CN204250924U - Tilting flat plate gripping device - Google Patents
Tilting flat plate gripping device Download PDFInfo
- Publication number
- CN204250924U CN204250924U CN201420653036.5U CN201420653036U CN204250924U CN 204250924 U CN204250924 U CN 204250924U CN 201420653036 U CN201420653036 U CN 201420653036U CN 204250924 U CN204250924 U CN 204250924U
- Authority
- CN
- China
- Prior art keywords
- flat plate
- suction cup
- cup carrier
- portable bar
- sucker
- 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.)
- Expired - Fee Related
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Abstract
The utility model discloses a kind of tilting flat plate gripping device, comprise mechanical arm, suction cup carrier and Acetabula device, mechanical arm is connected with suction cup carrier, Acetabula device is arranged in the bottom of suction cup carrier with array way, Acetabula device comprises spring, portable bar and sucker, one end of portable bar is movably arranged in suction cup carrier, the other end of portable bar is connected with sucker, spring housing to be located on portable bar and between suction cup carrier and sucker, wherein, to the other end from one end of suction cup carrier, at least be equiped with an actuating device on each Acetabula device side of first row, actuating device is in transmission connection with the portable bar in corresponding Acetabula device, and move along the axial direction of portable bar after sucker can be driven to pick up one end of Flat plate material and make Flat plate material be in heeling condition, it can either solve the adhesion problems between plate, eliminate accident potential, the separation process of plate can be made again steady, eliminate the vibration problem produced when mass motion is separated plate, make work more stable.
Description
Technical field
The utility model relates to plate haulage equipment technical field, more particularly, relates to a kind of tilting flat plate gripping device.
Background technology
The flat-type material of factorial praluction, as plate glass, sizing smooth metal plate, plastic flagstone, smooth plank etc., generally adopts whole collation package when dispatching from the factory.The mode of transport that client often uses when processing above-mentioned Flat plate material is sucker carrying, with sucker Flat plate material is captured and is placed on station.
Two classes more weak with elasticity that common Flat plate material can be divided into elasticity stronger, due to plate smoother, the pressing of whole wrapper sheet material is comparatively tight, when capturing full wafer plate by sucker entirety, can form of short duration vacuum between plate, than being easier to the problem occurring crawled plate and second piece of plate adhesion, it can affect carrying operation, and Qing Ze lower floor plate is crooked, heavy then adhesion and the plate that rises can fall halfway in handling process, cause plate to break, even cause personal safety accident.At present, problems does not have good solution, and the most general mode is manual intervention, namely before sucker captures plate or when capturing, manually two boards material is separated a gap, destroys vacuum, eliminate the binding force between two blocks of materials, the superiors' plate can be picked up smoothly.But this method significantly limit the raising of production capacity, inefficiency improves productive costs.
For this reason, my department develops a kind of tilting cover plate and captures male cover plate crawl displacement assemble mechanism in displacement assemble mechanism and one, its scheme is documented in patent document " CN203853747U " and " CN203853744U " respectively, above-mentioned two kinds of crawl displacement assemble mechanisms all can be good at solving the adhesion problems between plate, eliminate accident potential, and commonality is stronger.But above-mentioned two kinds capture displacement assemble mechanisms when sucker is separated plate, are rely on the motion of suction cup carrier and mechanical arm to realize, when being separated instantaneously mechanical arm rock comparatively violent, cause the stability of producing not so good, application is subject to certain limitation.
Utility model content
The purpose of this utility model is to overcome above-mentioned defect of the prior art, a kind of tilting flat plate gripping device is provided, it can either solve the adhesion problems between Flat plate material, eliminate accident potential, the separation process of plate can be made again steady, eliminate the vibration problem produced when mass motion is separated plate, make work more stable.
For achieving the above object, the technical scheme that the utility model provides is as follows: a kind of tilting flat plate gripping device, comprise mechanical arm, suction cup carrier and several Acetabula devices, described mechanical arm is connected with described suction cup carrier, these several Acetabula devices are arranged in the bottom of described suction cup carrier with array way, each Acetabula device includes spring, can the portable bar of in axial direction movement and the sucker that is connected with vacuum system, one end of described portable bar is movably arranged in described suction cup carrier, the other end of described portable bar is connected with described sucker, described spring housing to be located on described portable bar and between described suction cup carrier and described sucker, wherein, to the other end from one end of described suction cup carrier, at least be equiped with an actuating device on each Acetabula device side of first row, described actuating device is in transmission connection with the portable bar in corresponding Acetabula device, and move along the axial direction of described portable bar after described sucker can be driven to pick up one end of Flat plate material and make Flat plate material be in heeling condition.
As preferably, in technique scheme, described actuating device comprises cylinder, oil cylinder or cam.
As preferably, in technique scheme, described sucker is connected with vacuum system with triple valve by tracheae successively, the communication port that described triple valve has vacuum port, air/high pressure gas port and is connected with described tracheae.
As preferably, in technique scheme, the communication port place of described triple valve is connected with vacuum induction device.
As preferably, in technique scheme, described mechanical arm is made up of suction cup carrier engine installation and guide rod.
Compared with prior art, the beneficial effects of the utility model are:
1, actuating device of the present utility model can drive portable bar to move, by sucker, one end of Flat plate material is lifted, Flat plate material is made to be in heeling condition, thus destroy and grabbed Flat plate material and the vacuum produced when being separated between lower floor Flat plate material, avoid the adhesion between Flat plate material, eliminate accident potential, make production be continued to carry out at a high speed, effectively reduce productive costs;
2, when actuating device of the present utility model is by portable bar driving sucker, whole mechanical arm and suction cup carrier are stablized motionless, make the separation process of Flat plate material very steady, eliminate the vibration problem produced when mass motion is separated plate, make work more stable;
3, of the present utility model reasonable in design, simple and reliable for structure.
Accompanying drawing explanation
Fig. 1 is the structural representation of tilting flat plate gripping device described in the utility model;
Fig. 2 is the scheme of installation of suction cup carrier described in the utility model and Acetabula device;
Fig. 3 is that actuating device described in the utility model drives sucker one end of Flat plate material to be lifted the schematic diagram making Flat plate material be in heeling condition by portable bar;
Fig. 4 is the enlarged drawing of part A in Fig. 3;
Fig. 5 is the schematic diagram that manipulator motion described in the utility model makes Flat plate material be separated;
Fig. 6 is that actuating device described in the utility model reset makes Flat plate material be in the schematic diagram of horizontality;
Fig. 7 is the schematic diagram that two row Acetabula device sides described in the utility model are all equiped with actuating device;
Fig. 8 be tilting flat plate gripping device described in the utility model at certain angle of inclination occasion work time schematic diagram;
Fig. 9 is the schematic diagram that mechanical arm described in the utility model is made up of suction cup carrier engine installation and guide rod.
Below in conjunction with drawings and Examples, tilting flat plate gripping device described in the utility model is described further.
Detailed description of the invention
Be below the preferred example of tilting flat plate gripping device described in the utility model, therefore do not limit protection domain of the present utility model.
Please refer to Fig. 1, there is shown a kind of tilting flat plate gripping device, comprise mechanical arm 1, suction cup carrier 2 and several Acetabula devices 3, mechanical arm 1 is connected with suction cup carrier 2, these several Acetabula devices 3 can be arranged in the bottom of suction cup carrier 2 in rectangular array mode, such as: in fig. 2, Acetabula device 3 can be arranged to 2 row 3 and arranges.
In this enforcement, each Acetabula device 3 includes spring 31, portable bar 32 and sucker 33, one end of portable bar 32 is movably arranged in suction cup carrier 2, the other end of portable bar 32 is connected with sucker 33, portable bar 32 can in axial direction move, and spring 31 to be set on portable bar 32 and between suction cup carrier 2 and sucker 33.During work, sucker 33 is connected with vacuum system with triple valve 6 by tracheae 5 successively, the communication port that this triple valve 6 has vacuum port, air/high pressure gas port and is connected with tracheae 7.In addition, the communication port place of triple valve 6 is connected with vacuum induction device 7.
As shown in Figure 1, Figure 3 and Figure 4, to the other end (along its length) from one end of suction cup carrier 2, each Acetabula device 3 side of first row is all equiped with an actuating device 4, actuating device 4 is fixed in suction cup carrier 2, each actuating device 4 is in transmission connection with corresponding portable bar 32 respectively, and moves (namely moving up) along the axial direction of portable bar 32 after driving sucker 33 to pick up one end of Flat plate material by portable bar 32 and make Flat plate material be in heeling condition.As preferably embodiment, described actuating device 4 can be set to cylinder, oil cylinder, cam or other actuators.
In order to improve the separating effect of Flat plate material further, the situation longer for plate or plate is softer, mode by increasing actuating device 4 stroke solves, also actuating device can be set up on each Acetabula device 3 side of secondary series and follow-up several row successively along its length, wherein, often the stroke of the actuating device on row Acetabula device 3 side can reduce successively, so that make Flat plate material be in heeling condition.As shown in Figure 7, from the right-hand member of suction cup carrier 2, each Acetabula device 3 side of first row and secondary series is all equiped with an actuating device.
As shown in Figure 9, in this enforcement, mechanical arm 1 can be made up of suction cup carrier engine installation 11 and guide rod 12, and suction cup carrier engine installation 11 can drive suction cup carrier 2 to move along the axial direction of guide rod 12.Certainly, this mechanical arm 1 also can adopt other structures, as long as the requirement that can meet suction cup carrier 2 motion can be implemented.
By Fig. 3, Fig. 5 and Fig. 6 is known, the working process of the flat plate gripping device described in this enforcement is as follows: mechanical arm 1 controls the top that suction cup carrier 2 moves to whole buttress Flat plate material, triple valve 6 makes vacuum enter whole sucker 33, during plate to be contacted, sucker 33 clenches the Flat plate material on upper strata under vacuum, vacuum induction device 7 sends signal to control system, confirm to hold Flat plate material, control system controlling machine mechanical arm 1 is slack, actuating device 4 action, the portable bar 32 be in transmission connection with it is driven to rise, by sucker 33, one end of Flat plate material is lifted, Flat plate material is made to be in heeling condition, now air enters, be destroyed by the vacuum of grabbing between Flat plate material and lower floor's Flat plate material, then, mechanical arm 1 drives suction cup carrier 2, sucker 33 moves with being grabbed together with Flat plate material, grabbed Flat plate material and departed from lower floor's Flat plate material smoothly, reset with rear drive equipment 4, Flat plate material recovers horizontality, mechanical arm 1 is transported to desired location Flat plate material, last triple valve passes into air or high pressure gas, destroy the vacuum in sucker 33, put down Flat plate material.
Tilting flat plate gripping device described in the utility model is applicable to the larger Flat plate material of elasticity, but is more suitable for the poor Flat plate material of elasticity, only need lift one end and can realize plate separation, simple and reliable for structure.It should be noted that at this, as shown in Figure 8, tilting flat plate gripping device described in the utility model is also applicable in the grasp handling occasion at certain angle of inclination.
In sum, tilting flat plate gripping device described in the utility model can destroy crawled Flat plate material and the vacuum produced when being separated between lower floor Flat plate material, avoid the adhesion between Flat plate material, eliminate accident potential, make production be continued to carry out at a high speed, effectively reduce productive costs, and make the separation process of plate steady, eliminate the vibration problem produced when mass motion is separated plate, make work more stable.
Above-described embodiment is the utility model preferably embodiment; but embodiment of the present utility model is not restricted to the described embodiments; change, the modification done under other any does not deviate from Spirit Essence of the present utility model and principle, substitute, combine, simplify; all should be the substitute mode of equivalence, be included within protection domain of the present utility model.
Claims (5)
1. a tilting flat plate gripping device, comprise mechanical arm (1), suction cup carrier (2) and several Acetabula devices (3), described mechanical arm (1) is connected with described suction cup carrier (2), these several Acetabula devices (3) are arranged in the bottom of described suction cup carrier (2) with array way, each Acetabula device (3) includes spring (31), can the portable bar (32) of in axial direction movement and the sucker (33) that is connected with vacuum system, one end of described portable bar (32) is movably arranged in described suction cup carrier (2), the other end of described portable bar (32) is connected with described sucker (33), described spring (31) is set in described portable bar (32) and goes up and be positioned between described suction cup carrier (2) and described sucker (33), it is characterized in that: to the other end from one end of described suction cup carrier (2), at least be equiped with an actuating device (4) respectively on each Acetabula device (3) side of first row, described actuating device (4) is in transmission connection with the portable bar (32) in corresponding Acetabula device (3), and move along the axial direction of described portable bar (32) after described sucker (33) can be driven to pick up one end of Flat plate material and make Flat plate material be in heeling condition.
2. tilting flat plate gripping device according to claim 1, is characterized in that: described actuating device (4) comprises cylinder, oil cylinder or cam.
3. tilting flat plate gripping device according to claim 1, it is characterized in that: described sucker (33) is connected with vacuum system with triple valve (6) by tracheae (5) successively, the communication port that described triple valve (6) has vacuum port, air/high pressure gas port and is connected with described tracheae (5).
4. tilting flat plate gripping device according to claim 3, is characterized in that: the communication port place of described triple valve (6) is connected with vacuum induction device (7).
5. tilting flat plate gripping device according to claim 1, is characterized in that: described mechanical arm (1) is made up of suction cup carrier engine installation (11) and guide rod (12).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420653036.5U CN204250924U (en) | 2014-11-04 | 2014-11-04 | Tilting flat plate gripping device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420653036.5U CN204250924U (en) | 2014-11-04 | 2014-11-04 | Tilting flat plate gripping device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204250924U true CN204250924U (en) | 2015-04-08 |
Family
ID=52955253
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420653036.5U Expired - Fee Related CN204250924U (en) | 2014-11-04 | 2014-11-04 | Tilting flat plate gripping device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN204250924U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106364912A (en) * | 2016-08-30 | 2017-02-01 | 浙江中智机器人有限公司 | Automatic PCB taking device used for automatic production of circuit boards |
| CN107322628A (en) * | 2017-09-06 | 2017-11-07 | 安徽海拓志永智能装备股份有限公司 | The industrial robot clamping device of flat panel workpieces processing |
| CN108217193A (en) * | 2018-01-26 | 2018-06-29 | 绵阳汇久机器人有限公司 | A kind of handling system with anti-skidding elevation and subsidence mechanical hand |
-
2014
- 2014-11-04 CN CN201420653036.5U patent/CN204250924U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106364912A (en) * | 2016-08-30 | 2017-02-01 | 浙江中智机器人有限公司 | Automatic PCB taking device used for automatic production of circuit boards |
| CN107322628A (en) * | 2017-09-06 | 2017-11-07 | 安徽海拓志永智能装备股份有限公司 | The industrial robot clamping device of flat panel workpieces processing |
| CN108217193A (en) * | 2018-01-26 | 2018-06-29 | 绵阳汇久机器人有限公司 | A kind of handling system with anti-skidding elevation and subsidence mechanical hand |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20150408 Termination date: 20181104 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |