CN112573201A - Inclination angle self-adaptive electromagnetic type gripper device for carrying base plate - Google Patents
Inclination angle self-adaptive electromagnetic type gripper device for carrying base plate Download PDFInfo
- Publication number
- CN112573201A CN112573201A CN202011360231.5A CN202011360231A CN112573201A CN 112573201 A CN112573201 A CN 112573201A CN 202011360231 A CN202011360231 A CN 202011360231A CN 112573201 A CN112573201 A CN 112573201A
- Authority
- CN
- China
- Prior art keywords
- plate
- suction cup
- frame mechanism
- electromagnetic
- travel switch
- 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
- 230000007246 mechanism Effects 0.000 claims abstract description 112
- 230000008878 coupling Effects 0.000 claims abstract description 43
- 238000010168 coupling process Methods 0.000 claims abstract description 43
- 238000005859 coupling reaction Methods 0.000 claims abstract description 43
- 238000012546 transfer Methods 0.000 claims abstract description 18
- 230000003044 adaptive effect Effects 0.000 claims description 15
- 238000003466 welding Methods 0.000 abstract description 5
- 238000009434 installation Methods 0.000 description 9
- 238000000034 method Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 238000013459 approach Methods 0.000 description 3
- 238000010030 laminating Methods 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 238000006467 substitution reaction Methods 0.000 description 3
- 241001669679 Eleotris Species 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 2
- 230000002547 anomalous effect Effects 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 239000002184 metal Substances 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 230000003014 reinforcing effect Effects 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
- 238000005493 welding type Methods 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 238000010521 absorption reaction Methods 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 230000001960 triggered effect Effects 0.000 description 1
Images
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
- 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
- B65G47/92—Devices for picking-up and depositing articles or materials incorporating electrostatic or magnetic grippers
-
- 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
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
- B65G2201/0214—Articles of special size, shape or weigh
- B65G2201/0223—Heavy
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The application discloses inclination self-adaptation electromagnetic type tongs device for backing plate transport, including frame mechanism, the coupling mechanism that is used for being connected with transfer robot's last stub axle and at least one actuation mechanism that is used for adsorbing the backing plate, coupling mechanism fixed connection is in frame mechanism's top, actuation mechanism slidable ground is connected frame mechanism's below, actuation mechanism including with frame mechanism sliding connection's sucking disc coupling assembling and with sucking disc coupling assembling rotationally connect the electromagnetic chuck with be used for driving the elastic component that electromagnetic chuck resets, the both ends of elastic component respectively with electromagnetic chuck with sucking disc coupling assembling is connected. So set up, solved and utilized transfer robot to snatch the backing plate unstability and cause the backing plate to drop the damage and have certain dangerous problem in the finished product backing plate handling after welding.
Description
Technical Field
The application relates to the technical field of railway base plates, in particular to an inclination angle self-adaptive electromagnetic type gripper device for carrying base plates.
Background
The backing plate is an important part of the railway turnout and has the functions that the upper part bears and locks the steel rail and is connected with the lower part turnout sleeper through a turnout sleeper bolt to form a stable integral structure of the turnout track. The railway turnout base plate in China always adopts a group welding type structure, the group welding type structure is long in processing time, the processing cost is high, the turnout base plate is carried through a carrying robot in the production and welding process of the base plate, the surface of a welded finished base plate is uneven, the carrying robot is not easy to grab in the carrying process, the base plate is damaged due to the fact that the base plate is not stably attracted, the production process is interrupted, the production efficiency is reduced, and a certain danger coefficient exists.
Therefore, how to solve the problem that the handling robot cannot stably grab the finished base plate during the handling process of the welded finished base plate by using the handling robot, so that the base plate falls and is damaged and certain danger exists is a key technical problem to be solved by technical personnel in the field.
Disclosure of Invention
For overcoming the problem that exists in the correlation technique to a certain extent at least, the utility model aims at providing an inclination self-adaptation electromagnetic type tongs device for backing plate transport, it can solve and utilize transfer robot to snatch the backing plate unstability and cause the backing plate to drop the damage and have certain dangerous problem in the finished product backing plate handling process after welding.
The application provides an inclination self-adaptation electromagnetic type tongs device for backing plate transport, including frame mechanism, the coupling mechanism that is used for being connected with transfer robot's last stub axle and at least one actuation mechanism that is used for adsorbing the backing plate, coupling mechanism fixed connection is in frame mechanism's top, actuation mechanism slidable ground is connected frame mechanism's below, actuation mechanism including with frame mechanism sliding connection's sucking disc coupling assembling, with sucking disc coupling assembling rotationally connect the electromagnetic chuck with be used for driving the elastic component that electromagnetic chuck resets, the both ends of elastic component respectively with electromagnetic chuck with sucking disc coupling assembling is connected.
Preferably, the electromagnetic chuck is rotatably connected with the chuck connecting assembly through a rotating plate, and the rotating plate is connected with the elastic member.
Preferably, the sucker connecting assembly comprises a sucker connecting plate slidably connected with the frame mechanism and a rotating base fixedly connected with the sucker connecting plate, mounting holes for respectively embedding two ends of the rotating plate are formed in two sides of the rotating base, and the rotating plate can rotate around the axis of the mounting holes.
Preferably, at least one proximity switch sensor corresponding to the suction mechanism is arranged on the frame mechanism, a proximity switch contact sheet corresponding to the proximity switch sensor is arranged on the sucker connecting plate corresponding to the proximity switch sensor, the proximity switch sensor is communicably connected with the electromagnetic sucker, and when the proximity switch contact sheet enters the sensing range of the proximity switch sensor, the electromagnetic sucker is powered on.
Preferably, the automatic lifting device further comprises at least one travel switch assembly, the travel switch assembly comprises a travel switch sensor arranged on the frame mechanism and a travel switch contact piece arranged on the sucker connecting plate, the travel switch contact piece is arranged opposite to the travel switch sensor, the travel switch sensor is communicably connected with the handling robot, and when the travel switch sensor is in contact with the travel switch contact piece, the frame mechanism and the suction mechanism are relatively static.
Preferably, the sucker connecting plate is connected with the frame mechanism in a sliding mode through a sliding assembly, and a through hole for the sliding assembly to extend into is formed in the frame mechanism.
Preferably, the sliding assembly including the bottom with sucking disc connecting plate fixed connection's sucking disc guide arm, the sucking disc guide arm be located in the through-hole and through linear bearing with through-hole sliding connection, still be provided with the spring in the through-hole, the spring housing is established outside the sucking disc guide arm, just the bottom of spring is supported on the lateral wall of through-hole, the top of sucking disc guide arm is provided with the spring catch, the top of spring is supported on the spring catch.
Preferably, the number of the elastic members is two, and the two elastic members are respectively arranged near two ends of the rotating plate.
Preferably, both ends of the rotation plate are rotatably connected with the rotation base through rotation bearings.
Preferably, the rotating plate is provided with two grooves into which the bottom ends of the two elastic members are respectively embedded, and the bottom ends of the elastic members are fixedly connected with the groove bottoms of the grooves.
The technical scheme provided by the application can comprise the following beneficial effects:
the application provides an inclination angle self-adaptation electromagnetic type tongs device for backing plate transport, including frame mechanism, coupling mechanism and at least one actuation mechanism, coupling mechanism fixed connection is in frame mechanism's top to coupling mechanism is used for being connected with transfer robot's last terminal axle, in order to realize being connected of this inclination angle self-adaptation electromagnetic type tongs device and transfer robot. The actuation mechanism is used for adsorbing the backing plate, and the below at frame mechanism is connected to actuation mechanism slidable, actuation mechanism is including sucking disc coupling assembling, electromagnet and the elastic component that is used for driving electromagnet to reset, sucking disc coupling assembling is connected with frame mechanism slidable, electromagnet rotationally is connected with sucking disc coupling assembling, thus, sucking disc coupling assembling can drive electromagnet and slide from top to bottom for frame mechanism, and electromagnet can rotate for sucking disc coupling assembling, thereby can laminate mutually with the high difference or anomalous part on the backing plate, in order to adsorb the backing plate, the laminating area of electromagnet and backing plate has been increased, the backing plate is difficult for dropping in handling, the security has been improved, realize snatching of different specification railway switch backing plates. The both ends of elastic component are connected with electromagnet and sucking disc coupling assembling respectively to can drive electromagnet and reset, thereby the backing plate of the different specifications of adaptation, in order to carry out snatching next time.
So set up, solved and utilized transfer robot to snatch the backing plate unstability and cause the backing plate to drop the damage and have certain dangerous problem in the finished product backing plate handling after welding.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and together with the description, serve to explain the principles of the application.
FIG. 1 is a perspective view of the present tilt adaptive electromagnetic gripper apparatus for dunnage handling shown in accordance with some exemplary embodiments;
FIG. 2 is a perspective view of a frame mechanism shown in accordance with some exemplary embodiments;
FIG. 3 is a front view of a frame mechanism shown in accordance with some exemplary embodiments;
FIG. 4 is a top view of a frame mechanism shown in accordance with some exemplary embodiments;
FIG. 5 is a bottom view of the frame mechanism shown in accordance with some exemplary embodiments;
FIG. 6 is a cross-sectional view A-A of FIG. 3;
FIG. 7 is a cross-sectional view of the present tilt angle adaptive electromagnetic gripper for dunnage handling shown in accordance with some exemplary embodiments;
FIG. 8 is a cross-sectional view of a suction cup attachment plate shown in accordance with some exemplary embodiments;
FIG. 9 is a block diagram illustrating proximity switch contacts in accordance with some exemplary embodiments;
FIG. 10 is a block diagram illustrating a travel switch contact according to some exemplary embodiments;
FIG. 11 is a top view of a suction cup attachment plate shown in accordance with some exemplary embodiments;
FIG. 12 is a perspective view of the connection relationship of the rotating base and the rotating plate shown in accordance with some exemplary embodiments;
FIG. 13 is a diagram illustrating the connection of a fixed plate to a rotating connection plate according to some exemplary embodiments;
FIG. 14 is a front view of the connection relationship of the rotating base and the rotating plate, shown in accordance with some exemplary embodiments;
FIG. 15 is a cross-sectional view of the connection relationship of the rotating base and the rotating plate, shown in accordance with some exemplary embodiments;
FIG. 16 is a front view of a rotating plate shown in accordance with some exemplary embodiments;
FIG. 17 is a top view of a rotating plate shown in accordance with some exemplary embodiments;
FIG. 18 is a top view of a coupling mechanism shown in accordance with some exemplary embodiments;
FIG. 19 is a front view of a coupling mechanism shown in accordance with some exemplary embodiments;
FIG. 20 is a front view of the present tilt angle adaptive electromagnetic gripper for dunnage handling shown in accordance with some exemplary embodiments;
FIG. 21 is a block diagram of a travel switch sensor mounting plate shown in accordance with some exemplary embodiments.
In the figure:
1. a frame mechanism; 2. a suction mechanism; 3. a connecting mechanism; 11. a frame main beam; 111. a sucker guide rod mounting hole; 12. a side plate; 13. reinforcing the connecting plate; 132. an electromagnetic chuck wire outlet groove; 133. a proximity switch sensor; 14. a connection support part; 15. a sucker mounting seat; 151. a boss; 152. a through hole; 153. a linear bearing; 154. a sucker guide rod; 155. a spring; 156. a spring catch; 157. locking the nut; 16. a travel switch sensor; 161. a travel switch mounting plate; 1611. a travel switch fixing hole; 1612. a travel switch adjusting groove; 21. a sucker connecting plate; 211. a guide rod guide hole; 212. mounting a counter bore on the nut; 213. a proximity switch contact fixing hole; 214. travel switch contact fixing holes; 215. the electromagnetic chuck is provided with a wire passing hole; 22. an electromagnetic chuck; 23. the sucker fixes the screw; 24. fixing a nut; 25. a proximity switch contact; 251. a proximity switch contact adjustment slot; 26. rotating the base; 261. a fixing plate; 2611. a rotation shaft hole; 2612. a bearing bin; 262. a rotating plate; 2622. a rotating shaft; 2624. a magnetic chuck line via hole; 263. the electromagnetic chuck wire fixing cap; 264. a rotation spring; 27. a travel switch contact; 271. a travel switch contact adjusting groove; 28. rotating the base set screw; 281. the rotary base fixes the threaded hole; 31. an upper connecting flange; 32. a lower connecting flange; 321. a connecting flange wire outlet hole; 33. a connecting plate; 331. and a wire outlet hole is formed on the hand grip.
Detailed Description
Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. Rather, they are merely examples of apparatus consistent with certain aspects of the present application, as detailed in the appended claims.
Referring to fig. 1 to 21, the present embodiment provides an inclination angle adaptive electromagnetic type gripper for pad plate transportation, which includes a frame mechanism 1, a connecting mechanism 3 and at least one suction mechanism 2, wherein the connecting mechanism 3 is fixedly connected above the frame mechanism 1, and the connecting mechanism 3 is used for connecting with a terminal shaft of a transfer robot, so as to realize connection of the inclination angle adaptive electromagnetic type gripper with the transfer robot. The suction mechanism 2 is used for absorbing the base plate, and the suction mechanism 2 is connected below the frame mechanism 1 in a sliding manner. But through actuation mechanism 2 actuation and release backing plate, drive actuation mechanism 2 through transfer robot and remove the transport that snatchs of realization railway switch backing plate.
The both ends of elastic component are connected with electromagnet 22 and sucking disc coupling assembling respectively to can drive electromagnet 22 and reset, thereby the backing plate of the different specifications of adaptation, in order to carry out snatching next time.
It should be noted that the elastic member may be a rotation spring 264.
So set up, solved and utilized transfer robot to snatch the backing plate unstability and cause the backing plate to drop the damage and have certain dangerous problem in the finished product backing plate handling after welding.
In this embodiment, as shown in fig. 7, the electromagnetic chuck 22 is rotatably connected to the chuck connecting assembly through the rotating plate 262, and the electromagnetic chuck 22 can be angularly adjusted relative to the chuck connecting assembly through the rotating plate 262. And the rotation plate 262 is connected with the elastic member. The electromagnetic chuck 22 is fixedly connected to the rotating plate 262 by a chuck fixing screw 23.
Specifically, sucking disc coupling assembling is including sucking disc connecting plate 21 and rotating base 26, sucking disc connecting plate 21 is connected with frame mechanism 1 slidable, rotating base 26 and sucking disc connecting plate 21 fixed connection, be provided with the mounting hole in rotating base 26's both sides, so that the both ends of supplying rotor plate 262 imbed respectively, rotor plate 262 can be rotatory around the axis of mounting hole, it is rotatory around the axis of mounting hole to drive electromagnet 22, thereby realize electromagnet 22 and sucking disc coupling assembling's rotatable coupling.
The suction cup connection plate 21 is provided with an electromagnetic suction cup wire insertion hole 215 through which a cable of the electromagnetic suction cup passes.
Further, the number of the elastic members is two, and the two elastic members are respectively disposed near two ends of the rotating plate 262, that is, the two elastic members are respectively connected to positions of the rotating plate 262 near the two ends, so that the force balance of the rotating plate 262 is facilitated. Here, two grooves are formed in the rotating plate 262 to allow the bottom ends of the two elastic members to be embedded respectively, and the bottom ends of the two elastic members are fixedly connected with the groove bottoms of the two grooves respectively to drive the rotating plate 262 to reset.
Both ends of the rotating plate 262 are rotatably connected to the spin base 26 by a rotation bearing, and the rotating plate 262 is rotatably connected to the spin base 26.
As shown in fig. 12 to 14, the spin base 26 includes two fixing plates 261 fixedly connected to the chuck connecting plates 21 and two rotation connecting plates respectively disposed at outer ends of the fixing plates 261, and the rotation connecting plates are provided with a rotation shaft hole 2611 into which the rotation shaft 2622 of the rotation plate 262 extends and a bearing housing 2612 for mounting a rotation bearing, so that both ends of the rotation plate 262 are rotatably connected to the two rotation connecting plates respectively. Here, the fixing plate 261 is fixedly connected to the suction cup connection plate 21 by the rotating base fixing screw 28, and the suction cup connection plate 21 is provided with a rotating base fixing screw hole 281 into which the rotating base fixing screw 28 is fitted.
The fixing plate is provided with a rotary spring mounting hole for connecting the top end of the rotary spring 264. The rotating plate 262 is provided with a magnetic chuck wire through hole 2624 for passing a cable of the magnetic chuck 22. The rotating plate 262 is also provided with a solenoid chuck wire fixing cap 263.
In this embodiment, at least one proximity switch sensor 133 is disposed on the frame mechanism 1, the proximity switch sensor 133 is disposed corresponding to the attraction mechanism 2, and the suction cup connecting plate 21 of the attraction mechanism 2 is disposed with a proximity switch contact 25, the proximity switch contact 25 is disposed corresponding to the proximity switch sensor 133, and the proximity switch sensor 133 can sense the proximity switch contact 25. Here, the proximity switch contact 25 may be a metal detection body, and when the metal detection body comes within a sensing range of the proximity switch sensor 133, the proximity switch sensor 133 is triggered. The proximity switch sensor 133 is communicably connected to the electromagnetic chuck 22, and when the proximity switch contact piece 25 comes within the sensing range of the proximity switch sensor 133, the proximity switch sensor 133 transmits a signal to the electromagnetic chuck 22, so that the electromagnetic chuck 22 is electrified to generate a magnetic field to attract the pad.
A proximity switch contact piece fixing hole 213 for embedding a screw is formed in the side surface of the suction cup connecting plate 21, and the proximity switch contact piece 25 can be mounted on the proximity switch contact piece fixing hole 213 of the suction cup connecting plate 21 through a screw; and a proximity switch contact piece adjusting groove 251 is provided on the proximity switch contact piece 25, and the installation height of the proximity switch contact piece 25 is adjusted by adjusting the relative position of a screw and the proximity switch contact piece adjusting groove 251.
The inclination angle self-adaptive electromagnetic type gripper device can be provided with an attraction mechanism 2, the approach switch sensor 133 and the approach switch contact piece 25 can be provided with one, and the approach switch sensor 133 can be arranged at the position of the frame mechanism 1 corresponding to the attraction mechanism 2. This inclination self-adaptation electromagnetic type tongs device also can be provided with two actuation mechanism 2, or a plurality of, specifically, can set up a proximity switch sensor 133 respectively with the position that a plurality of actuation mechanism 2 correspond on frame mechanism 1, all be provided with proximity switch contact 25 on every actuation mechanism 2, the quantity of proximity switch sensor 133 and proximity switch contact 25 is the same with the quantity of actuation mechanism 2 promptly, so that snatch the backing plate through a plurality of actuation mechanism 2, the intensity of adsorbing the backing plate has been improved. Here, the inclination adaptive electromagnetic type gripper may include four attracting mechanisms 2 so as to grip the pad plates of different specifications.
Preferably, the inclination angle self-adaptive electromagnetic type gripper device further comprises at least one travel switch assembly, the travel switch assembly comprises a travel switch sensor 16 and a travel switch contact piece 27, the travel switch sensor 16 is arranged on the frame mechanism 1, the travel switch contact piece 27 is arranged on the sucker connecting plate 21, the travel switch contact piece 27 is arranged opposite to the travel switch sensor 16, the travel switch sensor 16 is communicably connected with the transfer robot, when the travel switch sensor 16 is in contact with the travel switch contact piece 27, namely the transfer robot drives the travel switch sensor 16 to descend to be in contact with the travel switch contact piece 27, the transfer robot stops moving continuously, the frame mechanism 1 and the suction mechanism 2 are relatively static, and therefore the phenomenon that the carrying robot is damaged due to the reactive force exerted by a base plate on the transfer robot is avoided.
Specifically, the stroke switch sensor 16 is mounted below the frame mechanism 1 through a stroke switch mounting plate 161, as shown in fig. 21, the stroke switch mounting plate 161 is "Z" shaped, a stroke switch fixing hole 1611 is provided on the stroke switch mounting plate 161 to fix the stroke switch mounting plate 161 to the frame by a bolt, a plurality of stroke switch adjusting grooves 1612 are further provided on the stroke switch mounting plate 161, and the stroke switch sensor 16 is connected to the stroke switch adjusting grooves 1612 to facilitate adjustment of the mounting position of the stroke switch sensor 16.
A plurality of travel switch contact fixing holes 214 are provided on the side surface of the suction cup connection plate 21 for mounting the travel switch contact 27, and a plurality of travel switch contact adjustment grooves 271 are provided on the travel switch contact 27 so as to adjust the mounting position of the travel switch contact 27.
In some embodiments, the suction cup connection plate 21 is slidably connected to the frame mechanism 1 through a sliding assembly, and the frame mechanism 1 is provided with a through hole 152 for the sliding assembly to extend into, so that the sliding assembly can slide up and down in the through hole 152.
The sliding assembly includes a suction cup guide rod 154, the suction cup guide rod 154 is located in the through hole 152 and is slidably connected to the through hole 152 through a linear bearing 153, so that the suction cup guide rod 154 and the through hole 152 can slide relatively. The bottom end of the suction cup guide rod 154 is fixedly connected with the suction cup connecting plate 21, so that the relative sliding between the suction mechanism 2 and the frame mechanism 1 is realized through the sliding of the suction cup guide rod 154.
Preferably, as shown in fig. 7, a spring 155 is further disposed in the through hole 152, the spring 155 is sleeved outside the sucker guide rod 154, a bottom end of the spring 155 abuts against a side wall of the through hole 152, a spring stop 156 is disposed at a top end of the sucker guide rod 154, a top end of the spring 155 abuts against the spring stop 156, the spring stop 156 presses against the spring 155, and when the spring 155 is compressed by a force, the sucker guide rod 154 drives the spring stop 156 to enter the through hole 152. When the sucker guide rod 154 slides relative to the frame mechanism 1, i.e. when the sucker guide rod 154 slides upward relative to the frame mechanism 1, the spring blocking piece 156 no longer presses the spring 155, so that the spring 155 is deformed again, i.e. the spring 155 is in a relaxed state. When the robot grabs the backing plate, the spring is compressed by the gravity of the backing plate, so that impact force cannot be generated on the carrying robot, damage cannot be caused to the robot, and the service life of the gripper device is prolonged.
The top end of the suction cup guide 154 is provided with a lock nut 157 to restrain the spring catch 156 against the suction cup guide 154 and prevent the spring catch 156 from falling off the suction cup guide 154.
It should be noted that the through hole 152 includes a first cavity and a second cavity communicated with the first cavity, the linear bearing 153 is disposed in the first cavity, the spring 155 is disposed in the second cavity, a boss 151 is disposed between the first cavity and the second cavity, an inner diameter of the boss 151 is larger than a diameter of the suction cup guide rod 154 and smaller than an outer diameter of the spring 155, and a bottom end of the spring 155 abuts against the boss 151.
In this embodiment, be provided with the guide arm mounting hole on the sucking disc connecting plate 21, the guide arm mounting hole is including guide arm guiding hole 211 and nut installation counter bore 212, guide arm guiding hole 211 is linked together with nut installation counter bore 212, and the bottom of sucking disc guide arm 154 passes in the guide arm guiding hole stretches into nut installation counter bore 212, be provided with fixation nut 24 in nut installation counter bore 212, the bottom of sucking disc guide arm 154 stretches into in nut installation counter bore 212 with fixation nut 24 fixed connection, and fixation nut 24's diameter is greater than the diameter of guide arm guiding hole 211, and like this, can avoid the bottom of sucking disc guide arm 154 to deviate from in nut installation counter bore 212, suction disc guide arm 154 and sucking disc connecting plate 21's fixed connection has been realized.
In this embodiment, the frame mechanism 1 includes two frame main beams 11 and a connecting plate disposed between the two frame main beams 11, and the proximity switch sensor 133 may be disposed at a bottom end of the connecting plate so as to sense the proximity switch contact 25.
Wherein, the connecting plate can be including the curb plate 12 that is located two frame girder 11 both sides and the connection plate 13 of enhancement that is located between two curb plates 12, two frame girder 11 parallel arrangement, two curb plates 12 are connected respectively in two frame girder 11's both ends, curb plate 12 forms the rectangle frame construction with frame girder 11 fixed connection, connection plate 13 places between two frame girder 11, and is connected with two frame girder 11 to the intensity of frame mechanism 1 has further been increased.
Here, the reinforcing connection plate 13 is provided with an electromagnet outgoing groove 132 through which a cable of the electromagnet is passed. The frame main beam 11 is provided with a suction cup guide rod mounting hole 111 through which the suction cup guide rod 154 passes.
As shown in fig. 2, the frame mechanism 1 further includes a suction cup supporting portion and a connection supporting portion 14, the suction cup supporting portion is fixedly connected to the frame main beam 11 and located at a lower portion of the frame main beam 11, and the through hole 152 is disposed on the suction cup supporting portion to connect the suction mechanism 2 through the suction cup supporting portion. The connection support part 14 is arranged on the upper part of the frame main beam 11, two rows of threaded holes are arranged on the connection support part 14, and the frame mechanism 1 and the connection mechanism 3 are fixed into a whole through screws.
Here, the suction cup supporting portion includes two suction cup mounting seats 15, the two suction cup mounting seats 15 are respectively and fixedly connected with the two frame main beams 11, through holes 152 are respectively formed in the two suction cup mounting seats 15, suction cup guide rod 154 mounting holes through which suction cup guide rods 154 pass are formed in the frame main beams 11, and the suction cup guide rod 154 mounting holes are communicated with the through holes 152. Thus, the two sucker guide rods 154 are connected with the suction mechanism 2, so that the installation stability and the installation balance of the suction mechanism 2 are improved.
As shown in fig. 19 and 20, the coupling mechanism 3 includes an upper coupling flange 31 and a lower coupling flange 32, the upper coupling flange 31 and the lower coupling flange 32 are connected as a whole by a coupling plate 33, the lower coupling flange 32 is fixedly connected to the frame mechanism 1, specifically, the lower coupling flange 32 is fixedly connected to the coupling support portion 14 by a screw, and the upper coupling flange 31 is used for being coupled to the end shaft of the transfer robot, so as to connect the gripper to the transfer robot.
Here, the upper and lower connection flanges 31 and 32 are provided with connection flange outlet holes 321 through which cables electrically connected to the grippers pass. A grip outlet hole 331 is also provided on the connection plate 33.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.
It is understood that the same or similar parts in the above embodiments may be mutually referred to, and the same or similar parts in other embodiments may be referred to for the content which is not described in detail in some embodiments.
Although embodiments of the present application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present application, and that variations, modifications, substitutions and alterations may be made to the above embodiments by those of ordinary skill in the art within the scope of the present application.
Claims (10)
1. The utility model provides an inclination self-adaptation electromagnetic type tongs device for backing plate transport, its characterized in that, including frame mechanism (1), be used for link mechanism (3) and at least one actuation mechanism (2) that are used for adsorbing the backing plate that are connected with transfer robot's end axle, link mechanism (3) fixed connection be in the top of frame mechanism (1), actuation mechanism (2) slidable ground is connected the below of frame mechanism (1), actuation mechanism (2) including with frame mechanism (1) slidable connection's sucking disc coupling assembling, with sucking disc coupling assembling rotationally connect electromagnetic chuck (22) with be used for driving electromagnetic chuck (22) the elastic component that resets, the both ends of elastic component respectively with electromagnetic chuck (22) with sucking disc coupling assembling is connected.
2. The tilt adaptive electromagnetic gripper device for dunnage handling according to claim 1, wherein the electromagnetic suction cup (22) is rotatably connected to the suction cup connection assembly by a rotating plate (262), and the rotating plate (262) is connected to the resilient member.
3. The inclination angle adaptive electromagnetic gripper for dunnage handling as set forth in claim 2, wherein the suction cup connection assembly comprises a suction cup connection plate (21) slidably connected to the frame mechanism (1) and a rotation base (26) fixedly connected to the suction cup connection plate (21), wherein mounting holes for respectively inserting two ends of the rotation plate (262) are formed on two sides of the rotation base (26), and the rotation plate (262) can rotate around the axis of the mounting holes.
4. The inclination adaptive electromagnetic gripper device for dunnage handling according to claim 3, wherein the frame mechanism (1) is provided with at least one proximity switch sensor (133) corresponding to the attraction mechanism (2), the suction cup connecting plate (21) corresponding to the proximity switch sensor (133) is provided with a proximity switch contact piece (25) corresponding to the proximity switch sensor (133), the proximity switch sensor (133) is communicably connected to the electromagnetic suction cup (22), and when the proximity switch contact piece (25) comes within the sensing range of the proximity switch sensor (133), the electromagnetic suction cup (22) is powered on.
5. The inclination angle adaptive electromagnetic gripper device for dunnage handling as set forth in claim 4, further comprising at least one travel switch assembly, wherein the travel switch assembly comprises a travel switch sensor (16) disposed on the frame mechanism (1) and a travel switch contact (27) disposed on the suction cup connection plate (21), the travel switch contact (27) is disposed opposite to the travel switch sensor (16), the travel switch sensor (16) is communicably connected to a handling robot, and when the travel switch sensor (16) is in contact with the travel switch contact (27), the frame mechanism (1) and the suction mechanism (2) are relatively stationary.
6. The tilt angle adaptive electromagnetic gripper device for dunnage handling according to claim 4, wherein the suction cup connection plate (21) is slidably connected to the frame mechanism (1) through a slide assembly, and the frame mechanism (1) is provided with a through hole (152) into which the slide assembly extends.
7. The inclination angle adaptive electromagnetic type gripper device for carrying tie plates according to claim 6, wherein the sliding assembly comprises a sucker guide rod (154) fixedly connected with the sucker connecting plate (21) at the bottom end, the sucker guide rod (154) is located in the through hole (152) and is slidably connected with the through hole (152) through a linear bearing (153), a spring (155) is further arranged in the through hole (152), the spring (155) is sleeved outside the sucker guide rod (154), the bottom end of the spring (155) abuts against the side wall of the through hole (152), a spring stop piece (156) is arranged at the top end of the sucker guide rod (154), and the top end of the spring (155) abuts against the spring stop piece (156).
8. The tilt adaptive electromagnetic gripper device for dunnage handling according to claim 3, wherein there are two of the elastic members, and the two elastic members are disposed respectively near both ends of the rotating plate (262).
9. The tilt adaptive electromagnetic gripper device for dunnage handling according to claim 3, wherein both ends of the swivel plate (262) are rotatably connected to the swivel base (26) by swivel bearings.
10. The tilt angle adaptive electromagnetic gripper for transporting dunnage according to claim 8, wherein the rotating plate (262) is provided with two grooves into which the bottom ends of the two elastic members are respectively inserted, and the bottom ends of the elastic members are fixedly connected with the bottom of the grooves.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011360231.5A CN112573201A (en) | 2020-11-27 | 2020-11-27 | Inclination angle self-adaptive electromagnetic type gripper device for carrying base plate |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011360231.5A CN112573201A (en) | 2020-11-27 | 2020-11-27 | Inclination angle self-adaptive electromagnetic type gripper device for carrying base plate |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112573201A true CN112573201A (en) | 2021-03-30 |
Family
ID=75123928
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011360231.5A Pending CN112573201A (en) | 2020-11-27 | 2020-11-27 | Inclination angle self-adaptive electromagnetic type gripper device for carrying base plate |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112573201A (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201253768Y (en) * | 2008-07-11 | 2009-06-10 | 杨兴城 | Magnetic steel suction disk |
| CN104476543A (en) * | 2014-10-30 | 2015-04-01 | 歌尔声学股份有限公司 | Magnet attraction rotation picking and placing device |
| CN104493822A (en) * | 2015-01-06 | 2015-04-08 | 常州先进制造技术研究所 | Chuck gripper device of stacking robot for complex surface |
| CN104552289A (en) * | 2013-10-29 | 2015-04-29 | 精工爱普生株式会社 | Robot |
| CN109676639A (en) * | 2019-01-23 | 2019-04-26 | 北京航天斯达科技有限公司 | A kind of side-suction type fixture and application method |
| US20190152704A1 (en) * | 2017-11-22 | 2019-05-23 | Entro Industries, Inc. | Skid system for load transport apparatus |
| CN111452079A (en) * | 2020-05-18 | 2020-07-28 | 成都卡诺普自动化控制技术有限公司 | Electromagnet clamp for robot |
| CN211761628U (en) * | 2020-02-28 | 2020-10-27 | 上海鑫燕隆汽车装备制造有限公司 | Mechanical gripper |
-
2020
- 2020-11-27 CN CN202011360231.5A patent/CN112573201A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201253768Y (en) * | 2008-07-11 | 2009-06-10 | 杨兴城 | Magnetic steel suction disk |
| CN104552289A (en) * | 2013-10-29 | 2015-04-29 | 精工爱普生株式会社 | Robot |
| CN104476543A (en) * | 2014-10-30 | 2015-04-01 | 歌尔声学股份有限公司 | Magnet attraction rotation picking and placing device |
| CN104493822A (en) * | 2015-01-06 | 2015-04-08 | 常州先进制造技术研究所 | Chuck gripper device of stacking robot for complex surface |
| US20190152704A1 (en) * | 2017-11-22 | 2019-05-23 | Entro Industries, Inc. | Skid system for load transport apparatus |
| CN109676639A (en) * | 2019-01-23 | 2019-04-26 | 北京航天斯达科技有限公司 | A kind of side-suction type fixture and application method |
| CN211761628U (en) * | 2020-02-28 | 2020-10-27 | 上海鑫燕隆汽车装备制造有限公司 | Mechanical gripper |
| CN111452079A (en) * | 2020-05-18 | 2020-07-28 | 成都卡诺普自动化控制技术有限公司 | Electromagnet clamp for robot |
Non-Patent Citations (1)
| Title |
|---|
| 钟诚, 煤炭工业出版社 * |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US9422119B1 (en) | Independent discharge sorting conveyor | |
| US20100088846A1 (en) | Guiding wheel assembly, especially for a hospital bed | |
| MX2015006627A (en) | Safety catch for a traveling body of an elevator system. | |
| US11591171B2 (en) | Magnetic coupling arrangement in a conveyor system | |
| CN108285110B (en) | Anti-falling mechanism for stacker cargo carrying platform | |
| CN112551155B (en) | Laser and vision integrated base plate carrying joint robot device and positioning method | |
| CN112338956A (en) | Electromagnetic gripper device for carrying base plate | |
| US7815158B2 (en) | Doubled-hinged, hoist-mounted wheel hanger | |
| CN112573201A (en) | Inclination angle self-adaptive electromagnetic type gripper device for carrying base plate | |
| CN112549060B (en) | Laser vision type electromagnetic gripper | |
| US20030005666A1 (en) | Robotic end effector with counter-rotating fingers | |
| CN111395226B (en) | Control method of intelligent balance shockproof automobile entrance guard barrier gate | |
| CN216067519U (en) | Flattening oil drum carrying mechanism and carrying robot thereof | |
| CN216997426U (en) | Overload and rope-loosening safety device for hoisting equipment | |
| US10683104B2 (en) | Conveyor system | |
| CN216277173U (en) | A conversion seat device for accessible parking stall | |
| US20030196872A1 (en) | Stop mechanism for assembly line | |
| CN210047971U (en) | Wheel type conveying line | |
| CN218261811U (en) | Falling locking structure for fixed lifting platform | |
| CN219340698U (en) | Material stop mechanism and roller way type AGV with same | |
| CN113247609A (en) | Blocking device and conveyor | |
| KR100497531B1 (en) | Magnetic adsorber for conveying iron material | |
| JP4100677B2 (en) | Work transfer tool | |
| US4787802A (en) | Cart wheel control for hoistway car | |
| CN207323761U (en) | A kind of ground pit type sterilizer bridging docking facilities |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20210330 |