation tube of the air bag is also connected with the inflation device through the accommodating channel, the exhaust valve on the air bag is an electromagnetic valve, and the electromagnetic valve is in signal connection with the controller.
Preferably, the first driving device and the second driving device are electric push rods or hydraulic lifting rods.
Preferably, the connecting pipe is a hard connecting pipe, the negative pressure device is connected with the connecting pipe through a soft air duct, the soft air duct is located in the accommodating channel, a hole communicated with the accommodating channel is formed in the paw, the connecting pipe is connected with the inner wall of the hole in a sliding mode, a second spring is sleeved on the connecting pipe between the paw and the sucker, and the diameter of the second spring is larger than that of the hole.
Preferably, the outer end of the horizontal bearing plate is provided with a buffer slope convenient for clamping the conical workpiece.
Preferably, a moving mechanism for moving the gripping device is connected to the top of the first sleeve.
Compared with the prior art, the invention has the beneficial effects that: according to the gripping device, the gripping type and the sucker type are combined, so that conical workpieces can be better gripped, the horizontal bearing plate and the pressing block are matched with each other, the conical workpieces can be gripped in the vertical direction, the sucker is squeezed by inflating the air bag, the sucker can be attached to the arc-shaped surface of the workpieces, then the sucker is vacuumized, the adsorption effect of the sucker is ensured, and the gripping stability is improved.
The invention also detects that the workpiece reaches to enable the sucker to be attached to the surface of the workpiece through the pressure sensor, transmits a detection signal to the controller, the controller starts the air supply device to inflate the air bag, simultaneously starts the negative pressure device to vacuumize the sucker, and the controller controls the air supply device to stop inflating when the negative pressure value in the negative pressure detection box reaches a certain range.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic structural view of the chuck mechanism of the present invention;
FIG. 3 is a schematic structural diagram of the horizontal carrier plate of the present invention.
Description of reference numerals:
1. the device comprises a first sleeve, a second sleeve, a first mounting seat, a pressing device, a first piston, a pressing block, a first spring, a claw, a second mounting seat, a connecting rod, a horizontal bearing plate, a sucker cover, an air bag, a connecting pipe, a groove, a pressing plate, a pressure sensor, a containing channel, a negative pressure detection box and a second spring, wherein the first sleeve, the second sleeve, the first piston, the pressing block, the first spring, the second spring, the first spring, the claw, the second mounting seat, the connecting rod, the horizontal bearing plate, the sucker, the horizontal bearing plate, the sucking disc cover, the air bag, the connecting pipe, the groove, the pressing plate, the pressure sensor, the containing channel, the negative pressure detection box and the second spring are arranged in sequence.
Detailed Description
Detailed description of the preferred embodimentsthe following detailed description of the present invention will be made with reference to the accompanying drawings 1-3, although it should be understood that the scope of the present invention is not limited to the specific embodiments. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
The invention provides a mechanical manufacturing gripping device, which comprises:
the outer part of the first sleeve 1 is sleeved with a second sleeve 2, and the second sleeve 2 is connected with the first sleeve 1 in a sliding mode along the vertical direction; a first mounting seat 3 is fixed on the outer wall of the second sleeve 2, and the second sleeve 2 is connected with a first driving device which is used for enabling the second sleeve to move up and down along the first sleeve 1;
the compressing device 4 comprises a first piston 5 arranged in the first sleeve 1, the bottom of the first piston 5 is connected with a compressing block 6, the compressing block 6 is positioned below the first sleeve 1, and the bottom of the compressing block 6 is provided with a conical groove; the pressing block 6 is connected with the first piston 5 through a first spring 7, and the first piston 5 is connected with a second driving device which is used for enabling the first piston to move up and down along the inner wall of the first sleeve 1;
the paw 8 is hinged to the bottom end of the first sleeve 1, a second mounting seat 9 is arranged on the paw 8, and the first mounting seat 3 and the second mounting seat 9 are connected through a connecting rod 10;
the sucker mechanism comprises a plurality of suckers 12, a hard sucker cover 13 and an air bag 14, wherein the suckers 12 are connected with one side, close to a clamping workpiece, of the gripper 8 through a connecting pipe 15, the sucker cover 13 is sleeved on the suckers 12 and is fixedly connected with the connecting pipe 15, and the air bag 14 is located between the suckers 12 and the sucker cover 13 and is fixed on the inner wall of the sucker cover 13;
the sucking disc 12 is connected with a negative pressure device, the air bag 14 is connected with an air supply device, and an exhaust valve is arranged on the air bag 14.
In the embodiment, the second sleeve 2 can move up and down along the first sleeve 1 and is connected with the paw 8 through the connecting rod 10, so that the paw 8 can be opened and clamped by the up and down movement of the second sleeve 2; the pressing device 4 of the embodiment comprises a pressing block 6 with a conical groove, the top of a conical workpiece can be clamped in the conical groove at the bottom of the pressing block 6, the pressing block 6 is connected with the first piston 5 through a first spring 7, and the height of the first piston 5 in the first sleeve 1 is adjustable, so that the position of the first piston 5 can be initially adjusted according to the height of the workpiece, the first spring 7 can meet fine adjustment, and the pressing device has a pressing effect on the workpiece;
sucking disc 12 is used for the surface contact with circular cone work piece, because its arc surface and sucking disc 12 edge laminating that can not be fine, can't accomplish vacuum adsorption, consequently gasbag 14 has been designed between sucking disc cover 13 and sucking disc 12, through the displacement of sucking disc cover 13 restriction gasbag 14, and gasbag 14 can only remove to the opening direction of sucking disc 12, extrude sucking disc 12's edge simultaneously, make sucking disc 12 edge can laminate with the arc surface, then bleed, sucking disc 12 alright with firm absorption on circular cone work piece's surface.
When a workpiece is clamped, the top of the workpiece is clamped in a conical groove of the pressing block 6, then the second sleeve 2 moves downwards, the claw 8 contracts, the air bag 14 is inflated after the sucker 12 can be in contact with the surface of the workpiece, meanwhile, the negative pressure device sucks air from the sucker 12 until the sucker 12 is firmly adsorbed on the surface of the workpiece, the grabbing device drives the workpiece to move integrally to transfer the workpiece to a target position, the rear sucker 12 inflates air, the air bag 14 exhausts air, the claw 8 is opened, the workpiece is separated from the claw, and grabbing and transferring of the workpiece are completed.
The gripping device of this embodiment can be connected with an existing moving mechanism for realizing the overall movement of the gripping device.
As preferred embodiment, the bottom of hand claw 8 is equipped with horizontal loading board 11, be equipped with recess 16 on the horizontal loading board 11, it has clamp plate 17 to articulate in the recess 16, be equipped with the torsional spring on the articulated shaft of clamp plate 17 and recess 16, the bottom of recess 16 is equipped with pressure sensor 18, pressure sensor 18 signal connection has the controller, the controller still is connected with a drive arrangement, vacuum device and air feeder electricity.
The horizontal loading board 11 of this embodiment is when the hand claw is in clamping state, horizontal loading board 11 and ground parallel and level, the horizontal loading board 11 of this embodiment be used for with compact heap 6 cooperation carry out centre gripping from top to bottom to the work piece, sucking disc 12 is used for avoiding its rotation slippage, is equipped with recess 16 on the horizontal loading board 11 of this embodiment, articulated in the recess 16 have clamp plate 17, aim at is after clamp plate 17 lock, and pressure sensor in the recess 16 can detect the pressure that comes from clamp plate 17 to give the controller with pressure signal transmission, the controller then starts first drive arrangement and close, stops second sleeve 2 and moves down, starts vacuum device and air feeder simultaneously, inflates the gasbag, sucking disc 12 bleeds. It should be noted that the position of the pressure sensor is set within the range of projection of the suction cup 12 on the horizontal plane, so that the suction cup 12 can be just in contact with the surface of the workpiece.
Furthermore, the gripper 8 is provided with an accommodating channel 19 along the length direction, the connecting pipes 15 corresponding to the plurality of suckers 12 are connected with a negative pressure detection box 20 through the accommodating channel 19, the negative pressure detection box 20 is connected with a negative pressure device, and the negative pressure detection box 20 is fixed on the outer wall of the first sleeve 1;
the inflation tube of the air bag 14 is also connected with an inflation device through an accommodating channel 19, and an exhaust valve on the air bag 14 is an electromagnetic valve which is in signal connection with a controller.
Whether the sucking disc 12 is firmly adsorbed with the workpiece or not is detected by arranging the negative pressure detection box 20, after the detected negative pressure value reaches a target value, the controller controls the air supply device to stop inflating the air bag 14, the accommodating channel 19 is arranged in the paw along the paw 8, the inflation tube or the negative pressure tube can be accommodated, the occupied space is not increased, and the vacuum sucking disc is very practical.
Further, the first driving device and the second driving device are electric push rods or hydraulic lifting rods.
Because the base circle radius of different work pieces is different, in order to adapt to the clamp of various circular cone work pieces to get, consequently connecting pipe 15 designs for the stereoplasm connecting pipe, negative pressure device passes through soft air duct and is connected with connecting pipe 15, and soft air duct is located hold in the passageway 19, be equipped with on the hand claw 8 with hold the hole of passageway 19 intercommunication, connecting pipe 15 and downthehole wall sliding connection, and the cover is equipped with second spring 21 on the connecting pipe 15 between hand claw 8 and sucking disc 12, the diameter in second spring 21 is greater than the diameter in hole. The suction cup 12 can be brought into sufficient contact with the surface of the workpiece by retracting the connection pipe 15 into the accommodation passage 19 or extending outward, and suction is performed.
Further, the outer end of the horizontal bearing plate 11 is provided with a buffer slope convenient for clamping the conical workpiece.
Further, a moving mechanism for moving the grasping apparatus is connected to the top of the first sleeve 1.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (6)
1. A machine-building gripping apparatus, comprising:
the outer part of the first sleeve (1) is sleeved with a second sleeve (2), and the second sleeve (2) is connected with the first sleeve (1) in a sliding mode along the vertical direction; a first mounting seat (3) is fixed on the outer wall of the second sleeve (2), and the second sleeve (2) is connected with a first driving device which is used for enabling the second sleeve to move up and down along the first sleeve (1);
the pressing device (4) comprises a first piston (5) arranged in the first sleeve (1), the bottom of the first piston (5) is connected with a pressing block (6), the pressing block (6) is located below the first sleeve (1), and a conical groove is formed in the bottom of the pressing block (6); the pressing block (6) is connected with the first piston (5) through a first spring (7), and the first piston (5) is connected with a second driving device which is used for enabling the first piston to move up and down along the inner wall of the first sleeve (1);
the paw (8) is hinged to the bottom end of the first sleeve (1), a second mounting seat (9) is arranged on the paw (8), and the first mounting seat (3) is connected with the second mounting seat (9) through a connecting rod (10);
the sucker mechanism comprises a hard sucker cover (13), an air bag (14) and a plurality of suckers (12), wherein the suckers (12) are connected with one side, close to a clamping workpiece, of a paw (8) through a connecting pipe (15), the sucker cover (13) is sleeved on the suckers (12) and is fixedly connected with the connecting pipe (15), and the air bag (14) is located between the suckers (12) and the sucker cover (13) and is fixed on the inner wall of the sucker cover (13);
the sucker (12) is used for being in contact with the surface of a conical workpiece, and because the arc-shaped surface of the sucker (12) cannot be well attached to the edge of the sucker (12), vacuum adsorption cannot be achieved, an air bag (14) is designed between a sucker cover (13) and the sucker (12), the displacement of the air bag (14) is limited through the sucker cover (13), the air bag (14) can only move towards the opening direction of the sucker (12), meanwhile, the edge of the sucker (12) is extruded, so that the edge of the sucker (12) can be attached to the arc-shaped surface, then air suction is carried out, and the sucker (12) can be firmly attached to the surface of the conical workpiece;
the sucking disc (12) is connected with a negative pressure device, the air bag (14) is connected with an air supply device, and an exhaust valve is arranged on the air bag (14);
the bottom of hand claw (8) is equipped with horizontal loading board (11), be equipped with recess (16) on horizontal loading board (11), it has clamp plate (17) to articulate in recess (16), be equipped with the torsional spring on the articulated shaft of clamp plate (17) and recess (16), the bottom of recess (16) is equipped with pressure sensor (18), pressure sensor (18) signal connection has the controller, the controller still is connected with a drive arrangement, vacuum device and air feeder electricity.
2. The machine-made gripping device according to claim 1, wherein the gripper (8) is provided with a receiving channel (19) along the length direction, the corresponding connecting pipes (15) of the plurality of suction cups (12) are connected with a negative pressure detecting box (20) through the receiving channel (19), the negative pressure detecting box (20) is connected with a negative pressure device, and the negative pressure detecting box (20) is fixed on the outer wall of the first sleeve (1);
the inflation tube of the air bag (14) is also connected with an inflation device through an accommodating channel (19), an exhaust valve on the air bag (14) is an electromagnetic valve, and the electromagnetic valve is in signal connection with a controller.
3. The machine-made grasping device according to claim 1, wherein the first driving device and the second driving device are electric push rods or hydraulic lift rods.
4. The mechanical manufacturing grabbing device of claim 2, wherein the connecting pipe (15) is a hard connecting pipe, the negative pressure device is connected with the connecting pipe (15) through a soft air duct, the soft air duct is located in the accommodating channel (19), a hole communicated with the accommodating channel (19) is formed in the paw (8), the connecting pipe (15) is connected with the inner wall of the hole in a sliding mode, a second spring (21) is sleeved on the connecting pipe (15) between the paw (8) and the sucker (12), and the diameter of the second spring (21) is larger than that of the hole.
5. The machine-made gripping device of claim 1, wherein the outer end of the horizontal carrier plate (11) is provided with a buffer ramp for facilitating gripping of the conical work piece.
6. The machine-made gripping device according to claim 1, characterized in that a moving mechanism for moving the gripping device is connected to the top of the first sleeve (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011224227.6A CN112265824B (en) | 2020-11-05 | 2020-11-05 | Mechanical manufacturing grabbing device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011224227.6A CN112265824B (en) | 2020-11-05 | 2020-11-05 | Mechanical manufacturing grabbing device |
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| Publication Number | Publication Date |
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| CN112265824A CN112265824A (en) | 2021-01-26 |
| CN112265824B true CN112265824B (en) | 2022-04-26 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202011224227.6A Active CN112265824B (en) | 2020-11-05 | 2020-11-05 | Mechanical manufacturing grabbing device |
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Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112946528B (en) * | 2021-01-28 | 2022-10-04 | 深圳市磐锋精密技术有限公司 | Mobile phone photosensitive flat cable detection mechanism and detection method |
| CN113183002B (en) * | 2021-04-28 | 2022-11-18 | 郑州铁路职业技术学院 | Electromechanical product corner repair equipment |
| CN113602949B (en) * | 2021-10-11 | 2021-12-14 | 新乡市恒德机电有限公司 | Precision part lifting, transferring and conveying device and lifting, transferring and conveying method |
| CN116214552B (en) * | 2022-12-16 | 2023-08-04 | 吉林化工学院 | Mechanical manufacturing grabbing device |
| CN115791027B (en) * | 2022-12-28 | 2023-10-20 | 中山市宏唯自动化科技有限公司 | Cylinder battery leak hunting frock |
| CN116488047B (en) * | 2023-06-21 | 2023-09-12 | 安徽博诺思信息科技有限公司 | Electrified mounting tool for insulating sheath |
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| JPS6118639A (en) * | 1984-06-30 | 1986-01-27 | Nissan Shatai Co Ltd | Flexible band for loading apparatus |
| JP3967220B2 (en) * | 2002-07-18 | 2007-08-29 | 住友ゴム工業株式会社 | Suction head and transfer device |
| JP2011183536A (en) * | 2010-03-11 | 2011-09-22 | Ihi Corp | Shape-free adsorption pad |
| CN205415663U (en) * | 2015-11-04 | 2016-08-03 | 深圳市光彩凯宜电子开发有限公司 | Flexible sucking disc tongs |
| CN105798941B (en) * | 2016-05-27 | 2018-08-24 | 华中农业大学 | A kind of manipulator suitable for birds, beasts and eggs crawl |
| CN107139201A (en) * | 2017-07-13 | 2017-09-08 | 苏州甫腾智能科技有限公司 | A kind of automation equipment part clamping mechanism |
| CN207172107U (en) * | 2017-09-30 | 2018-04-03 | 武汉库柏特科技有限公司 | A kind of flexible manipulator of cylinder driving |
| CN107953354B (en) * | 2017-12-29 | 2023-12-05 | 云南柔控科技有限公司 | Robot paw clamp with flexible clamping and fixing functions |
| CN108483037B (en) * | 2018-03-28 | 2019-09-27 | 南京理工大学 | A kind of vacuum chuck based on particulate matter moulding |
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| CN211104063U (en) * | 2019-12-05 | 2020-07-28 | 广西自贸区华芯科技有限公司 | Industrial robot clamping device |
| CN211662086U (en) * | 2020-01-19 | 2020-10-13 | 泸州职业技术学院 | Manipulator of lifting platform |
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