CN206088345U - Machine -building grabbing device - Google Patents

Abstract

The utility model discloses a grabbing device for mechanical manufacturing, which relates to the technical field of mechanical manufacturing. It includes the first telescopic motor and stepping motor installed on the frame, the telescopic rod of the first telescopic motor is equipped with a vacuum tube, the bottom of the vacuum tube has a vacuum suction cup, the rotating shaft of the stepping motor is fixed on the rotating plate, and the rotating plate is installed with the second Two telescopic motors and support frames. The telescopic rod of the second telescopic motor fixes the grasping plate. After the vacuum suction cup absorbs and lifts the product to be grasped, the grasping plate moves to the bottom of the vacuum tube, and then the vacuum suction cup is inflated to release the product to be grasped. Place the product to be grasped on the grasping plate, and finally the stepping motor rotates to move the product to be grasped to the next processing area. The structure of the device is simple, and the clamp can be clamped more firmly without clamping the clamp Precise control of the holding force, under the premise of ensuring no damage to the product to be grasped, the grasping efficiency is improved, the control complexity is reduced, and the production cost is reduced.

Description

A machine-made grabbing device

technical field

The utility model relates to the technical field of mechanical manufacturing, in particular to a grabbing device for mechanical manufacturing.

Background technique

During mechanical manufacturing, raw materials need to be processed several times to obtain finished products, and semi-finished products need to be transferred between the two processes. In some processing workshops with a low degree of automation, conveyor belts are used to transport semi-finished products, which are then manually picked up by processing personnel for processing. This method is inefficient and there is a risk of damage to semi-finished products.

With the popularity of industrial robots, many automated factories have used robots to replace operators for the grasping and processing of semi-finished products. The existing grasping devices mostly use clamps to directly grasp the semi-finished products. This grasping method requires precise control of the clamping force of the clamps, otherwise it is very easy to damage the semi-finished products. Although the compliant control algorithm for clamping force has been applied in industrial production, it will inevitably increase the control complexity of the robot, which is not conducive to reducing costs. And for some large or irregularly shaped semi-finished products, the effect of simply using clamps to grab is not good.

Utility model content

The embodiment of the utility model provides a machine-manufactured grabbing device, which is used to solve the problems existing in the prior art.

A mechanical manufacturing grabbing device, comprising a frame, the frame comprising a vertical vertical plate and a bottom horizontal plate and a top horizontal plate vertically fixed at both ends of the vertical plate, the bottom horizontal plate and the top horizontal plate are located at The same side of the vertical plate, wherein the length of the top horizontal plate is smaller than the bottom horizontal plate; the top surface of the top horizontal plate is fixedly installed with a first telescopic motor and an air pump, and the telescopic rod of the first telescopic motor Extend through the top horizontal plate to the bottom of the top horizontal plate, and the end of the telescopic rod of the first telescopic motor is fixed with a hollow vacuum tube, and a plurality of vacuum tubes communicating with the inside of the vacuum tube are installed on the bottom surface of the vacuum tube. A suction cup, a gas pipe is installed on the air pump, and the end of the gas pipe communicates with the inside of the vacuum tube; a stepping motor is fixedly installed on the top surface of the bottom horizontal plate, and a rotating plate is fixed at the end of the rotating shaft of the stepping motor , a second telescopic motor is fixedly installed on the top surface of the rotating plate, and a grab frame is fixed at the end of the telescopic rod of the second telescopic motor, and the grab frame includes a telescopic rod vertically connected with the telescopic rod of the second telescopic motor Grabbing vertical bar, and a grabbing plate vertically fixed on the grabbing vertical bar, the grabbing plate is arranged horizontally.

Preferably, the grabbing frame further includes a grabbing horizontal bar vertically connected to the grabbing vertical bar, and clamps are installed at the ends of the grabbing horizontal bar.

Preferably, a support frame is fixed on the top surface of the rotating plate, and the grabbing plate is slidably installed inside the support frame.

Preferably, the support frame includes a support horizontal plate arranged horizontally and located above the grasping plate, and two support vertical plates vertically fixed at both ends of the support horizontal plate, and the two support vertical plates The bottom ends of each are vertically fixed on the top surface of the rotating plate.

Preferably, the opposite sides of the two support vertical plates are respectively provided with chute matched with the grabbing plate, and the grabbing plate is inserted into the chute under the drive of the second telescopic motor Slide in the chute.

Preferably, rollers of the same height are respectively installed on the opposite sides of the two support vertical plates, and the grabbing plate is installed on the rollers, driven by the second telescopic motor, on the rollers slide.

Preferably, the frame is fixed on the workshop floor, and the frame is made of alloy aluminum or alloy steel.

Preferably, the vacuum tube is in the shape of a tube or a disc, or a shape that matches the surface of the product to be grasped.

A mechanically manufactured grasping device provided by an embodiment of the utility model includes a first telescopic motor and a stepping motor installed on a frame, a vacuum tube is installed on the telescopic rod of the first telescopic motor, and a vacuum suction cup is provided at the bottom of the vacuum tube, and the stepping motor The rotary plate is fixed on the rotating shaft of the motor, and the second telescopic motor and the support frame are installed on the rotary plate. The grabbing plate is fixed on the telescopic rod of the second telescopic motor. After the vacuum suction cup absorbs and lifts the product to be grabbed, the grabbing plate moves to the bottom of the vacuum tube, then the vacuum suction cup is inflated to release the product to be grabbed, and the product to be grabbed is placed on the grabbing plate, and finally the stepping motor rotates to move the product to be grabbed to the next processing area. The device has a simple structure and cooperates with The clamp can hold more firmly without precise control of the clamping force of the clamp. On the premise of ensuring that the product to be grasped is not damaged, the grasping efficiency is improved, the control complexity is reduced, and the production cost is reduced.

Description of drawings

Fig. 1 is a structural schematic diagram of a mechanically manufactured grasping device provided by an embodiment of the present invention;

Fig. 2 is a structural schematic diagram of the grab frame and the support frame in Fig. 1 .

Explanation of reference signs:

100-frame, 110-vertical plate, 120-bottom horizontal plate, 130-top horizontal plate, 200-stepper motor, 300-first telescopic motor, 310-vacuum tube, 311-vacuum suction cup, 400-air pump, 410- Air pipe, 500-rotating plate, 600-second telescopic motor, 700-grabbing frame, 710-grabbing vertical bar, 720-grabbing horizontal bar, 721-clamp, 730-grabbing plate, 800-supporting frame, 810-support horizontal plate, 820-support vertical plate.

detailed description

A specific embodiment of the present invention will be described in detail below in conjunction with the accompanying drawings, but it should be understood that the protection scope of the present invention is not limited by the specific embodiment.

Referring to Fig. 1 and Fig. 2, the utility model provides a kind of mechanical manufacturing grasping device, comprises frame 100, and described frame 100 comprises vertical vertical plate 110 and the bottom horizontal plate that is vertically fixed at the two ends of described vertical plate 110 plate 120 and top horizontal plate 130, the bottom horizontal plate 120 and top horizontal plate 130 are located on the same side of the vertical plate 110, wherein the length of the top horizontal plate 130 is shorter than the bottom horizontal plate 120, in this embodiment , the length of the top horizontal plate 130 is about half of the length of the bottom horizontal plate 120 . The frame 100 can be fixed on the workshop floor, and the frame 100 can be made of alloy aluminum, steel and other materials with high strength.

A first telescopic motor 300 and an air pump 400 are fixedly installed on the top surface of the top horizontal plate 130, and the telescopic rod of the first telescopic motor 300 extends through the top horizontal plate 130 to below the top horizontal plate 130, Moreover, a hollow vacuum tube 310 is fixed at the end of the telescopic rod of the first telescopic motor 300 , and a plurality of vacuum suction cups 311 communicating with the inside of the vacuum tube 310 are installed on the bottom surface of the vacuum tube 310 . An air pipe 410 is installed on the air pump 400 , and the end of the air pipe 410 communicates with the inside of the vacuum pipe 310 . In this embodiment, the vacuum tube 310 may be in the shape of a tube or a disc, or a non-planar hollow structure matching the surface of the product to be grasped.

A stepping motor 200 is fixedly installed on the top surface of the bottom horizontal plate 120 , a rotating shaft extends from the top of the stepping motor 200 , and a rotating plate 500 is fixed at the end of the rotating shaft. A second telescopic motor 600 and a support frame 800 are fixedly installed on the top surface of the rotating plate 500, and a grabbing frame 700 is fixed at the end of the telescopic rod of the second telescopic motor 600, and the grabbing frame 700 includes the The grabbing vertical bar 710 vertically connected to the telescopic rod of the two telescopic motors 600, and the grabbing cross bar 720 and the grabbing plate 730 vertically fixed on the two ends of the grabbing vertical bar 710 respectively, wherein the grabbing horizontal bar 720 is located at The top of the grabbing vertical bar 710, the grabbing plate 730 is located at the bottom end of the grabbing vertical bar 710, the grabbing cross bar 720 and the grabbing plate 730 are located on the same side of the grabbing vertical bar 710 , and the telescopic rods of the second telescopic motor 600 are located on both sides of the grabbing vertical rod 710 .

A clamp 721 is fixedly installed at the end of the grasping horizontal plate 720, and the clamp 721 may be a hydraulic clamp or an electric clamp. The grab board 730 is arranged horizontally, and the grab board 730 is slidably installed inside the support frame 800 . In this embodiment, the support frame 800 includes a support horizontal plate 810 arranged horizontally and above the grasping plate 730 , and two support vertical plates 820 vertically fixed at both ends of the support horizontal plate 810 , and The bottom ends of the two supporting vertical plates 820 are vertically fixed on the top surface of the rotating plate 500 . On the opposite sides of the two supporting vertical plates 820, there are chutes matched with the grasping plate 730 respectively. Driven to slide in the chute. In other embodiments, rollers may also be installed on the support vertical plate 820 , and the grabbing plate 730 can slide by installing the grabbing plate 730 on the rollers. The height of the grasping vertical bar 710 is smaller than the height of the support vertical plate 820 , and therefore the grasping cross bar 720 and the grasping plate 730 both pass through the inside of the support frame 800 .

When the grasping device is in operation, after the product to be grasped on the conveyor belt reaches directly below the vacuum tube 310, the first telescopic motor 300 drives the vacuum tube 310 to move downward, and the vacuum suction cup 311 is vacuumed. After absorbing the product to be grabbed, the first telescopic motor 300 drives the vacuum tube 310 to move upward, and then drives the product to be grabbed to leave the conveyor belt, and when the height of the bottom of the product to be grabbed is higher than the grabbing plate 730, The first telescopic motor 300 maintains the current state. Then the second telescopic motor 600 drives the grabbing frame 700 to move, and after the grabbing plate 730 reaches directly below the vacuum tube 310, the first telescopic motor 300 drives the product to be grabbed to descend and place it on the On the grabbing plate 730, the product to be grabbed is clamped by the clamp 721, and then the vacuum suction cup 311 is inflated to separate from the product to be grabbed. Finally, the stepper motor 200 drives the rotating shaft to rotate, and drives the rotating plate 500 to rotate, so that the product to be grabbed rotates to the next processing area.

In summary, the grabbing device for mechanical manufacturing provided by the embodiment of the utility model includes a first telescopic motor and a stepper motor installed on the frame, a vacuum tube is installed on the telescopic rod of the first telescopic motor, and the bottom of the vacuum tube has Vacuum suction cup, the rotating plate is fixed on the rotating shaft of the stepping motor, the second telescopic motor and the support frame are installed on the rotating plate, the grabbing plate is fixed on the telescopic rod of the second telescopic motor, the vacuum sucker will absorb and lift the product to be grabbed , the grabbing plate moves to the bottom of the vacuum tube, then the vacuum suction cup is inflated to release the product to be grabbed, and the product to be grabbed is placed on the grabbing plate, and finally the stepping motor rotates to move the product to be grabbed to the next processing area. The structure of the device is simple, and it can be clamped more firmly with the clamp. It is not necessary to precisely control the clamping force of the clamp. On the premise of ensuring that the product to be grasped is not damaged, the grasping efficiency is improved and the control complexity is reduced. Reduced production costs.

The above disclosures are only a few specific embodiments of the present invention, but the embodiments of the present invention are not limited thereto, and any changes conceivable by those skilled in the art should fall within the scope of protection of the present invention.

Claims (8)

1. A kind of machinery manufacturing grasping device is characterized in that, comprises frame (100), and described frame (100) comprises vertical vertical plate (110) and vertically fixed on described vertical plate (110) two ends A bottom horizontal plate (120) and a top horizontal plate (130), the bottom horizontal plate (120) and the top horizontal plate (130) are located on the same side of the vertical plate (110), wherein the top horizontal plate (130) The length is less than the bottom horizontal plate (120); the first telescopic motor (300) and the air pump (400) are fixedly installed on the top surface of the top horizontal plate (130), and the telescopic motor (300) of the first telescopic motor (300) The rod passes through the top horizontal plate (130) and extends to below the top horizontal plate (130), and the end of the telescopic rod of the first telescopic motor (300) is fixed with a hollow vacuum tube (310), and the vacuum tube ( 310) a plurality of vacuum suction cups (311) communicating with the inside of the vacuum tube (310) are installed on the bottom surface, a gas tube (410) is installed on the air pump (400), and the end of the gas tube (410) is connected to the vacuum tube ( 310) is internally connected; a stepping motor (200) is fixedly installed on the top surface of the bottom horizontal plate (120), and a rotating plate (500) is fixed at the end of the rotating shaft of the stepping motor (200). A second telescopic motor (600) is fixedly installed on the top surface of the plate (500), and a grabbing frame (700) is fixed at the end of the telescopic rod of the second telescopic motor (600), and the grabbing frame (700) includes a The grab vertical rod (710) vertically connected to the telescopic rod of the second telescopic motor (600), and the grab plate (730) vertically fixed on the grab vertical bar (710), the grab plate (730) Horizontal setting. 2. The device according to claim 1, characterized in that, the grabbing frame (700) further comprises a grabbing cross bar (720) vertically connected to the grabbing vertical bar (710), and the grabbing Clamps are installed at the end of the cross bar (720). 3. The device according to claim 1, characterized in that, a support frame (800) is also fixed on the top surface of the rotating plate (500), and the grabbing plate (730) is slidably installed on the support frame ( 800) inside. 4. The device according to claim 3, characterized in that, the support frame (800) comprises a support horizontal plate (810) arranged horizontally and above the gripping plate (730), and is respectively vertically fixed on the Two support vertical plates (820) at both ends of the support horizontal plate (810), and the bottom ends of the two support vertical plates (820) are vertically fixed on the top surface of the rotating plate (500). 5. The device according to claim 4, characterized in that, on the opposite sides of the two supporting vertical plates (820), there are respectively provided with chutes matched with the grasping plate (730), and the grasping plate (730) The board (730) is inserted into the chute and slides in the chute driven by the second telescopic motor (600). 6. The device according to claim 4, characterized in that rollers of the same height are respectively installed on the opposite sides of the two supporting vertical plates (820), and the grabbing plate (730) is installed on the rollers , and slide on the rollers driven by the second telescopic motor (600). 7. The device according to claim 1, characterized in that, the frame (100) is fixed on the workshop floor, and the frame (100) is made of alloy aluminum or alloy steel. 8. The device according to claim 1, characterized in that, the vacuum tube (310) is in the shape of a tube or a disc, or a shape that matches the surface of the product to be grasped.