CN117023126A - Floating gripper mechanism for conveyor chains - Google Patents
Floating gripper mechanism for conveyor chains Download PDFInfo
- Publication number
- CN117023126A CN117023126A CN202311162202.1A CN202311162202A CN117023126A CN 117023126 A CN117023126 A CN 117023126A CN 202311162202 A CN202311162202 A CN 202311162202A CN 117023126 A CN117023126 A CN 117023126A
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- CN
- China
- Prior art keywords
- clamping
- floating
- plate
- positioning
- assembly
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- 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.)
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/901—Devices for picking-up and depositing articles or materials provided with drive systems with rectilinear movements only
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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
- B65G17/00—Conveyors having an endless traction element, e.g. a chain, transmitting movement to a continuous or substantially-continuous load-carrying surface or to a series of individual load-carriers; Endless-chain conveyors in which the chains form the load-carrying surface
- B65G17/12—Conveyors having an endless traction element, e.g. a chain, transmitting movement to a continuous or substantially-continuous load-carrying surface or to a series of individual load-carriers; Endless-chain conveyors in which the chains form the load-carrying surface comprising a series of individual load-carriers fixed, or normally fixed, relative to traction element
- B65G17/123—Conveyors having an endless traction element, e.g. a chain, transmitting movement to a continuous or substantially-continuous load-carrying surface or to a series of individual load-carriers; Endless-chain conveyors in which the chains form the load-carrying surface comprising a series of individual load-carriers fixed, or normally fixed, relative to traction element arranged to keep the load-carriers horizontally during at least a part of the conveyor run
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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
- B65G47/22—Devices influencing the relative position or the attitude of articles during transit by conveyors
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
本发明公开了一种用于输送链的浮动抓取机构，包括固连在机器人机械臂上的基座、支撑板、导杆导套组件、浮动板、滑块滑轨组件、旋转夹持组件和位置矫正组件，支撑板上设置有滑块滑轨组件，滑块上固连浮动板，浮动板上设置有旋转夹持组件，旋转夹持组件包括旋转气缸、主动齿轮和两条中心对称布置的齿条，以及夹持板、夹持臂，位置矫正组件包括顶推气缸、定位锥和定位块，该机构借助浮动板带动整个夹持板活动地平移，以便于输送链上的物料不发生偏移地被夹持臂夹持住，并在抬升后，利用顶推气缸将定位锥和定位块卡接配合，校准浮动板回到基准位置，也就校准了被夹持的物料能够精准放置到生产线的载具内，实用方便。
The invention discloses a floating grabbing mechanism for a conveyor chain, which includes a base fixed on a robot manipulator, a support plate, a guide rod and a guide sleeve assembly, a floating plate, a slider rail assembly, and a rotating clamping assembly. And the position correction component, the support plate is provided with a slide block slide rail component, the slide block is fixedly connected with a floating plate, and a rotating clamping component is arranged on the floating board. The rotating clamping component includes a rotating cylinder, a driving gear and two centrally symmetrical arrangements. The rack, as well as the clamping plate and clamping arm, the position correction component includes a push cylinder, a positioning cone and a positioning block. This mechanism uses the floating plate to drive the entire clamping plate to move in translation, so that the materials on the conveyor chain do not move. It is offsetly clamped by the clamping arm, and after lifting, the positioning cone and the positioning block are snap-fitted using the push cylinder, and the floating plate is calibrated back to the reference position, thus calibrating the clamped material to be accurately placed. It is practical and convenient to carry it on the production line.
Description
Technical Field
The invention relates to the technical field of automatic equipment, in particular to a floating grabbing mechanism for a conveying chain.
Background
The conveying line is a common automatic conveying means for a production line, and a clamping cylinder is often adopted for a robot for picking up and grabbing materials to drive a clamping jaw to carry out grabbing action, and then the robot is placed on the production line. Referring to fig. 1, the existing cylinder part needs to be grabbed and transferred to a production line, because the cylinder part needs to be grabbed by a robot and accurately placed in a carrier of the production line, the required positioning precision of the carrier is within 1mm, but when the robot gripper grabs the cylinder part, the cylinder part is positioned inaccurately due to the deviation of the stepping and stopping moment of a conveying line, and the position error of 2-5 mm exists, so that a grabbing device capable of compensating the position deviation of the material generated at the stopping moment is needed to be designed, the robot is assisted to accurately grab the material, accurately placed in the carrier of the production line, so that the robot is prevented from attaching more position sensors, the positioning release after the material is grabbed is detected at all times accurately, more data calculation is caused, the cost of the sensors and the controller equipment is increased, the automatic control programming program can be simplified, the calculated amount of the controller is reduced, and the equipment failure rate is reduced.
Disclosure of Invention
The purpose of the invention is that: in order to improve the position accuracy of grabbing materials and placing the materials by a robot, the current situations of adding a sensor and a controller to calculate, control and compensate and correct position data and increasing numerical control calculation amount and equipment cost are abandoned, and a floating grabbing mechanism for a conveying chain is designed, so that the position deviation of the materials generated at the moment of being stopped can be compensated.
The technical scheme adopted for solving the problems is as follows:
a floating grabbing mechanism for a conveying chain comprises a base, a supporting plate, a guide rod and guide sleeve assembly, a floating plate, a sliding block and sliding rail assembly, a rotary clamping assembly and a position correcting assembly which are fixedly connected to a mechanical arm of a robot,
a plurality of guide rod and guide sleeve assemblies are connected between the base and the supporting plate, a sliding block and sliding rail assembly is arranged on the supporting plate, a floating plate is fixedly connected on the sliding block, a rotary clamping assembly is arranged on the floating plate,
the rotary clamping assembly comprises a rotary air cylinder, a driving gear, two racks which are arranged in a central symmetry way, a clamping plate and a clamping arm, wherein a rotary block of the rotary air cylinder is coaxially connected with the driving gear, two sides of the driving gear are meshed with the two parallel racks for transmission, the two racks are respectively connected with the clamping plates on two sides, opposite clamping arms are connected below the clamping plates, the clamping arms below the clamping plates on two sides correspond to each other, and a holding and clamping gesture is implemented on materials,
the position correction assembly comprises a pushing cylinder, a positioning cone and a positioning block, wherein the pushing cylinder is fixedly connected to the base, a pushing rod of the pushing cylinder is connected with the positioning cone, a positioning groove arranged on the positioning block is in seamless fit with the positioning cone, the positioning block is fixedly connected to the floating plate, and the pushing cylinder pushes the floating plate to horizontally move and calibrate the position.
Further, a sliding block and sliding rail assembly is further arranged between the clamping plates and the supporting plate, so that the clamping plates on two sides can slide linearly in opposite directions.
Further, limiting blocks are arranged on two sides of the supporting plate and used for limiting the outward expansion displacement size of the clamping plates on two sides.
The beneficial effects of the invention are as follows:
this a float and snatch mechanism for conveyer chain drives whole grip block activity ground translation with the help of the floating plate to material on the conveyer chain does not take place the skew ground by the centre gripping arm centre gripping, and after the lifting, utilize pushing cylinder with locating cone and locating piece joint cooperation, the calibration floating plate gets back to the reference position, just also calibrated in the carrier that the material of being held can accurately place the production line, practical convenient.
Drawings
FIG. 1 is a schematic operation of the floating gripper mechanism for a conveyor chain of the present embodiment;
FIG. 2 is a side plan view of the floating gripping mechanism for the conveyor chain of the present embodiment;
FIG. 3 is a side bottom view of the floating gripping mechanism for the conveyor chain of the present embodiment;
FIG. 4 is a schematic structural view of a position correction assembly according to the present embodiment;
FIG. 5 is a bottom view of the floating grab mechanism for the conveyor chain of the present embodiment;
the device comprises a 1-conveying chain, a 2-chain link, a 3-cylinder part, a 4-floating grabbing mechanism, a 5-base, a 6-guide rod guide sleeve assembly, a 7-rotary cylinder, an 8-floating plate, a 9-supporting plate, a 10-cylinder outer wall, an 11-chain link carrier, a 12-pushing cylinder, a 13-first rack, a 14-first clamping plate, a 15-clamping arm, a 16-driving gear, a 17-second clamping plate, a 18-second rack, a 19-ipsilateral clamping arm, a 20-positioning cone, a 21-positioning block, a 22-sliding block and sliding rail assembly, a 23-limiting block and a 24-position sensor.
Detailed Description
The technical solutions of the present invention will be clearly and completely described by way of example with reference to the accompanying drawings of the specification of the present invention.
Referring to fig. 1 to 4, the present embodiment provides a floating grabbing mechanism for a conveying chain, which includes a base 5, a support plate 9, a guide rod and guide sleeve assembly 6, a floating plate 8, a slider and slide rail assembly 22, a rotary clamping assembly and a position correction assembly, which are fixedly connected to a robot arm.
Referring to fig. 4, 3 guide rod guide sleeve assemblies 6 are connected between the base 5 and the support plate 9, a slide block and slide rail assembly 22 is arranged on the support plate 9, a floating plate 8 is fixedly connected to the slide block, and a rotary clamping assembly is arranged on the floating plate 8.
Referring to fig. 4 and 5, the rotary clamping assembly includes a rotary cylinder 7, a driving gear 16, two racks arranged in central symmetry, a clamping plate, and a clamping arm 15, wherein a rotary block of the rotary cylinder 7 is coaxially connected with the driving gear 16, two sides of the driving gear 16 are engaged with two parallel racks for transmission, the two racks are respectively connected with the clamping plates on two sides, opposite clamping arms are connected below the clamping plates, the clamping arms below the clamping plates on two sides correspond, and a holding and clamping gesture is implemented on the cylinder part 3.
Referring to fig. 4, the position correction assembly includes a pushing cylinder 12, a positioning cone 20 and a positioning block 21, the pushing cylinder 12 is fixedly connected to the base 5, a pushing rod of the pushing cylinder 12 is connected to the positioning cone 20, a positioning groove arranged on the positioning block 21 is aligned to the lower part of the positioning cone 20 and is in seamless fit with the positioning groove, the positioning block 21 is fixedly connected to the floating plate 8, the pushing cylinder 12 pushes the floating plate 8 to drive the floating plate 8 to horizontally move to a calibration posture, and after the cylinder part 3 is clamped, the cylinder part is guaranteed to be placed in a carrier (not shown in the figure) of a production line with accurate clamping position precision.
Referring to fig. 4, a sliding block and sliding rail assembly 22 is further disposed between the clamping plate and the supporting plate 9, so as to ensure that the clamping plates on two sides slide linearly in opposite directions.
Referring to fig. 4, two sides of the supporting plate 9 are provided with limiting blocks 23 for limiting the outward expanding displacement dimension of the clamping plates at two sides.
Referring to fig. 4, a position sensor 24 is further disposed on one side of the supporting plate 9, and is matched with the robot to position the cylindrical component 3 on the chain link carrier 11 on the conveying chain 1, so as to facilitate preliminary positioning and grabbing.
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 embodiments described above, and various changes, modifications, substitutions and alterations can be made therein by those having ordinary skill in the art without departing from the spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.
Claims (4)
1. A float and snatch mechanism for conveying chain, including linking firmly base, backup pad, guide arm guide pin bushing subassembly, floating plate, slider slide rail subassembly on robot arm, its characterized in that: a rotary clamping assembly and a position correcting assembly,
a plurality of guide rod and guide sleeve assemblies are connected between the base and the supporting plate, a sliding block and sliding rail assembly is arranged on the supporting plate, a floating plate is fixedly connected on the sliding block, a rotary clamping assembly is arranged on the floating plate,
the rotary clamping assembly comprises a rotary air cylinder, a driving gear, two racks which are arranged in a central symmetry way, a clamping plate and a clamping arm, wherein a rotary block of the rotary air cylinder is coaxially connected with the driving gear, two sides of the driving gear are meshed with the two parallel racks for transmission, the two racks are respectively connected with the clamping plates on two sides, opposite clamping arms are connected below the clamping plates, the clamping arms below the clamping plates on two sides correspond to each other, and a holding and clamping gesture is implemented on materials,
the position correction assembly comprises a pushing cylinder, a positioning cone and a positioning block, wherein the pushing cylinder is fixedly connected to the base, a pushing rod of the pushing cylinder is connected with the positioning cone, a positioning groove arranged on the positioning block is in seamless fit with the positioning cone, the positioning block is fixedly connected to the floating plate, and the pushing cylinder pushes the floating plate to horizontally move and calibrate the position.
2. The floating grab mechanism for a conveyor chain of claim 1, wherein: and a sliding block and sliding rail assembly is further arranged between the clamping plate and the supporting plate.
3. The floating grab mechanism for a conveyor chain of claim 1, wherein: limiting blocks are arranged on two sides of the supporting plate.
4. The floating grab mechanism for a conveyor chain of claim 1, wherein: and a position sensor is further arranged on one side of the supporting plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311162202.1A CN117023126A (en) | 2023-09-11 | 2023-09-11 | Floating gripper mechanism for conveyor chains |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311162202.1A CN117023126A (en) | 2023-09-11 | 2023-09-11 | Floating gripper mechanism for conveyor chains |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117023126A true CN117023126A (en) | 2023-11-10 |
Family
ID=88631869
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311162202.1A Pending CN117023126A (en) | 2023-09-11 | 2023-09-11 | Floating gripper mechanism for conveyor chains |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117023126A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117644529A (en) * | 2023-12-29 | 2024-03-05 | 冠佳技术股份有限公司 | Floating alignment material taking manipulator |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107826739A (en) * | 2017-11-22 | 2018-03-23 | 苏州华智诚精工科技有限公司 | A kind of transplanting feeding device for realizing material inner support outer clip |
| CN207841388U (en) * | 2018-01-24 | 2018-09-11 | 昆山艾易得自动化科技有限公司 | Plane automatic correcting mechanism |
| CN213890058U (en) * | 2020-12-10 | 2021-08-06 | 山东智造工业技术有限公司 | Floating type mechanical arm clamp |
| CN214242473U (en) * | 2020-12-09 | 2021-09-21 | 贵州聚能世纪科技有限责任公司 | Novel energy storage vanadium cell pile production is carried device |
| CN115488910A (en) * | 2022-09-13 | 2022-12-20 | 杭州海康机器人股份有限公司 | A clamping device, a handling device and a cargo clamping method |
| CN116493921A (en) * | 2023-03-31 | 2023-07-28 | 中联重科股份有限公司 | Centering device, tightening device, method for determining axis of rotation, and readable storage medium |
-
2023
- 2023-09-11 CN CN202311162202.1A patent/CN117023126A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107826739A (en) * | 2017-11-22 | 2018-03-23 | 苏州华智诚精工科技有限公司 | A kind of transplanting feeding device for realizing material inner support outer clip |
| CN207841388U (en) * | 2018-01-24 | 2018-09-11 | 昆山艾易得自动化科技有限公司 | Plane automatic correcting mechanism |
| CN214242473U (en) * | 2020-12-09 | 2021-09-21 | 贵州聚能世纪科技有限责任公司 | Novel energy storage vanadium cell pile production is carried device |
| CN213890058U (en) * | 2020-12-10 | 2021-08-06 | 山东智造工业技术有限公司 | Floating type mechanical arm clamp |
| CN115488910A (en) * | 2022-09-13 | 2022-12-20 | 杭州海康机器人股份有限公司 | A clamping device, a handling device and a cargo clamping method |
| CN116493921A (en) * | 2023-03-31 | 2023-07-28 | 中联重科股份有限公司 | Centering device, tightening device, method for determining axis of rotation, and readable storage medium |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117644529A (en) * | 2023-12-29 | 2024-03-05 | 冠佳技术股份有限公司 | Floating alignment material taking manipulator |
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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 | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20231110 |