CN113830543A - Special-shaped workpiece grabbing device and grabbing method - Google Patents
Special-shaped workpiece grabbing device and grabbing method Download PDFInfo
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- CN113830543A CN113830543A CN202110725326.0A CN202110725326A CN113830543A CN 113830543 A CN113830543 A CN 113830543A CN 202110725326 A CN202110725326 A CN 202110725326A CN 113830543 A CN113830543 A CN 113830543A
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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
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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
- B65G2207/00—Indexing codes relating to constructional details, configuration and additional features of a handling device, e.g. Conveyors
- B65G2207/08—Adjustable and/or adaptable to the article size
Abstract
The invention relates to a special-shaped workpiece grabbing device and a grabbing method, which are composed of a detection protection structure, an adjusting structure, a rotating structure and a grabbing structure; the upper end of the detection protective structure is provided with a sliding assembly, the sliding assembly and the adjusting structure are driven through the sliding assembly, the transmission distance changes according to the conveying distance of the detection protective structure, the size, the gravity center and the surface smoothness of a workpiece can be grabbed as required, the claw is selected and installed, meanwhile, the center of clamping is adjusted through the adjusting structure, the whole structure is simple, the angle, the direction and the center of the workpiece can be grabbed as required, the existing grabbing device is solved, the large part is used for grabbing the specific workpiece by using a specific grabbing component, and the problem that the corresponding grabbing change cannot be carried out according to the change of an actual workpiece is solved.
Description
Technical Field
The invention relates to the field of gripping devices, in particular to a gripping device and a gripping method for a special-shaped workpiece.
Background
The gripping device refers to a mechanical device with a gripping function.
The traditional gripping device is mostly used for gripping a specific workpiece by using a specific gripping part, and cannot make corresponding gripping changes according to the changes of the actual workpiece;
in addition, when the grabbing performance is guaranteed, the grabbing center of gravity of the workpiece can be changed due to the difference of the workpiece structure, and if the center of gravity is unstable, the grabbing precision and the stability of moving and transmitting can be directly influenced, so that the problem provided by the method is solved by the special-shaped workpiece grabbing device.
Disclosure of Invention
The purpose of the invention is as follows: the special-shaped workpiece grabbing device further provides a grabbing method of the special-shaped workpiece grabbing device, and the grabbing device is used for solving the problems in the prior art.
The technical scheme is as follows: in a first aspect, a special-shaped workpiece grabbing device is provided, which comprises four parts, namely a detection protection structure, an adjusting structure, a rotating structure and a grabbing structure.
The upper end of the detection protective structure is provided with a sliding assembly, the sliding assembly and the adjusting structure are driven through the sliding assembly, and the transmission distance is changed according to the change of the conveying distance of the detection protective structure.
Can promote the flexibility ability of grabbing device displacement to a certain extent through installing sliding assembly, can change the transport length that detects protective structure and protective structure's transport length according to actual transmission needs to the transport performance in guarantee later stage.
In a further embodiment of the first aspect, the adjusting structure includes a supporting main board, a vertical fixing frame screwed with the supporting main board and used for improving supporting stability, a telescopic assembly screwed with the supporting main board and used for adjusting a grabbing height, an auxiliary supporting board opposite to the telescopic assembly and used for improving stability, and an adjusting board rotatably connected with the telescopic assembly and used for adjusting gravity center offset.
Through installing the support mainboard, can guarantee structural support nature to a certain extent, the flexible height that can snatch of flexible subassembly simultaneously is adjusted, through the regulating plate, can be unstable at the work piece center, when the regulating plate leaned to one side, snatchs the atress of subassembly through the flexible regulation of adjusting flexible subassembly to promote holistic stability.
In a further embodiment of the first aspect, the rotating structure comprises a fixed disk, a rotating shaft screwed with the fixed disk for rotating to perform adjustment, and a sliding groove integrally formed with the fixed disk for performing reciprocating adjustment of the grasping structure.
Through installing disc and axis of rotation, can drive and snatch the subassembly and rotate, reach the effect that the position was snatched in the regulation to set up the sliding tray, can ensure sliding assembly's slip performance better.
In a further embodiment of the first aspect, the grabbing structure comprises three rotating adjusting frames, and the three rotating adjusting frames are respectively connected with the grabbing clamping frame or the flexible grabbing frame which is clamped with the rotating adjusting frames and used for grabbing the workpiece.
Through installing a plurality of rotation alignment brackets to rotate the equal sliding connection of alignment bracket and sliding tray, can ensure gliding structural performance better, snatch the card frame and the flexible frame of snatching can be changed according to the actual needs of snatching, in order to ensure the self-adaptive performance that heterotypic work piece clamp was got.
In a further embodiment of the first aspect, the sliding component at the upper end of the grabbing structure and the sliding groove arranged on the rotating structure are mutually matched in size to form bidirectional and three-way grabbing force, and the single grabbing force can be singly adjusted according to the structure, the gravity center and the surface finish of the workpiece.
Through snatching from three direction, the gravity of snatching is more nimble, can select the position and snatch the power of grabbing as required.
In a further embodiment of the first aspect, the auxiliary support plate and the output end of the telescopic assembly are provided with a limiting fixing hole, the output end of the telescopic assembly extends to the lower end of the limiting fixing hole, and the outer diameter of the fixed end of the telescopic assembly is larger than the inner diameter of the limiting fixing hole, so that the supporting force of the telescopic assembly is located above the auxiliary support plate.
Through being provided with spacing fixed orifices, can increase the stability of flexible subassembly work to a certain extent, avoid direct unsettled leading to rocking to the holistic transport performance of direct influence.
In a further embodiment of the first aspect, the gripping claw may be a gripping catch or a flexible gripping rack; the grabbing clamp frame is of an integrally formed structure; the flexible grabbing frame is a stage-adjustable structure, and grabbing claws can be selected and installed according to the structure, the volume, the gravity center and the surface smoothness of a special-shaped workpiece.
The preset grabbing claws can be selected to be installed according to needs, and the grabbing claws are selected to be installed according to workpieces of different shapes and different requirements.
In a further embodiment of the first aspect, the flexible gripping rack includes an anti-slip ramp, with the anti-slip ramp rotate to connect, be used for snatching limiting horizontal pole according to what work piece surface shape adjusted the increase clamp force, carry out angle spacing locating lever to anti-slip ramp and snatching limiting horizontal pole, and with the anti-slip ramp welding, be used for the installation to snatch the fixed cover of bolt of limiting means, with the fixed cover of bolt screw thread rotates to be connected, is provided with a plurality ofly, extends to the flexible gripping rack and grabs the face outside, is used for snatching spacing extension limiting bolt, and with the fixed cover of bolt rotates to be connected, is used for carrying out spacing stop-bolt to extending limiting bolt.
Through being provided with anti-skidding sloping, can increase and the work piece between snatch frictional force to avoid the work piece to snatch the back and appear sliding, and through the installation locating lever, can confirm the position of snatching spacing horizontal pole when the centre gripping work piece, thereby promote holistic structural performance, and the angularly adjustable of snatching spacing horizontal pole, can dismouting locating lever as required, adjust the angle of snatching spacing horizontal pole, thereby reach the effect of improving laminating compactness.
In a further embodiment of the first aspect, the detection protection structure further includes a detection observation window, a scanning module located on the inner wall of the detection protection structure and used for scanning the special-shaped workpiece, a positioning bolt located at the same horizontal position as the scanning module, and a positioning module located at the upper end of the inner wall of the detection protection structure and used for performing grabbing, moving and positioning.
In a second aspect, a gripping method is provided, where the gripping method is based on the gripping device for a special-shaped workpiece in the first aspect, and includes the following steps:
s1, grabbing the special-shaped workpiece needing to be grabbed and detected, wherein firstly, the grabbing claws are installed according to the structure, the volume, the gravity center and the surface smoothness of the workpiece;
s2, the rotating structure and the grabbing structure are driven to move downwards simultaneously through the extension and retraction of the telescopic assembly, the grabbing height is adjusted, meanwhile, the grabbing structure and the rotating structure can slide and be adjusted, the distance between the grabbing claws can be adjusted, and meanwhile, a single grabbing claw is rotatably connected with the rotating adjusting frame and can adjust the grabbing angle;
and S3, after the workpiece is grabbed, the workpiece slides through the matching of the sliding assembly and the supporting main board, and the grabbed workpiece can be driven to move to the detection part.
And S4, scanning the special-shaped workpiece through the scanning module and the positioning bolt, and positioning through the positioning module.
Has the advantages that: the invention relates to a special-shaped workpiece grabbing device and a grabbing method thereof, which consist of a detection protection structure, an adjusting structure, a rotating structure and a grabbing structure, the selection and installation of the grabbing claws can be carried out according to the structure, the volume, the gravity center and the surface smoothness of the grabbed workpiece, meanwhile, the clamping center is adjusted through the adjusting structure, the whole structure is simple, the grabbing angle, the direction and the center can be adjusted according to the requirements, the problems that the existing grabbing devices are mostly used for grabbing specific workpieces by using specific grabbing parts, the corresponding grabbing changes can not be made according to the changes of actual workpieces, the grabbing performance is guaranteed, due to the difference of the workpiece structures, the grabbing center of the workpiece can also be changed, and if the center of gravity is unstable, the grabbing precision and the stability of moving transmission can be directly influenced.
Drawings
Fig. 1 is a perspective view of a special-shaped workpiece gripping device according to the invention.
Fig. 2 is a perspective view of an adjustment mechanism of the present invention.
Fig. 3 is an exploded view of the regulating structure of the present invention.
Fig. 4 is a front view of the flexible gripping rack of the present invention.
Fig. 5 is a schematic view of the internal structure of the inspection and protection structure of the present invention.
FIG. 6 is a schematic structural diagram of a positioning module according to the present invention
The figures are numbered: the device comprises a detection protective structure 1, a sliding assembly 101, a detection observation window 102, a scanning module 103, a positioning module 104, a positioning bolt 105, a leveling plate 106, an adjusting structure 2, a supporting main plate 201, a vertical fixing frame 202, a telescopic assembly 203, an auxiliary supporting plate 204, a limiting fixing hole 204a, an adjusting plate 205, a rotating limiting frame 205a, a rotating limiting hole 205a1, a rotating structure 3, a fixing disc 301, a sliding groove 301a, a rotating shaft 302, a grabbing structure 4, a rotating adjusting frame 401, a grabbing clamping frame 402, a flexible grabbing frame 403, an anti-sliding oblique frame 403a, a bolt fixing sleeve 403a1, an extending limiting bolt 403a2, a limiting clamping bolt 403a3, a grabbing limiting cross rod 403b and a positioning rod 403 c.
Detailed Description
In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the present invention. It will be apparent, however, to one skilled in the art, that the present invention may be practiced without one or more of these specific details. In other instances, well-known features have not been described in order to avoid obscuring the invention.
In the known field, a workpiece made of a special material needs to be detected, and because the workpiece has unknown performance and has the possibility of radiation, protection is needed in the process of grabbing for detection, and the workpiece needs to be scanned for detection.
The applicant believes that when a workpiece is grabbed by the traditional grabbing device, the workpiece can be grabbed stably only based on the fact that the shape of the workpiece is fixed, and when the shape of the workpiece is indefinite, the center of gravity is unstable and the outer surface is not smooth, the grabbing performance can be directly influenced, so that the problems that the transmission of the grabbing device is blocked, the assembly is bent and the grabbing is not tight are caused.
Therefore, the applicant designs a special-shaped workpiece grabbing device and a grabbing method thereof, the whole grabbing device is driven to move by the sliding of the adjusting structure, workpieces are grabbed through the grabbing structure, meanwhile, the grabbing structure can be singly adjusted to form bidirectional and three-way clamping force, the grabbing tightness is guaranteed, the center of gravity can be adjusted through the telescopic assembly in the adjusting structure, and the clamping direction is adjusted through the rotating structure.
The invention relates to a special-shaped workpiece grabbing device, in practical application, as shown in fig. 1 to 5, the special-shaped workpiece grabbing device comprises a detection protective structure 1, an adjusting structure 2, a rotating structure 3 and a grabbing structure 4, wherein the detection protective structure 1 comprises a sliding assembly 101, a detection observation window 102, a scanning module 103, a positioning module 104 and a positioning bolt 105, the detection observation window 102 is positioned at a detection position at one side of the front end of the detection protective structure 1 and can be observed in the grabbing and conveying process of the grabbing device, a protective cover plate is arranged above the detection protective structure 1 and can prevent dust and radiation and prevent dust from entering the inner side to influence the detection performance when a workpiece is grabbed and conveyed to the detection end, the detection protective structure 1 and the adjusting structure 2 slide through the sliding assembly 101, and the adjusting structure 2 can stably slide on the inner side of the detection protective structure 1, driving the workpiece to move.
In practical application, as shown in fig. 2, the adjusting structure 2, the supporting main board 201, the vertical fixing frames 202, the telescopic assemblies 203 and the auxiliary supporting boards 204 are arranged, the vertical fixing frames 202 are arranged on the outer side below the supporting main board 201, the vertical fixing frames 202 are connected with the supporting main board 201 through bolts, the connection tightness and stability can be better guaranteed, the telescopic assemblies 203 are arranged on the inner side of the vertical fixing frames 202, the number of the telescopic assemblies 203 is four, the telescopic assemblies can be singly adjusted in a telescopic mode to achieve the effect of adjusting the center of gravity, the output ends of the telescopic assemblies 203 penetrate through and extend to the lower portion of the auxiliary supporting boards 204, the adjusting plates 205 are arranged below the auxiliary supporting boards 204, and the installation stability of other assemblies in the later period is improved.
Be provided with spacing fixed orifices 204a on above-mentioned auxiliary supporting plate 204, spacing fixed orifices 204a just can provide the flexible end motion space of flexible subassembly 203, and flexible subassembly 203's stiff end card can promote the support stability of structure better on auxiliary supporting plate 204 simultaneously.
In above-mentioned regulating plate 205, be provided with on the regulating plate 205 and rotate spacing 205a, it is located the outside of retractable assembly 203 to rotate spacing 205a, when providing the rotation support performance, through setting up the distance of regulating plate 205 between retractable assembly 203, it is spacing to rotate the angle, avoid turned angle too big, cause one side pressure too big, damage retractable assembly 203, it rotates spacing hole 205a1 to be provided with on the spacing 205a to rotate, can ensure the stability of rotatable component installation better, holistic structure support performance is more stable comprehensive.
In practical application, as shown in fig. 3, the rotating structure 3 comprises a fixed disc 301 and a rotating shaft 302, two ends of the rotating shaft 302 are respectively and fixedly connected with the adjusting plate 205 and the fixed disc 301 at the lower end, the rotating shaft 302 works to drive the grabbing components at the lower end to rotate simultaneously to adjust grabbing directions, the grabbing directions can be adjusted according to clamping requirements of workpieces, and the special-shaped workpiece grabbing device has higher flexibility and is more convenient and faster to adjust compared with the existing grabbing devices.
Be provided with three sliding tray 301a on above-mentioned fixed disc 301, the slip subassembly and the sliding tray 301a sliding connection of rotation alignment jig 401 upper end can carry out reciprocating motion along fixed disc 301's radial, can adjust the external diameter of centre gripping according to the size of a dimension of work piece, and the flexibility is higher, and is practical to get up simple perfect more.
In practical application, as shown in fig. 3 and 4, the grabbing structure 4 comprises a rotating adjusting frame 401, a grabbing clamp frame 402 and a flexible grabbing frame 403, wherein the grabbing clamp frame 402 and the flexible grabbing frame 403 are both grabbing pieces and can be selectively installed according to actual needs, and the grabbing clamp frame 402 and the flexible grabbing frame 403 are both rotatably connected with the rotating adjusting frame 401;
the grabbing clamp frame 402 is of an integrally formed structure, so that the grabbing structural strength can be better guaranteed compared with a combined structure, and a workpiece with high rigidity can be grabbed;
the flexible grabbing frame 403 comprises an anti-slip inclined frame 403a, a bolt fixing sleeve 403a1, an extension limiting bolt 403a2, a limiting clamping bolt 403a3, a grabbing limiting cross bar 403b and a positioning rod 403c, wherein the anti-slip inclined frame 403a is rotatably connected with the grabbing limiting cross bar 403b, the positioning rod 403c is installed on the outer sides of the anti-slip inclined frame 403a and the grabbing limiting cross bar 403b, the positioning rod 403c is connected with the anti-slip inclined frame 403a and the grabbing limiting cross bar 403b through clamping grooves, the positioning rod 403c can be installed when the angle of the grabbing limiting cross bar 403b does not need to be adjusted, so that the stability when the angle is not needed is achieved, the bolt fixing sleeve 403a1 is installed on the outer side of the anti-slip inclined frame 403a, and the extension limiting bolt 403a2 is installed inside the bolt fixing sleeve 1. The extension limiting bolts 403a2 are rotatably connected with the bolt fixing sleeves 403a1, one end of each extension limiting bolt 403a2 penetrates through and extends to the inner side of the anti-skidding inclined frame 403a, four extension limiting bolts 403a2 are arranged on a single anti-skidding inclined frame 403a, single, two or multiple limiting clamping can be carried out according to grabbing requirements, and accordingly later grabbing force is increased, the limiting clamping bolts 403a3 are installed below the bolt fixing sleeves 403a1, one ends of the limiting clamping bolts 403a3 extend into the bolt fixing sleeves 403a1, the rotation of the bolt fixing sleeves 403a1 can be in contact with the outer walls of the extension limiting bolts 403a2, friction force is increased, and looseness of the extension limiting bolts 403a2 in the clamping limiting process is avoided.
In a further embodiment, when a workpiece with a heavy weight and a center point of a clamping center of gravity cannot be determined is clamped, the clamping and grabbing work is performed by using the grabbing clamp frame 402, because the grabbing clamp frame 402 is integrally formed, deformation cannot easily occur in the clamping process, firstly, the lower clamping part moves towards the workpiece at the same time through the telescopic driving of the telescopic assembly 203, when the grabbing clamp frame 402 is positioned at the outer side of the workpiece, the grabbing clamp frame slides inwards to be attached to the outer surface of the workpiece to a certain degree, then the grabbing clamp frame 402 rotates to fix the clamping end with the outer surface of the workpiece, at the moment, the telescopic assembly 203 begins to contract, when the gravity center is unstable, because the output of flexible subassembly 203 rotates with to rotate spacing 205a and is connected, consequently the regulating plate 205 can be to heavier one side slope, can adjust the focus through the flexible of adjusting flexible subassembly 203 this moment to the stability that the guarantee was snatched.
When snatching the spherical work piece of surface irregularity, snatch the stability that the support 403 guarantee was snatched through the flexibility, pull down locating lever 403c, at first with antiskid sloping 403a and the laminating of work piece surface, snatch spacing horizontal pole 403 b's angle through the regulation for it is inseparabler to snatch the laminating performance of spacing horizontal pole 403b and work piece surface, thereby ensures the stability of later stage snatching.
When snatching the work piece of rectangular shape, can adopt the diaxon to snatch, when rectangular work piece weight is great, can snatch through snatching card frame 402, snatch the plain end card of card frame 402 lower extreme at the lower terminal surface of rectangular shape work piece, when the weight of rectangular shape work piece is not big, can snatch through flexible grabbing frame 403, install locating lever 403c before snatching, with the guarantee snatch the positioning performance of spacing horizontal pole 403b, avoid snatching the change that spacing horizontal pole 403b appears the angle, the precision of snatching is influenced.
When a square punched workpiece is clamped, the extension limiting bolt 403a2 is enabled to extend to the inner side for a preset distance according to the depth of the hole by rotating the extension limiting bolt 403a2, then the extension limiting bolt 403a2 is limited by rotating the limit clamping bolt 403a3, when the workpiece is grabbed, only one end of the extension limiting bolt 403a2 is required to be inserted into the preset hole of the workpiece, the grabbing stability can be guaranteed, the workpiece clamping device is suitable for grabbing of various workpieces, and the workpiece clamping device has higher adaptability compared with the existing grabbing device.
In a further embodiment, the local surface or section of the special-shaped workpiece needs to be observed, the grabbing device can be used for observing and detecting non-precise workpieces, but for materials such as alloys and corrosion-resistant alloy layers, leveling and alignment are needed so that the observation is more accurate. When the grabbing manipulator is adopted, the requirements on software and hardware of the system are very high during leveling, the tangent plane is difficult to adjust to a preset plane, and a certain inclination angle generally exists. For example, if a certain region or slice of the workpiece needs to be adjusted to a horizontal plane, a very high degree of precision is required, typically 2-5 ° tilted, in which case only a certain region can be observed, and in other regions, either far from or close to the in-focus point, the imaging observation is not clear enough.
Therefore, the positioning process is required for the special-shaped workpiece. In the prior art, 201120426189.2 or 202011610893.3 is generally adopted. There are problems with these approaches.
Therefore, the workpiece positioning unit is fixed inside a detection protection structure (such as a detection protection cover) in a screwing mode, a clamping mode and the like and is positioned below the scanning module, and the working area of the scanning module corresponds to the area of the workpiece to be scanned in the workpiece positioning unit.
As shown in fig. 6, the workpiece positioning unit for locking and positioning the special-shaped workpiece mainly includes a body which is substantially U-shaped and has three open ends, a positioning bolt for locking the special-shaped workpiece through the U-shaped body, and a leveling plate inserted on the U-shaped body. The leveling plate is provided with an opening part which can enable the surface to be detected of the special-shaped workpiece to leak. The U-shaped body is provided with a special-shaped workpiece accommodating cavity.
The U-shaped body is provided with a side wall which is parallel relatively and an arc connecting wall which is used for connecting the two side walls, a plurality of threaded holes are formed in a preset area of the side wall, and the positioning bolts penetrate through the threaded holes to reach the preset area, so that the special-shaped workpiece is locked and positioned.
Along the extending direction of the axis of the U-shaped body, a plurality of inserting grooves parallel to the cross section of the body are arranged on the corresponding inner walls among the threaded holes, and the leveling plate is inserted in the inserting grooves. Or the plane of the insertion groove is vertical to the axis of the U-shaped body.
When the special-shaped workpiece locking device is used, the special-shaped workpiece to be detected is placed into the special-shaped workpiece accommodating cavity of the workpiece positioning unit from the side face of the U-shaped body by the grabbing assembly, the to-be-detected face of the workpiece is abutted against the adjusting plate, and then the side face of the special-shaped workpiece is abutted against the side face of the special-shaped workpiece by adjusting the plurality of positioning bolts, so that the special-shaped workpiece is locked.
In the above embodiment, the workpiece positioning unit can lock and level the special-shaped workpiece to be detected, level and position the special-shaped workpiece through the leveling plate, and lock and position the special-shaped workpiece through the positioning bolts (such as bolts) on the side surface. In other words, the positioning is performed by a mechanical method, and is not performed by directly adjusting the pose of the grabbing mechanism or the mechanical arm. Efficiency is higher, also need not to purchase very accurate arm. In the tool such as 201120426189.2, which has only a locking function but no leveling function, after locking, it is impossible to determine whether the part to be detected reaches the desired plane. For example, when the surface to be inspected is adjusted to be horizontal, it is impossible to confirm whether the upper surface is horizontal or not without the leveling plate.
In a further embodiment, the leveling plates are at least two, and the plane to be detected of the special-shaped workpiece is positioned between the two leveling plates, so that the plane to be detected is positioned by at least the upper leveling plate, namely the leveling plates are completely contacted with the plane to be detected, and the levelness of the plane to be detected is ensured.
In the above embodiments, the leveling plate has an edge fitting into the socket groove of the workpiece positioning unit and a central portion having a circular, oval or square through hole.
In a further embodiment, the threaded holes are in multiple groups, and the diameters of the threaded holes along the axial direction of the U-shaped body are different and are distributed at intervals. Due to the fact that the sizes of the special-shaped workpieces are different, if threaded holes with the same size and the same distance are adopted, the lower end face of each special-shaped workpiece is often just located between two rows of threaded holes. In this case, if the upper threaded hole is used to place the locating peg, the locating contact surface or point is too small. If the threaded hole below is adopted to arrange the positioning bolt, the special-shaped workpiece slides downwards, so that the plane to be detected and the leveling plate above cannot be in close contact, and at least one failure condition of positioning and leveling can occur.
Therefore, a plurality of rows of threaded holes with smaller diameters or gradually reduced diameters are arranged between the threaded holes with larger diameters, and the combination of coarse adjustment and fine adjustment is realized.
In a further embodiment, by arranging the inserting grooves at different positions, some inserting grooves are positioned between the large threaded hole and the large threaded hole, and some inserting grooves are positioned between the large threaded hole and the small threaded hole.
Three-level precision adjustment is realized through the cooperation of big and small screw holes and inserting grooves, thereby carrying out accurate leveling on the plane to be detected of the special-shaped workpiece, and locking the special-shaped workpiece.
In a further embodiment, one side wall of the U-shaped body is arc-shaped, so that an accommodating space extending towards the outer side of the central shaft is formed, and when the length or the volume of the special-shaped workpiece is larger, the special-shaped workpiece can extend towards the accommodating space, so that the positioning and observation of more types of workpieces are facilitated.
In a further embodiment, the threaded holes are arranged in a ring along a predetermined center position, and the threaded holes of adjacent ring-shaped areas are arranged at intervals.
For a certain user, the size, shape and volume of the special-shaped workpiece to be detected are generally within a certain range, so that a distribution probability is formed, the distribution probability is planar distribution, and therefore, the annular threaded holes arranged at intervals are adopted, and more workpieces can be fixed through fewer threaded holes. And arranging the most threaded holes at the positions where the fixed positions of the sizes of the special-shaped workpieces are distributed most, thereby forming targeted locking.
Compared with threaded holes which are arranged vertically and horizontally, the effect is better.
In a further embodiment, the arrangement of threaded holes may be arranged in a helical manner.
On the basis of the special-shaped workpiece grabbing device and the cutting system, the invention provides a grabbing method of the special-shaped workpiece grabbing device, which comprises the following specific steps:
first, the gripping card frame 402 or the flexible gripping frame 403 is selected for installation according to the gripping requirements.
Then, through the flexible guarantee height control performance and the focus adjustment performance of flexible subassembly 203, through the rotation of axis of rotation 302, drive the whole regulation of rotating the structure of grabbing of lower extreme and snatching the position, rotate simultaneously that alignment jig 401 slides in the inboard of sliding tray 301a, can carry out the radial regulation of centre gripping, can carry out diversified regulation according to the external diameter of snatching the work piece to reach the biggest power of grabbing.
Subsequently, after the workpiece is grabbed by the grabbing clamp frame 402 or the flexible grabbing frame 403, the grabbing gravity center can be adjusted to a certain extent through the stretching of the telescopic assembly 203, and when the adjusting plate 205 inclines to one side due to unstable gravity center, the effect of stabilizing the gravity center is achieved through the adjustment of the telescopic assembly 203 to the opposite direction of the inclination.
Then, the whole adjusting structure 2 slides in the detection protection structure 1 to drive the workpiece to move to a detection part so as to achieve the effect of grabbing, moving and detecting, and after the detection is finished, the workpiece is reversely sent out.
And finally, grabbing different workpieces, detecting and repeating the actions.
As noted above, while the present invention has been shown and described with reference to certain preferred embodiments, it is not to be construed as limited thereto. Various changes in form and detail may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (10)
1. The utility model provides a heterotypic work piece grabbing device which characterized by includes:
the device comprises a detection protective structure, an adjusting structure, a rotating structure and a grabbing structure, wherein the adjusting structure is positioned on the inner side of the detection protective structure and slides along the working direction of the detection protective structure;
the upper end of the detection protective structure is provided with a sliding assembly, the sliding assembly and the adjusting structure are driven through the sliding assembly, and the transmission distance changes according to the change of the conveying distance of the detection protective structure.
2. The profiled workpiece gripping device of claim 1, wherein: adjust the structure including supporting the mainboard, with support the mainboard spiro union, be used for promoting the vertical mount of support stability, with support the mainboard spiro union, be used for snatching the flexible subassembly of altitude mixture control, with flexible subassembly is relative, be used for promoting the auxiliary stay board of stability, and with flexible subassembly rotates the regulating plate of connecting, being used for adjusting the focus skew.
3. The profiled workpiece gripping device of claim 1, wherein: the rotating structure comprises a fixed disk, a rotating shaft, a plurality of sliding grooves and a plurality of clamping structures, wherein the rotating shaft is connected with the fixed disk in a threaded mode and used for rotating and adjusting, and the sliding grooves are radially and uniformly distributed on the fixed disk and matched with the grabbing structures to provide reciprocating motion tracks for the fixed disk.
4. The profiled workpiece gripping device of claim 1, wherein: the grabbing structure comprises three rotating adjusting frames which are uniformly arranged along the circumferential direction of a grabbing axis, and at least three grabbing clamp frames which are rotatably connected with the rotating adjusting frames along the direction close to or far away from the grabbing axis and used for grabbing workpieces;
the sliding assembly at the upper end of the grabbing structure is matched with the sliding groove arranged on the rotating structure in size to form grabbing forces in at least two directions, and the single grabbing force can be singly adjusted according to the structure, the gravity center and/or the surface finish of a workpiece.
5. A profiled workpiece gripping apparatus as claimed in claim 1, wherein: the detection protection structure further comprises a scanning module and a positioning module which is opposite to the scanning end of the scanning module and used for adjusting and limiting the workpiece, wherein the positioning module comprises a positioning bolt and a leveling plate which is connected with the positioning module in a sliding mode and used for limiting the workpiece.
6. A profiled workpiece gripping apparatus as claimed in claim 2, wherein: the auxiliary supporting plate is provided with a limiting fixing hole at a position corresponding to the output end of the telescopic assembly, the output end of the telescopic assembly extends to the lower end of the limiting fixing hole, and the outer diameter of the fixed end of the telescopic assembly is larger than the inner diameter of the limiting fixing hole, so that the supporting force of the telescopic assembly is located above the auxiliary supporting plate.
7. The profiled workpiece gripping device of claim 1, wherein: the grabbing claw can be a grabbing clamp frame or a flexible grabbing frame;
the grabbing clamp frame is of an integrally formed structure;
the flexible grabbing frame is a stage-adjustable structure, and grabbing claws are selected to be installed according to the structure, the volume, the gravity center and/or the surface finish of the special-shaped workpiece.
8. The profiled workpiece gripping device of claim 7, wherein: the flexible frame that snatchs includes anti-skidding sloping, with the anti-skidding sloping rotates to be connected, is used for snatching spacing horizontal pole according to what work piece surface shape adjusted the increase clamp force, carries out the spacing locating lever of angle to anti-skidding sloping and snatching spacing horizontal pole, and with anti-skidding sloping welding, the fixed cover of bolt that is used for the installation to snatch spacing part, with the fixed cover of bolt screw thread rotates to be connected, is provided with a plurality ofly, extends to the flexible frame of snatching and snatchs the face outside, is used for snatching spacing extension spacing bolt, and with the fixed cover of bolt rotates to be connected, is used for carrying out spacing stop bolt to extending spacing bolt.
9. The profiled workpiece gripping device of claim 1, wherein: the detection protective structure further comprises a detection observation window, a scanning module, a positioning bolt and a positioning module, wherein the scanning module is located on the inner wall of the detection protective structure and used for scanning the special-shaped workpieces, the positioning bolt is located on the same horizontal position as the scanning module, and the positioning module is located at the upper end of the inner wall of the detection protective structure and used for grabbing, moving and positioning.
10. The method for gripping a profiled workpiece gripping device as claimed in any one of claims 1 to 8, characterized by comprising the steps of:
s1, grabbing the special-shaped workpiece needing to be grabbed and detected, wherein firstly, the grabbing claws are installed according to the structure, the volume, the gravity center and the surface smoothness of the workpiece;
s2, the rotating structure and the grabbing structure are driven to move downwards simultaneously through the extension and retraction of the telescopic assembly, the grabbing height is adjusted, meanwhile, the grabbing structure and the rotating structure can slide and be adjusted, the distance between the grabbing claws can be adjusted, and meanwhile, a single grabbing claw is rotatably connected with the rotating adjusting frame and can adjust the grabbing angle;
s3, after the workpiece is grabbed, the workpiece is matched with the supporting main board through the sliding assembly to slide, and the grabbed workpiece can be driven to move to a detection part;
and S4, scanning the special-shaped workpiece through the scanning module and the positioning bolt, and positioning through the positioning module.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110725326.0A CN113830543A (en) | 2021-06-29 | 2021-06-29 | Special-shaped workpiece grabbing device and grabbing method |
| PCT/CN2021/108109 WO2023272822A1 (en) | 2021-06-29 | 2021-07-23 | Special-shaped workpiece grabbing device, and grabbing method therefor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110725326.0A CN113830543A (en) | 2021-06-29 | 2021-06-29 | Special-shaped workpiece grabbing device and grabbing method |
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| Publication Number | Publication Date |
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| CN113830543A true CN113830543A (en) | 2021-12-24 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110725326.0A Withdrawn CN113830543A (en) | 2021-06-29 | 2021-06-29 | Special-shaped workpiece grabbing device and grabbing method |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN113830543A (en) |
| WO (1) | WO2023272822A1 (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115985839B (en) * | 2023-03-16 | 2023-06-20 | 上海果纳半导体技术有限公司 | Grabbing mechanism |
| CN116394288B (en) * | 2023-05-09 | 2023-12-01 | 广东海洋大学 | Multi-angle adjusting mechanical gripper |
| CN116252132B (en) * | 2023-05-12 | 2023-08-04 | 苏州海通机器人系统有限公司 | Robot end picking device for shafting positioning and grabbing |
| CN117681018B (en) * | 2024-02-01 | 2024-04-16 | 山东辰榜数控装备有限公司 | Machine tool delay type automatic clamping device |
Family Cites Families (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN206748457U (en) * | 2017-04-26 | 2017-12-15 | 谷雨洲 | A kind of novel robot captures structure |
| CN107618873B (en) * | 2017-08-17 | 2019-05-28 | 柳州福能机器人开发有限公司 | Can automatically lock mechanical arm |
| CN108792610A (en) * | 2018-06-13 | 2018-11-13 | 安吉欧也钣金科技有限公司 | A kind of grasping mechanism of special-shaped workpiece |
| CN209717715U (en) * | 2019-01-30 | 2019-12-03 | 广州番禺职业技术学院 | A kind of three coordinate clamp devices |
| US11027921B2 (en) * | 2019-04-10 | 2021-06-08 | Abb Schweiz Ag | Product manipulation tool |
| CN110293580B (en) * | 2019-07-28 | 2021-05-28 | 南京昱晟机器人科技有限公司 | Robot manipulator clamping structure and clamping method |
| CN110434827A (en) * | 2019-08-29 | 2019-11-12 | 南京捷思汽车科技有限公司 | A kind of industrial robot positioning clamping jaw device |
| CN211056169U (en) * | 2019-11-27 | 2020-07-21 | 佛山市迅景电气有限公司 | Discharging system of capacitor detection equipment |
| CN212668505U (en) * | 2020-07-30 | 2021-03-09 | 李�昊 | Mechanical automation grabbing device |
| CN113003208B (en) * | 2021-03-12 | 2022-08-12 | 湖南省农业装备研究所 | Automatic stacking and unstacking device and method |
-
2021
- 2021-06-29 CN CN202110725326.0A patent/CN113830543A/en not_active Withdrawn
- 2021-07-23 WO PCT/CN2021/108109 patent/WO2023272822A1/en unknown
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| WO2023272822A1 (en) | 2023-01-05 |
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