CN112978370A - Grabbing mechanism, grabbing device and grabbing method - Google Patents

Grabbing mechanism, grabbing device and grabbing method Download PDF

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Publication number
CN112978370A
CN112978370A CN202110180773.2A CN202110180773A CN112978370A CN 112978370 A CN112978370 A CN 112978370A CN 202110180773 A CN202110180773 A CN 202110180773A CN 112978370 A CN112978370 A CN 112978370A
Authority
CN
China
Prior art keywords
grabbing
lifting
drive
grasping
bracket
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
Application number
CN202110180773.2A
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Chinese (zh)
Inventor
郏爱民
胡志爱
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Zhuhai Tiaoyue Automation Technology Co ltd
Original Assignee
Zhuhai Tiaoyue Automation Technology Co ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Zhuhai Tiaoyue Automation Technology Co ltd filed Critical Zhuhai Tiaoyue Automation Technology Co ltd
Priority to CN202110180773.2A priority Critical patent/CN112978370A/en
Publication of CN112978370A publication Critical patent/CN112978370A/en
Pending legal-status Critical Current

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90Devices for picking-up and depositing articles or materials
    • B65G47/91Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
    • B65G47/912Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers provided with drive systems with rectilinear movements only
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90Devices for picking-up and depositing articles or materials
    • B65G47/91Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
    • B65G47/918Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers with at least two picking-up heads

Abstract

The invention discloses a grabbing mechanism, which comprises: a first gripping support; the second grabbing brackets are connected to the first grabbing brackets along the left-right direction, and a plurality of grabbing units are arranged on the second grabbing brackets; the lifting device is arranged on the first grabbing bracket and can drive the plurality of second grabbing brackets to lift independently; the grabbing mechanism can be better suitable for grabbing plates with different lengths, and the invention also discloses a grabbing device and a grabbing method.

Description

Grabbing mechanism, grabbing device and grabbing method
Technical Field
The invention relates to the field of plate production lines, in particular to a grabbing mechanism, a grabbing device and a grabbing method.
Background
In the middle of present bus bar automated production, in order to improve the degree of automation of copper bar production, reduce the human cost, generally will wait that panel such as processed copper bar, aluminium bar are placed in the middle of the storehouse, then carry on the production line by automatic warehouse outlet equipment, cut out, mill, bend a series of operations, final shaping.
In the middle of current panel storehouse, snatch panel generally relies on the sucking disc of permutation setting to absorb, because the absorption length of permutation sucking disc is fixed, when panel length changes, the unable fine adaptation length of current permutation sucking disc increases or the panel that reduces, influences production efficiency.
Disclosure of Invention
The present invention is directed to solving at least one of the problems of the prior art. Therefore, the invention provides a grabbing mechanism which can be better suitable for grabbing plates with different lengths.
The grasping mechanism of the invention comprises: a first gripping support; the second grabbing brackets are connected to the first grabbing brackets along the left-right direction, and a plurality of grabbing units are arranged on the second grabbing brackets; and the lifting device is arranged on the first grabbing bracket and can drive the second grabbing brackets to lift independently.
According to some embodiments of the invention, the lifting device comprises: the plurality of lifting driving mechanisms are arranged on the first grabbing bracket; the plurality of lifting wheels are rotatably connected to the first grabbing bracket; the second grabbing bracket comprises a plurality of connecting belts, wherein each second grabbing bracket is connected with at least one lifting wheel through at least one connecting belt, and the lifting wheels can drive the connecting belts to move so that the second grabbing bracket can be lifted.
According to some embodiments of the invention, the lifting wheel is a drive sprocket and the connecting belt is a chain, the chain engaging the drive sprocket.
According to some embodiments of the invention, at least two chains are connected to each second gripping bracket.
According to some embodiments of the invention, the lift drive mechanism comprises: the lifting cylinder is arranged on the first grabbing bracket; the lifting transmission shaft is in driving connection with the lifting cylinder through the gear box; the plurality of driving chain wheels are connected to the left end and the right end of the lifting transmission shaft.
According to some embodiments of the invention, the gripping unit comprises a plurality of first suction cups and/or a plurality of second suction cups arranged on said second gripping carriage.
According to some embodiments of the invention, the gripping mechanism further comprises a plurality of vacuum generators, at least one of said vacuum generators being arranged on each of said second gripping brackets, each of said vacuum generators being connected to a plurality of said first suction cups and/or a plurality of said second suction cups.
The present invention also provides a grasping apparatus, including: a frame; the grabbing mechanism is arranged on the rack and can move back and forth along the rack.
According to some embodiments of the invention, the gripping device further comprises a driving rack disposed on the frame, the driving rack extending in a front-to-rear direction, the gripping mechanism comprises a translational driving device and a driving gear, the translational driving device is capable of driving the driving gear to rotate, and the driving gear is meshed with the driving rack.
The invention also provides a grabbing method, which applies the grabbing device and comprises the following steps: and controlling the grabbing mechanism to move above the plate, controlling one or more second grabbing brackets to descend, enabling the total length of the descending grabbing brackets to be smaller than or equal to the length of the plate, and then controlling the grabbing unit to grab the plate.
By applying the grabbing mechanism disclosed by the invention, in the grabbing process, one or more second grabbing brackets can be flexibly controlled to descend according to different lengths of the plates, so that the suckers on the second grabbing brackets can better cover the upper surfaces of the plates and grab the plates, and the adaptability of the grabbing mechanism to the plates with different lengths is effectively enhanced.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is an isometric view of a grasping device according to an embodiment of the present invention;
FIG. 2 is a top view of a grasping device according to an embodiment of the present invention;
FIG. 3 is a cross-sectional view taken along line A-A of FIG. 2;
FIG. 4 is an enlarged view taken at A in FIG. 1;
FIG. 5 is an enlarged view at B of FIG. 1;
FIG. 6 is an enlarged view at C of FIG. 3;
FIG. 7 is an isometric view of a grasping mechanism in an embodiment of the invention;
FIG. 8 is an enlarged view taken at D in FIG. 7;
FIG. 9 is a bottom view of the grasping mechanism according to the embodiment of the present invention;
FIG. 10 is an enlarged view at E in FIG. 9;
the above figures contain the following reference numerals.
Reference numerals Name (R) Reference numerals Name (R)
100 Rack 215 Drive shaft
110 First guide rail 221 Lifting cylinder
111 Spiral air pipe 222 Lifting transmission shaft
120 Second guide rail 223 Lifting/lowering deviceChain wheel
121 Guide slope 224 Chain
130 Driving rack 225 Lifting block
140 Slide resistance wire 226 Gear box
200 Grabbing mechanism 230 Second grabbing bracket
210 First grabbing bracket 231 Suction cup support
211 First roller 232 First suction disc
212 Second roller 233 Second suction cup
213 Driving gear 240 Vacuum generator
214 Universal joint 250 Lifting drag chain
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
In the description of the present invention, it should be understood that the orientation or positional relationship referred to in the description of the orientation, such as the upper, lower, front, rear, left, right, etc., is based on the orientation or positional relationship shown in the drawings, and is only for convenience of description and simplification of description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
In the description of the present invention, the meaning of a plurality of means is one or more, the meaning of a plurality of means is two or more, and more than, less than, more than, etc. are understood as excluding the present number, and more than, less than, etc. are understood as including the present number. If the first and second are described for the purpose of distinguishing technical features, they are not to be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of the technical features indicated.
In the description of the present invention, unless otherwise explicitly limited, terms such as arrangement, installation, connection and the like should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above terms in the present invention in combination with the specific contents of the technical solutions.
Referring to fig. 1 to 6, the grasping apparatus according to the first aspect of the present embodiment includes: a frame 100; the grabbing mechanism 200 is arranged on the rack 100, and the grabbing mechanism 200 comprises at least one grabbing unit; a second rail 120 disposed on the frame 100, wherein the second rail 120 extends in a front-rear direction, and the grasping mechanism 200 can move back and forth along the rail; a guide inclined plane 121 is formed on the second guide rail 120, and the grabbing mechanism 200 is matched with the guide inclined plane 121.
With the application of the grabbing device of the first aspect of the present embodiment, in the process of transporting the plate, the grabbing mechanism 200 moves back and forth along the second guide rail 120, and due to the cooperation of the grabbing mechanism 200 and the grabbing inclined plane, in the process of moving the grabbing mechanism 200 back and forth, the direction can be automatically calibrated under the action of the guide inclined plane 121, so that the grabbing mechanism 200 always moves horizontally along the back and forth direction, the bouncing caused by the deviation of the moving direction of the grabbing mechanism 200 is prevented, and the stability of the equipment is enhanced.
As shown in fig. 6, the guide slope 121 in the present embodiment refers to a plane extending in the front-rear direction and forming an acute angle with respect to both the up-down direction and the left-right direction.
In the present embodiment, the grabbing mechanism 200 can move back and forth through various ways, such as pulling the grabbing mechanism 200 to move manually, or driving the grabbing mechanism 200 to move horizontally by a motor or an air cylinder.
It can be understood that the grabbing unit in the embodiment can be realized by adopting a sucker component, and can also adopt components such as an electric clamping jaw and a pneumatic clamping jaw as long as a mechanism capable of grabbing the plate can be adopted.
As shown in fig. 6, in order to enhance the guiding effect, two guiding inclined planes 121 are formed on the second guide rail 120, and the two guiding inclined planes 121 are perpendicular; that is, the second guide rail 120 may adopt a V-shaped guide rail existing on the market, which facilitates standardization and modularization of equipment manufacturing, and the two guide slopes 121 work together to better perform the function of centering and guiding.
As shown in fig. 9, in order to reduce the wear of the guide rails during long-term use and simultaneously reduce the resistance of the grabbing mechanism 200 during movement, a second roller 212 is rotatably connected to the grabbing mechanism 200, and the second roller 212 can roll on the second guide rail 120; when the grabbing mechanism 200 translates back and forth, the second roller 212 rolls on the second rail 120, and compared with the sliding fit mode, the rolling fit mode can effectively reduce the resistance and reduce the rail wear.
Wherein, the second roller 212 is provided with a conical surface which can roll on the guide inclined surface 121; specifically, the second roller 212 is provided with two conical surfaces and a cylindrical surface, which are respectively in hybrid-motion fit with the three guide surfaces on the second guide rail 120, so that the second guide rail 120 can guide the deviation of the second roller 212 in time.
Further, at least two second rollers 212 are rotatably disposed on the grabbing mechanism 200; the plurality of second rollers 212 can roll on the second rail 120, so that the load borne by the second rail 120 is dispersed, and the second rail 120 is prevented from being overloaded locally.
The grabbing device further comprises a rectangular guide rail arranged on the rack 100, the rectangular guide rail extends in the front-back direction, and the grabbing device is matched with the rectangular guide rail.
As shown in fig. 1, a rectangular guide rail and the second guide rail 120 are arranged at intervals, the grabbing mechanism 200 is erected on the rectangular guide rail and the second guide rail 120, and the grabbing mechanism 200 is partially located between the rectangular guide rail and the second guide rail 120; at this time, the rectangular guide rail and the second guide rail 120 play a role of loading and centering at the same time, so that the stability of the front and back movement of the grabbing mechanism 200 is ensured; in this case, the first roller 211 can be rotatably connected to the gripper mechanism 200, so that the first roller 211 rolls on a rectangular guide rail.
As shown in fig. 6 and 9, the grasping apparatus further includes a driving rack 130 disposed on the rack 100, the driving rack 130 extends in the front-back direction, the grasping mechanism 200 further includes a translational driving apparatus and a driving gear 213, the translational driving apparatus can drive the driving gear 213 to rotate, the driving gear 213 is engaged with the driving rack 130, and the translational driving apparatus is electrically connected to the power taking apparatus; at this time, the driving gear 213 can rotate by the translation driving device, so that the driving gear 213 rolls on the driving rack 130 to drive the whole grabbing mechanism 200 to move back and forth; the translation driving device may use an air cylinder to drive the driving gear 213 to rotate, or may use a motor or other components to drive the driving gear 213.
Wherein the driving gear 213 is located above the driving rack 130.
As shown in fig. 3, 6 and 8, the grasping device further includes a driving shaft 215 and a universal joint 214, the translational driving device can drive the driving shaft 215 to rotate, and the driving shaft 215 is connected with the driving gear 213 through the universal joint 214; wherein, the universal joint 214 can effectively prevent the condition that the transmission shaft sinks and deforms to cause the gear to incline.
As shown in fig. 7 and 8, the grasping mechanism 200 according to the second aspect of the present embodiment includes: a first gripping bracket 210; the lifting driving mechanism is arranged on the first grabbing bracket 210; the lifting wheel is rotatably connected to the first grabbing bracket 210; the second grabbing bracket 230 is connected with the lifting wheel through a connecting belt, and the lifting wheel can drive the connecting belt to move so as to lift the second grabbing bracket 230; and a grasping unit disposed on the second grasping bracket 230.
With the grabbing mechanism 200 of the second aspect of the present embodiment, in the grabbing process, the lifting driving mechanism drives the lifting wheel to rotate, so that the connecting belt moves, the second grabbing bracket 230 drives the plurality of grabbing units to lift under the driving of the connecting belt, and compared with the mode that the lifting wheel drives the second grabbing bracket 230 to lift through the connecting belt, the lifting speed can be effectively increased.
The lifting wheel can drive the connecting belt to move in various ways, so that the second grabbing bracket 230 is lifted, for example, a winch is used as the lifting wheel, and the connecting belt is wound by the winch to drive the second grabbing bracket 230 to lift; it is also possible to act as a lifting wheel by means of a pulley or a sprocket and fix the second gripping bracket 230 to the belt or chain 224.
Specifically, as shown in fig. 8, the lifting wheel is a driving sprocket, the connecting belt is a chain 224, and the chain 224 is meshed with the driving sprocket; wherein the chain 224 is connected with the second grabbing bracket 230 through the lifting block 225, and when the driving sprocket rotates, the chain 224 can drive the second grabbing bracket 230 to lift.
In order to reduce the load of the single chain 224, there are a plurality of driving sprockets and the chains 224, a plurality of the driving sprockets and a plurality of the chains 224 are engaged in a one-to-one correspondence, and the chains 224 are connected to the second grasping brackets 230.
Further, the plurality of driving sprockets and the plurality of chains 224 are respectively disposed at left and right sides of the elevation driving mechanism; specifically, as shown in fig. 7, chains 224 may be disposed on both the front side and the rear side of the second grabbing bracket 230, so that the chains 224 uniformly pull the second grabbing bracket 230 to ascend and descend at four corners, thereby increasing the stability of the second grabbing bracket 230.
As shown in fig. 7, the elevation drive mechanism includes: the lifting cylinder 221 is arranged on the first grabbing bracket 210; the gear box 226 and the lifting transmission shaft 222, the lifting transmission shaft 222 is in driving connection with the lifting cylinder 221 through the gear box 226; the plurality of driving sprockets are connected to left and right sides of the elevating transmission shaft 222.
As shown in fig. 7, in order to ensure the driving stability of the chain 224, the gripping mechanism 200 further includes a driven sprocket rotatably connected to the first gripping bracket 210, and the driven sprocket is engaged with the chain 224.
Wherein, in order to guarantee the second to snatch the stability and the accuracy of support 230 lift, avoid the second to snatch support 230 and take place to rock in the middle of the lift process, snatch mechanism 200 still including set up the first lifting rail who snatchs on the support 210, lifting rail extends along vertical direction, the second snatch support 230 with lifting rail cooperation.
On the other hand, in order to facilitate the arrangement of the pipeline on the second grabbing bracket 230, the second grabbing bracket 230 is further connected with a lifting drag chain 250, and the movable end of the lifting drag chain 250 is lifted together with the second grabbing bracket 230.
The second aspect of the present embodiment further provides a gripping device, which includes a frame 100 and the above-mentioned gripping mechanism 200, wherein the gripping mechanism 200 is disposed on the frame 100 and can move back and forth relative to the frame 100.
Further, the grabbing device further comprises a driving rack 130 disposed on the rack 100, the driving rack 130 extends in the front-back direction, the grabbing mechanism 200 comprises a translational driving device and a driving gear 213, the translational driving device can drive the driving gear 213 to rotate, and the driving gear 213 is meshed with the driving rack 130.
As shown in fig. 9 and 10, in a third aspect of the present embodiment, a grasping assembly is provided, which includes: a second gripping bracket 230; a first suction pad 232 provided on the second gripper bracket 230; a plurality of second suction cups 233 provided on the second grip brackets 230; the second suction cups 233 have a smaller diameter than the first suction cup 232, and the first suction cup 232 is disposed between two of the second suction cups 233.
With the adoption of the grabbing assembly of the embodiment, when the board with a smaller width is grabbed, the second sucking disc 233 with a smaller diameter can tightly suck the board, and when the tray with a larger width is grabbed, the sucking disc with a larger diameter can provide larger suction force, so that the grabbing assembly can be well adapted to the board with a smaller width or a larger width.
As shown in fig. 9 and 10, the first suction pad 232 is provided in plurality, and the first suction pad 232 and the second suction pad 233 are arranged to intersect each other in the left-right direction.
Specifically, a plurality of suction cups are arranged on the gripping bracket, each suction cup bracket 231 is provided with a plurality of first suction cups 232 and second suction cups 233, and the first suction cup 232 is arranged between at least two adjacent second suction cups 233; at this time, the first suction cup 232 and the second suction cup 233, which are provided on the suction cup holder 231, together form a grasping unit; and a plurality of such grasping units are distributed on the second grasping support 230.
As shown in fig. 7, in order to facilitate the supply of vacuum to the plurality of suction cup units and the reduction of piping, the grasping assembly further includes a vacuum generator 240 provided on the second grasping support 230, and the first suction cup 232 and the second suction cup 233 are both connected to the vacuum generator 240; wherein the vacuum generator 240 is capable of providing a vacuum level to the first suction cup 232 and the second suction cup 233.
Wherein a plurality of vacuum generators 240 may be provided in order to reduce the load of the single first suction pad 232.
The third aspect of the present embodiment further provides a grasping mechanism 200, including: the second grabbing bracket 230 is connected with the first grabbing bracket 210, and the second grabbing bracket 230 can be lifted relative to the first grabbing bracket 210.
Wherein, in order to rapidly drive the second grabbing bracket 230 to ascend and descend, the grabbing mechanism 200 further comprises: the lifting driving mechanism is arranged on the first grabbing bracket 210; the lifting wheel is rotatably connected to the first grabbing bracket 210; and the second grabbing bracket 230 is connected with the lifting wheel through the connecting belt, and the lifting wheel can drive the connecting belt to move so that the second grabbing bracket 230 can be lifted.
Further, the lifting wheel is a driving sprocket, the connecting belt is a chain 224, and the chain 224 is engaged with the driving sprocket.
Specifically, there are a plurality of driving sprockets and a plurality of chains 224, the plurality of driving sprockets and the plurality of chains 224 are engaged in a one-to-one correspondence, and the chains 224 are connected to the second grasping brackets 230.
As shown in fig. 7, the plurality of driving sprockets and the plurality of chains 224 are respectively disposed on both left and right sides of the elevating driving mechanism.
As shown in fig. 7 to 10, in a fourth aspect of the present embodiment, there is provided a grasping assembly, including: a second gripping bracket 230; a plurality of first suction pads 232 provided on the second gripper brackets 230; a second suction cup 233 provided on the second grip bracket 230; the plurality of first suction pads 232 are linearly arranged in the left-right direction, and the second suction pads 233 are positioned at the front or rear side of the plurality of first suction pads 232.
The subassembly of snatching of using this embodiment fourth aspect, in the middle of snatching panel process, can control first sucking disc 232 and second sucking disc 233 and hold panel simultaneously, and wherein first sucking disc 232 provides the power of grabbing for panel, and second sucking disc 233 provides the steady force for panel in first sucking disc 232 west side, and under the effect in the time of first sucking disc 232 and second sucking disc 233, the stability of panel in the middle of the snatching process promotes greatly.
In order to provide a stabilizing force to the plate material in the front and rear directions and prevent the plate material from tilting forward or backward, a plurality of second suction cups 233 are provided, and the plurality of second suction cups 233 are positioned at the front and rear sides of the plurality of first suction cups 232.
As shown in fig. 7, the gripping assembly further includes a vacuum generator 240 disposed on the second gripping bracket 230, and the first suction cup 232 and the second suction cup 233 are connected to the vacuum generator 240; specifically, the vacuum generator 240 may be provided in plurality.
The fourth aspect of the present embodiment also provides a grasping mechanism 200 and a grasping apparatus, and the structures thereof can refer to other aspects of the present embodiment.
In a fifth aspect of the present embodiment, a grasping mechanism 200 is provided, which includes: a first gripping bracket 210; a plurality of second grip brackets 230 connected to the first grip brackets 210 in a left-right direction, the second grip brackets 230 having a plurality of grip units; and a lifting device disposed on the first grabbing bracket 210, wherein the lifting device can drive the plurality of second grabbing brackets 230 to independently lift.
By applying the grabbing mechanism 200 of the fourth aspect of the present embodiment, in the grabbing process, one or more second grabbing brackets 230 can be flexibly controlled to descend according to different lengths of the plates, so that the suckers on the second grabbing brackets 230 can better cover the upper surfaces of the plates and grab the plates, and the adaptability of the grabbing mechanism 200 to the plates with different lengths is effectively enhanced.
The lifting device may drive one or more second grabbing brackets 230 to descend in various ways, for example, through a screw nut structure existing in the prior art, and a nut is provided on each second grabbing bracket 230, so that each second grabbing bracket 230 can be lifted independently; a motor or an air cylinder can also be adopted to drive the gear rack structure to drive the second grabbing bracket 230 to ascend and descend.
It should be noted that in the fourth aspect of the present embodiment, the independent ascending and descending of the plurality of second gripping brackets 230 means that each of the second gripping brackets 230 can be independently descended, and the independent descending of the plurality of second gripping brackets 230 is not affected by each other.
In fig. 7, a single second gripper bracket 230 is provided on the first gripper bracket 210, and a plurality of second gripper brackets 230 may be provided on the basis of the length of the first gripper bracket 210 in the left-right direction.
Referring to other aspects of the present embodiment, the lifting device includes: a plurality of lifting driving mechanisms provided on the first grasping brackets 210; a plurality of lifting wheels rotatably connected to the first catching support 210; a plurality of connecting belts, each of the second grabbing brackets 230 is connected to at least one of the lifting wheels through at least one of the connecting belts, and the lifting wheels can drive the connecting belts to move so as to lift the second grabbing brackets 230; at this moment, a plurality of second lifting support, all can mutually independent fast lift.
The lifting wheel is a driving chain wheel, the connecting belt is a chain 224, and the chain 224 is meshed with the driving chain wheel; at least two chains 224 are attached to each second gripping bracket 230.
As shown in fig. 7, the elevation drive mechanism includes: the lifting cylinder 221 is arranged on the first grabbing bracket 210; the gear box 226 and the lifting transmission shaft 222, the lifting transmission shaft 222 is in driving connection with the lifting cylinder 221 through the gear box 226; the plurality of driving sprockets are connected to left and right ends of the elevating transmission shaft 222.
Wherein the gripping unit comprises a plurality of first suction cups 232 and/or a plurality of second suction cups 233 provided on the second gripping bracket 230; the gripping unit further comprises a plurality of vacuum generators 240, at least one vacuum generator 240 is arranged on each second gripping support 230, and each vacuum generator 240 is connected with a plurality of first suction cups 232 and/or a plurality of second suction cups 233.
In the fifth aspect of the present embodiment, a grabbing device is further provided, which includes a frame 100 and the grabbing mechanism 200, where the grabbing mechanism 200 is disposed on the frame 100, and the grabbing mechanism 200 can move back and forth along the frame 100.
As shown in fig. 1 to 5, the mechanical hand further includes a driving rack 130 disposed on the rack 100, the driving rack 130 extends in a front-back direction, the grasping mechanism 200 includes a translational driving device and a driving gear 213, the translational driving device can drive the driving gear 213 to rotate, and the driving gear 213 is engaged with the driving rack 130.
In a fifth aspect of this embodiment, a method for grasping is further provided, where the grasping apparatus includes: the grabbing mechanism 200 is controlled to move above the board, one or more second grabbing brackets 230 are controlled to descend so that the total length of the descending grabbing brackets is less than or equal to the length of the board, and then the grabbing unit is controlled to grab the board.
Specifically, assuming that the length of the second grabbing bracket 230 is a and the length of the plate is b, the maximum number n of the descending second grabbing brackets 230 satisfies (n-1) a ≦ b ≦ na; at this time, no more than n second grabbing brackets 230 can be lowered for grabbing the plate, which not only ensures that the plate grabbing force is large enough, but also effectively prevents the first sucking disc 232 or the second sucking disc 233 from being sucked by air, so that the idle rotation of the vacuum generator 240 is aggravated, and the service life of the vacuum generator 240 is affected.
As shown in fig. 1 to 6, in a sixth aspect of the present embodiment, there is provided a grasping apparatus convenient for installation, including: a frame 100; the grabbing mechanism 200 is arranged on the rack 100, the grabbing mechanism 200 comprises at least one grabbing unit, and the grabbing mechanism 200 comprises a translation device which is used for driving the grabbing mechanism 200 to move back and forth on the rack 100; a power supply device provided on the frame 100, the power supply device extending in a front-rear direction; the grabbing mechanism 200 comprises a power taking device, the power taking device is in sliding fit with the power supply device, and the power taking device is electrically connected with the translation device.
Use the grabbing device convenient to installation of this embodiment sixth aspect, in the middle of the use, snatch mechanism 200 and remove along the fore-and-aft direction in frame 100, drive and get the electric installation and slide for power supply unit, guaranteed to snatch the power supply stability in the middle of the mechanism 200 back-and-forth movement process, when the back-and-forth movement distance that snatchs mechanism 200 needs to increase, only need change frame 100 length and power supply unit length can, effectively avoided the equipment that the tow chain overlength caused to be difficult to arrange and tow chain trouble scheduling problem.
The power supply device and the power taking device can be used for taking power in a sliding fit mode in multiple modes, a cable is used as a fixing device for Li Rong, a pantograph is used as a power taking device, and the power is supplied to the translation device through pantograph-catenary contact; as shown in fig. 4, the power supply device may include a power supply rail extending in the front-rear direction, and the power taking device may include a collector shoe, and the collector shoe is in sliding fit with the power supply rail.
In order to reduce the bearing current of the collector shoe, the power supply device comprises a plurality of power supply tracks, and the power taking device comprises a plurality of collector shoes.
In this embodiment, the lifting driving mechanism may include a lifting cylinder 221, and the lifting wheel is driven to rotate by the power of the lifting cylinder 221.
As shown in fig. 5, in order to facilitate the air supply to the elevating cylinder 221, a spiral air pipe 111 may be provided on the frame 100, and the spiral air pipe 111 is connected to the elevating cylinder 221.
In order to enable the spiral air tube 111 to move together with the grasping mechanism 200 when the grasping mechanism 200 moves back and forth, the grasping apparatus further includes: a first guide rail 110 provided on the frame 100 and extending in a front-rear direction; and a plurality of sliding blocks slidably connected to the first guide rail 110, wherein the spiral air pipe 111 is connected to the plurality of sliding blocks.
Other structures of the grasping apparatus according to the sixth aspect of the present embodiment can refer to the structures of the grasping element, the grasping mechanism 200, and the grasping apparatus in the other aspects of the present embodiment.
It is noted that, the related structures and methods of the various aspects of the present embodiment can be integrated into one gripping device, so as to achieve the beneficial effects of the structures of the various aspects of the present embodiment; the grasping unit is an important component of the grasping assembly, the grasping assembly is an important component of the grasping mechanism 200, and the grasping mechanism 200 is an important component of the grasping device.
The embodiments of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited to the above embodiments, and various changes can be made within the knowledge of those skilled in the art without departing from the gist of the present invention.

Claims (10)

1. A grasping mechanism, comprising:
a first gripping bracket (210);
a plurality of second grabbing brackets (230) connected to the first grabbing brackets (210) in the left-right direction, the second grabbing brackets (230) being provided with a plurality of grabbing units;
and the lifting device is arranged on the first grabbing bracket (210), and can drive the second grabbing brackets (230) to independently lift.
2. The grasping mechanism according to claim 1, wherein the lifting device includes:
a plurality of lifting drive mechanisms arranged on the first grabbing bracket (210);
the lifting wheels are rotatably connected to the first grabbing bracket (210);
each second grabbing bracket (230) is connected with at least one lifting wheel through at least one connecting belt, and the lifting wheels can drive the connecting belts to move so that the second grabbing brackets (230) can be lifted.
3. The grasping mechanism according to claim 2, wherein the lifting wheel is a drive sprocket and the connecting belt is a chain (224), the chain (224) meshing with the drive sprocket.
4. The gripping mechanism according to claim 3, wherein at least two chains (224) are connected to each second gripping carriage (230).
5. The grasping mechanism according to claim 3, wherein the lift drive mechanism includes:
the lifting cylinder (221) is arranged on the first grabbing bracket (210);
the lifting transmission shaft (222) is in driving connection with the lifting cylinder (221) through the gear box (226);
the plurality of driving chain wheels are connected to the left end and the right end of the lifting transmission shaft (222).
6. The gripping mechanism according to claim 1, characterized in that the gripping unit comprises a plurality of first suction cups (232) and/or a plurality of second suction cups (233) arranged on the second gripping carriage (230).
7. The gripping mechanism according to claim 6, further comprising a plurality of vacuum generators (240), at least one vacuum generator (240) being arranged on each second gripping carriage (230), each vacuum generator (240) being connected to a plurality of first suction cups (232) and/or a plurality of second suction cups (233).
8. A grasping device, comprising:
a frame (100);
the gripping mechanism (200) of any of claims 1 to 7, arranged on the frame (100), the gripping mechanism (200) being movable back and forth along the frame (100).
9. The grasping apparatus according to claim 8, further comprising a drive rack (130) provided on the rack (100), the drive rack (130) extending in a front-to-rear direction, the grasping mechanism (200) including a translational drive device and a drive gear (213), the translational drive device being capable of driving the drive gear (213) to rotate, the drive gear (213) being engaged with the drive rack (130).
10. A grasping method using the grasping apparatus according to claim 8 or 9, the grasping method comprising the steps of:
controlling the grabbing mechanism (200) to move above the plate, controlling the one or more second grabbing brackets (230) to descend so that the total length of the descending grabbing brackets is less than or equal to the length of the plate, and then controlling the grabbing unit to grab the plate.
CN202110180773.2A 2021-02-08 2021-02-08 Grabbing mechanism, grabbing device and grabbing method Pending CN112978370A (en)

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