CN114918643A - Cover plate grabbing tool - Google Patents
Cover plate grabbing tool Download PDFInfo
- Publication number
- CN114918643A CN114918643A CN202210723935.7A CN202210723935A CN114918643A CN 114918643 A CN114918643 A CN 114918643A CN 202210723935 A CN202210723935 A CN 202210723935A CN 114918643 A CN114918643 A CN 114918643A
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- CN
- China
- Prior art keywords
- cover plate
- vacuum
- manipulator
- gripper body
- connecting port
- 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.)
- Withdrawn
Links
- 238000003466 welding Methods 0.000 claims description 3
- 241000252254 Catostomidae Species 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
Images
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/001—Article feeders for assembling machines
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/50—Manufacturing or production processes characterised by the final manufactured product
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
According to the invention, the manipulator connecting port is used for being connected with a manipulator; the manipulator connecting port and the vacuum chuck are arranged on the gripper body; vacuum chuck provides a apron and snatchs frock, and including robot hand connection port, tongs body, vacuum chuck and vacuum system quantity be greater than 1, vacuum chuck and apron contact, vacuum system is to vacuum chuck evacuation. According to the cover plate grabbing tool, the cover plate of the air spring is grabbed by the vacuum sucker, so that the quality of the air spring is guaranteed. The position of the vacuum chuck is flexibly configured, or the vacuum chucks are circumferentially distributed, so that the tool can be suitable for cover plates of different sizes. The cover plate in the invention weighs 40kg, so the strength of the grabbing tool is designed, and firstly, the grabbing hand body and the manipulator connecting port are fixed in a screw connection mode; the number of suction cups and the contact area of each suction cup with the cover plate are then designed. The stability of the cover plate grabbing tool is ensured.
Description
Technical Field
The invention relates to the technical field of rail transit, in particular to a cover plate grabbing tool.
Background
An air spring (air spring for short) is a higher-grade spring, utilizes the characteristic of air compressibility to store air in a closed container to realize the functions of buffering, height adjustment and the like, and mainly comprises an air bag, a retaining ring, an upper cover plate and an auxiliary spring. The weight of the hollow spring is up to 120kg at most, and the mass of the cover plate is up to 40 kg.
In order to improve the working efficiency and reduce the labor intensity of workers, the air spring is disassembled and hoisted by using automatic equipment, wherein the air spring cover plate is hoisted.
Disclosure of Invention
The cover plate grabbing tool is suitable for grabbing an air spring cover plate, is connected with a manipulator for use, is simple and compact in structure, cannot damage the cover plate, and meets the requirements of practical application.
The cover plate grabbing tool comprises a robot connecting port, a gripper body, a vacuum sucker and a vacuum system, wherein the robot connecting port is used for being connected with a robot; the manipulator connecting port and the vacuum chuck are arranged on the gripper body; the number of the vacuum chucks is more than 1, the vacuum chucks are in contact with the cover plate, and the vacuum system vacuumizes the vacuum chucks. When the negative pressure reaches the negative pressure, the cover plate can be sucked, and the manipulator moves upwards to transfer the cover plate.
Furthermore, the robot quick-change disc is configured at the connecting port of the manipulator, so that the cover plate grabbing tool is quickly connected with the manipulator. The quick-change disc for the robot comprises a male disc and a mother disc, wherein the mother disc is fixed with a manipulator connecting port, and the male disc is fixed on the manipulator.
Furthermore, the vacuum chuck is arranged on the bottom surface of the gripper body, and the positions of the vacuum chuck and the bottom surface of the gripper body are adjustable, so that the vacuum chuck is adjustable in position, convenient to adapt to various products, and fixed after debugging. For example, the vacuum chuck is connected to the bottom surface of the gripper body by fasteners.
Furthermore, the vacuum chucks are arranged in rows, at least two rows are included, and the positions of the vacuum chucks in the arrangement direction are adjustable. For example, the bottom surface of the vacuum chuck is provided with a T-shaped hole, the part of the vacuum chuck, which is used for being connected with the gripper body, is a T-shaped bolt matched with the T-shaped hole, the vacuum chuck is enabled to move by loosening a fastening nut, the position of the vacuum chuck on the gripper body is adjustable, and after debugging is finished, the nut is tightened to enable the vacuum chuck to be positioned.
Furthermore, the gripper body comprises a top plate and a bottom plate, the bottom plate is formed by welding rectangular pipes, and the gripper body is guaranteed to have enough strength and rigidity.
Further, the cover plate tool disclosed by the invention has the weight of more than 50kg, and the gripper body and the manipulator connecting port are fixedly connected through the screw, so that the joint of the gripper body and the manipulator connecting port has enough strength to bear the weight of the gripper body, the vacuum chuck and the cover plate.
Further, the vacuum system vacuumizes the vacuum chuck, and when the negative pressure reaches over 0.02Mpa, the manipulator moves upwards to lift the cover plate.
Furthermore, the vacuum suction cups can be uniformly distributed on the bottom surface of the gripper body along the circumferential direction. The vacuum suckers are circumferentially distributed, and the central part of the workpiece is sucked when the workpiece is grabbed, so that the cover plate grabbing tool is suitable for cover plates of different models.
Furthermore, the number of the vacuum suction cups is 6, and the contact area between each vacuum suction cup and the cover plate is more than 0.005 square meter so as to ensure enough suction.
The invention has the following beneficial effects:
the cover plate grabbing tool is used in cooperation with a manipulator, pneumatic power is used as a power source, the cover plate of the air spring is grabbed in a material sucking mode through the vacuum chuck, and the vacuum chuck has the greatest characteristics of no pollution, no damage to workpieces and guarantee of the quality of the air spring. For saving cost, convenient to use sets up the configuration of vacuum chuck position flexibility, perhaps sets up vacuum chuck and is the circumference distribution, makes the frock can be applicable to not unidimensional apron. The cover plate in the invention weighs 40kg, so the strength of the grabbing tool is designed, and firstly, the grabbing hand body and the manipulator connecting port are fixed in a screw connection mode; the number of suction cups and the contact area of each suction cup with the cover plate are then designed. Due to the arrangement and the combined action, the stability of the cover plate grabbing tool is ensured.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate embodiment(s) of the invention and together with the description serve to explain the invention and not to limit the invention. In the drawings:
fig. 1 is a structure diagram of a cover plate grabbing tool in embodiment 1.
Fig. 2 is a cover plate grabbing tool structure diagram in embodiment 2.
The manipulator comprises a manipulator connecting port-1, a gripper body-2, a vacuum chuck-3 and a mother disc-4.
Detailed Description
The embodiments of the invention will be described in detail below with reference to the drawings, but the invention can be implemented in many different ways as defined and covered by the claims.
Example 1
The cover plate grabbing tool comprises a robot connecting port 1, a gripper body 2, a vacuum chuck 3 and a vacuum system, wherein the robot connecting port 1 is used for being connected with a robot; the manipulator connecting port 1 and the vacuum chuck 3 are arranged on the gripper body 2; the number of the vacuum chucks 3 is more than 1, the vacuum chucks 3 are in contact with the cover plate, and the vacuum system vacuumizes the vacuum chucks 3. When the negative pressure reaches the negative pressure, the cover plate can be sucked, and the manipulator moves upwards to transfer the cover plate.
The manipulator connecting port 1 is provided with a robot quick-change disc, so that the cover plate grabbing tool is quickly connected with the manipulator, and corresponding grippers can be quickly changed according to different grabbing workpieces by the manipulator in the workpiece grabbing process. The quick-change disc for the robot comprises a male disc and a mother disc 4, wherein the mother disc 4 is fixed with the manipulator connecting port 1, and the male disc is fixed on the manipulator.
As shown in the figure, the gripper body 2 is square, the robot connecting port 1 is installed in the center of the gripper body 2, the vacuum chucks 3 are connected with the bottom surface of the gripper body 2, the gripper comprises two rows of vacuum chucks 3 distributed in parallel, each row of the vacuum chucks 3 is provided with three vacuum chucks 3, and the positions of the vacuum chucks 3 in the arrangement direction are adjustable. Specifically, the method comprises the following steps: the T-shaped hole is formed in the gripper body 2, the part, used for being connected with the gripper body 2, of the vacuum chuck 3 is a T-shaped bolt matched with the T-shaped hole, the vacuum chuck can move by loosening the fastening nut, the position of the vacuum chuck on the gripper body 2 can be adjusted, and after debugging is finished, the nut is tightened, and the vacuum chuck is located.
As shown in fig. 1, the gripper body 2 comprises a top plate and a bottom plate, the bottom plate is formed by welding rectangular pipes, the gripper body is guaranteed to have enough strength and rigidity, and the vacuum chuck 3 is connected with the bottom plate.
The cover plate tool disclosed by the invention has the weight of more than 50kg, and the gripper body 2 and the manipulator connecting port 1 are fixedly connected through the screw, so that the joint of the gripper body 2 and the manipulator connecting port 1 has enough strength to bear the weight of the gripper body, the vacuum chuck and the cover plate.
The vacuum system vacuumizes the vacuum chuck 3, and when the negative pressure reaches 0.02Mpa, the manipulator moves upwards to lift the cover plate.
The number of the vacuum suction cups 3 is 6, and the contact area of each vacuum suction cup 3 and the cover plate reaches 0.005m 2 Above, to ensure that there is sufficient suction.
When the cover plate is placed, the vacuum chuck 3 is inflated, so that the negative air pressure in the vacuum chuck 3 is changed into zero air pressure or positive air pressure, and the vacuum chuck 3 is separated from the upper cover plate, thereby completing the task of carrying the upper cover plate.
The manipulator carries a cover plate grabbing tool to move above the cover plate and is in contact with the cover plate, a vacuum system starts to vacuumize the vacuum sucker 3, negative pressure is formed in a space surrounded by the vacuum sucker 3 and the cover plate, when the negative pressure reaches 0.02Mpa, the manipulator moves upwards, the cover plate is lifted and moves to a cover plate assembling station, wherein a vision system is arranged at the tail end of the robot, the cover plate is grabbed, the cover plate is shot and detected before the cover plate is grabbed, and the cover plate is accurately positioned when placed; when the cover plate is placed, the vacuum system inflates air in the space enclosed by the vacuum chuck 3 and the cover plate, so that positive air pressure is formed in the vacuum chuck 3, and the vacuum chuck is separated from the upper cover plate. This embodiment adopts vacuum chuck to snatch the material, environmental protection, not damaging the work piece apron, and the connected mode between tongs body, vacuum chuck and the part has guaranteed the stability that this apron snatchs the frock.
Example 2
The difference between this embodiment and embodiment 1 is that the gripper body 2 is a block of Q235B material, the thickness of the gripper body 2 is larger than 15mm, and the vacuum cups 3 are uniformly arranged on the bottom surface of the gripper body 2 along the circumferential direction. The vacuum suckers 3 are circumferentially distributed, and the central parts of the workpieces are sucked when the workpieces are grabbed, so that the cover plate grabbing tool is suitable for cover plates of different models.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (9)
1. The cover plate grabbing tool is characterized by comprising a manipulator connecting port, a gripper body, a vacuum sucker and a vacuum system, wherein the manipulator connecting port is used for being connected with a manipulator; the manipulator connecting port and the vacuum chuck are arranged on the gripper body; the number of the vacuum chucks is more than 1, the vacuum chucks are in contact with the cover plate, and the vacuum system vacuumizes the vacuum chucks.
2. The cover plate grabbing tool according to claim 1, wherein the vacuum suction disc is mounted on the bottom surface of the gripper body, and the positions of the vacuum suction disc and the bottom surface of the gripper body are adjustable, namely the position of the vacuum suction disc is adjustable.
3. The cover plate grabbing tool according to claim 2, wherein the vacuum suction cups are distributed in rows, at least two rows are included, and the positions of the vacuum suction cups in the arrangement direction are adjustable.
4. The cover plate grabbing tool according to claim 3, wherein the grabbing body comprises a top plate and a bottom plate, and the bottom plate is formed by welding rectangular pipes, so that the grabbing body is guaranteed to have sufficient strength and rigidity.
5. The cover plate grabbing tool according to claim 1, wherein the robot quick-change disk is arranged at the connecting port of the manipulator, so that the cover plate grabbing tool is quickly connected with the manipulator.
6. The cover plate grabbing tool according to claim 1, wherein the gripper body is fixedly connected with the manipulator connecting port through a screw, so that the joint of the gripper body and the manipulator connecting port has enough strength to bear the weight of the gripper body, the vacuum chuck and the cover plate.
7. The cover plate grabbing tool according to claim 1, wherein a vacuum system vacuumizes the vacuum suction disc, and when the negative pressure reaches over 0.02Mpa, the manipulator moves upwards to lift the cover plate.
8. The cover plate grabbing tool according to claim 1, wherein the vacuum suction cups are uniformly distributed on the bottom surface of the gripper body in the circumferential direction.
9. The cover plate grabbing tool according to claim 1, wherein the number of the vacuum suction cups is 6, and the contact area of each vacuum suction cup and the cover plate reaches 0.005m 2 In order to ensure that there is sufficient suction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210723935.7A CN114918643A (en) | 2022-06-24 | 2022-06-24 | Cover plate grabbing tool |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210723935.7A CN114918643A (en) | 2022-06-24 | 2022-06-24 | Cover plate grabbing tool |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114918643A true CN114918643A (en) | 2022-08-19 |
Family
ID=82814342
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210723935.7A Withdrawn CN114918643A (en) | 2022-06-24 | 2022-06-24 | Cover plate grabbing tool |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114918643A (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202369123U (en) * | 2011-12-07 | 2012-08-08 | 中国建材国际工程集团有限公司 | Multi-functional vacuum gripper device |
| CN107745972A (en) * | 2017-11-24 | 2018-03-02 | 天津商业大学 | A kind of vacuum adsorption type end effector for being used for single double case crawls |
| CN110002225A (en) * | 2019-04-08 | 2019-07-12 | 重庆文理学院 | Transport robot end effector |
| CN209777653U (en) * | 2019-01-18 | 2019-12-13 | 宁德思客琦智能装备有限公司 | Vacuum end effector suitable for box-shaped piece is grabbed and is held |
| CN110653845A (en) * | 2019-10-30 | 2020-01-07 | 安徽工程大学 | Variable-pitch end effector and method for carrying elastic thin-walled workpiece |
| CN214686614U (en) * | 2020-12-30 | 2021-11-12 | 宁波中科莱恩机器人有限公司 | Tongs structure and grabbing device |
-
2022
- 2022-06-24 CN CN202210723935.7A patent/CN114918643A/en not_active Withdrawn
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202369123U (en) * | 2011-12-07 | 2012-08-08 | 中国建材国际工程集团有限公司 | Multi-functional vacuum gripper device |
| CN107745972A (en) * | 2017-11-24 | 2018-03-02 | 天津商业大学 | A kind of vacuum adsorption type end effector for being used for single double case crawls |
| CN209777653U (en) * | 2019-01-18 | 2019-12-13 | 宁德思客琦智能装备有限公司 | Vacuum end effector suitable for box-shaped piece is grabbed and is held |
| CN110002225A (en) * | 2019-04-08 | 2019-07-12 | 重庆文理学院 | Transport robot end effector |
| CN110653845A (en) * | 2019-10-30 | 2020-01-07 | 安徽工程大学 | Variable-pitch end effector and method for carrying elastic thin-walled workpiece |
| CN214686614U (en) * | 2020-12-30 | 2021-11-12 | 宁波中科莱恩机器人有限公司 | Tongs structure and grabbing device |
Non-Patent Citations (1)
| Title |
|---|
| 柯武龙: "工业机器人集成应用 机构设计篇 速成宝典", vol. 1, 机械工业出版社, pages: 142 - 147 * |
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| Date | Code | Title | Description |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20220819 |
|
| WW01 | Invention patent application withdrawn after publication |