CN207596062U - Grasping mechanism - Google Patents
Grasping mechanism Download PDFInfo
- Publication number
- CN207596062U CN207596062U CN201721056542.6U CN201721056542U CN207596062U CN 207596062 U CN207596062 U CN 207596062U CN 201721056542 U CN201721056542 U CN 201721056542U CN 207596062 U CN207596062 U CN 207596062U
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- China
- Prior art keywords
- mounting bracket
- suction disc
- adjustment seat
- grasping mechanism
- pick
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Abstract
The utility model discloses a kind of grasping mechanism, including mounting bracket and at least one first pick-up component；First pick-up component includes the adjustment seat mounted on mounting bracket lower surface, the first suction disc mounted on adjustment seat bottom and the first suction nozzle for being set to the first suction disc bottom, it is fixed between adjustment seat and mounting bracket by connecting bolt, and mounting bracket corresponds to and offers adjusting screw hole on the corner location of adjustment seat respectively, each adjusting screw hole internal thread is connected with adjusting bolt, and the lower end of adjusting bolt is pressed on the upper surface of adjustment seat.The utility model carries out Level tune by adjusting each four adjusting bolts respectively to adjustment seat, and then achieve the purpose that adjust the horizontality of the first suction disc, ensure that the first suction disc is equipped with the bottom plate of the first suction nozzle in level, the horizontality after the installation of the first suction disc is made not influenced by mounting bracket itself Bending Deformation, ensure that the absorption to glass sheet is securely accurate.
Description
Technical field
The utility model is related to technical field of mechanical automation, more particularly to a kind of grasping mechanism.
Background technology
The electronic products such as mobile phone, tablet computer are required to that the surface of display module is provided with a glass sheet, with to aobvious
Show that module is protected, and glass sheet typically passes through excision forming, cutting during processing according to required size
Glass sheet afterwards is also needed to by finishing step, such as carries out burr removing, processing step, surface reprocessing etc., and is cut
Glass sheet be traditionally installed on process equipment using manual operation, working efficiency is low, therefore occurs glass sheet
The automatic charging machine being moved on process equipment, the grasping mechanism of automatic charging machine generally include to set peace on a robotic arm
Shelve and be arranged on the draw frame machine on mounting bracket, but since the volume of mounting bracket is larger, produce be molded when due to
The effects that stress, is generally difficult to the plane of holding level, and draw frame machine is so caused to be also at inclination when on mounting bracket and is bumped against,
Thus when drawing glass sheet because easily because being fallen, and be not easy accurately to put when being moved on process equipment during suction deficiency
It puts on the carrier of processing stations, whole working efficiency is relatively low.
Utility model content
The purpose of this utility model is that solving deficiency of the prior art at least to some extent, a kind of gripper is provided
Structure.
To achieve the above object, grasping mechanism provided by the utility model, including：
Mounting bracket, the mounting bracket is horizontal to be installed on the manipulator of capture apparatus, and by the robot drives institute
Mounting bracket movement is stated, at least one first pick-up component is provided on the mounting bracket；
First pick-up component includes the adjustment seat mounted on the mounting bracket lower surface, mounted on the adjustment seat bottom
First suction disc in portion and the first suction nozzle for being set to the first suction disc bottom lead between the adjustment seat and the mounting bracket
It crosses connection bolt to fix, and the mounting bracket corresponds to and offers adjusting screw hole on the corner location of the adjustment seat respectively, it is each
The adjusting screw hole internal thread is connected with adjusting bolt, and the lower end of the adjusting bolt is pressed on the upper surface of the adjustment seat.
Preferably, the first pick-up component further includes：
Lead, the upper end of the lead, which can slide up and down, to be arranged in successively in the adjustment seat and mounting bracket, and
Upper end end is fixed with a spacing shim by a lock-screw, the spacing shim can stop in the upper table of the mounting bracket
Face, the lower end of the lead are fixedly mounted on first suction disc；
Buffer spring, the buffer spring are set on the lead and are carried between the adjustment seat and the first suction disc
For cushion effect.
Preferably, the oil-free bushing being adapted with the lead is provided in the adjustment seat, the lead is worn
In the oil-free bushing.
Preferably, the lower surface of first suction disc is recessed upwards is useful for installing the mounting groove of first suction nozzle, institute
The bottom for stating the first suction nozzle is organ-shaped sucker, and the lower end of the organ-shaped sucker is stretched out out of described mounting groove.
Preferably, the inside of first suction disc offers the first venting channels connected with first suction nozzle.
Preferably, at least one second pick-up component is additionally provided on the mounting bracket, second pick-up component includes one
Side and the second suction disc hinged on the outside of the mounting bracket, the second suction nozzle being set on the second suction disc opposite side and setting
In the driving device hinged on the mounting bracket and with second suction disc, the driving device can drive second suction disc around
The articulated shaft overturning being connect with mounting bracket.
Preferably, the mounting bracket includes the spaced at least mounting portion of two string configurations and one that is mutually parallel
The body formed connecting portion between two mounting portion, one end of each mounting portion are both provided with the first absorption group
Part, the other end are provided with second pick-up component；The installation knot for installing the manipulator is provided on the connecting portion
Structure.
Preferably, it is convexly equipped with the first articulated section and the second articulated section respectively on the side of second suction disc, it is described
First articulated section is hinged on the other end of the mounting portion；Second articulated section is hinged with the driving device.
Preferably, the driving device includes cylinder, and the telescopic rod end of the cylinder is hinged with second articulated section.
Preferably, the inside of second suction disc offers the second venting channels connected with second suction nozzle.
Technical solutions of the utility model on mounting bracket by being provided with four adjustings compressed to adjustment seat quadrangle
Bolt carries out Level tune, and then reach the water to the first suction disc so as to adjust each four adjusting bolts respectively to adjustment seat
The purpose that level state is adjusted, it is ensured that the bottom plate that the first suction disc is equipped with the first suction nozzle is in level, installs the first suction disc
Horizontality afterwards is not influenced by mounting bracket itself Bending Deformation, ensure that the absorption to glass sheet is securely accurate.
Description of the drawings
It in order to illustrate the embodiment of the utility model or the technical proposal in the existing technology more clearly, below will be to embodiment
Or attached drawing needed to be used in the description of the prior art is briefly described, it should be apparent that, the accompanying drawings in the following description is only
It is some embodiments of the utility model, for those of ordinary skill in the art, in the premise not made the creative labor
Under, other attached drawings can also be obtained according to the structure shown in these attached drawings.
Fig. 1 is the structure diagram of the utility model grasping mechanism；
Fig. 2 is the enlarged drawing of part A in Fig. 1；
Fig. 3 is the explosive decomposition figure of Fig. 2；
Fig. 4 is the front view of Fig. 2；
Fig. 5 is the side view of Fig. 2；
Fig. 6 is the enlarged drawing of part B in Fig. 1；
Fig. 7 is that the second suction disc of the second pick-up component of the utility model turns to the schematic diagram of horizontality.
The embodiments will be further described with reference to the accompanying drawings for the realization, functional characteristics and advantage of the utility model aim.
Specific embodiment
The embodiment of the utility model is described below in detail, the example of the embodiment is shown in the drawings, wherein from beginning
Same or similar element is represented to same or similar label eventually or there is the element of same or like function.Below by ginseng
The embodiment for examining attached drawing description is exemplary, it is intended to for explaining the utility model, and it is not intended that the utility model
Limitation, based on the embodiment in the utility model, those of ordinary skill in the art are without creative efforts
All other embodiments obtained shall fall within the protection scope of the present invention.
In the description of the present invention, it is to be appreciated that term " " center ", " longitudinal direction ", " transverse direction ", " length ", " width
Degree ", " thickness ", " on ", " under ", "front", "rear", "left", "right", " vertical ", " level ", " top ", " bottom " " interior ", " outer ", " suitable
The orientation or position relationship of the instructions such as hour hands ", " counterclockwise " " axial direction ", " circumferential direction ", " radial direction " are based on orientation shown in the drawings
Or position relationship, be for only for ease of description the utility model and simplify description rather than instruction or imply signified device or
Element must have specific orientation, with specific azimuth configuration and operation, therefore it is not intended that limit to the utility model
System.
In addition, term " second ", " first " are only used for description purpose, and it is not intended that instruction or hint relative importance
Or the implicit quantity for indicating indicated technical characteristic.Define " second " as a result, the feature of " first " can be expressed or
Implicitly include one or more this feature." multiple " are meant that two or two in the description of the present invention,
More than, unless otherwise specifically defined.
In the utility model unless specifically defined or limited otherwise, term " installation ", " connected ", " connection ", " Gu
It is fixed " etc. terms should be interpreted broadly, for example, it may be being fixedly connected or being detachably connected or be integrally connected；It can
To be mechanical connection or be electrically connected；It can be directly connected, can also be indirectly connected by intermediary, Ke Yishi
Connection inside two elements.For the ordinary skill in the art, above-mentioned term can be understood as the case may be
Concrete meaning in the utility model.
In the utility model unless specifically defined or limited otherwise, second feature fisrt feature it " on " or it
" under " can be in direct contact including second and fisrt feature, can also not be to be in direct contact but lead to including second and fisrt feature
Cross the other characterisation contact between them.Moreover, second feature fisrt feature " on ", " top " and " above " including
Two features are right over fisrt feature and oblique upper or are merely representative of second feature level height higher than fisrt feature.Second is special
Sign fisrt feature " under ", " lower section " and " below " including second feature immediately below fisrt feature and obliquely downward or only
Represent that second feature level height is less than fisrt feature.
The grasping mechanism of the utility model embodiment is described in detail with reference to the accompanying drawings.
As shown in Figure 1, according to the grasping mechanism of the utility model embodiment, including mounting bracket 100 and it is set to described
At least one first pick-up component 10 and at least one second pick-up component 20 on mounting bracket 100.
The mounting bracket 100 is horizontal to be installed on the manipulator of capture apparatus, and the peace as described in the robot drives
Shelve 100 movements；The capture apparatus is usually automatic charging device or transferred product device etc., is mainly used for drawing glass sheet
200 are moved on process equipment.
Further, the mounting bracket 100 includes the mounting portion for spaced at least two string configurations that are mutually parallel
101 and the connecting portion 102 that is shaped between two mounting portion 101, one end of each mounting portion 101 is respectively provided with
There is first pick-up component 10, the other end is provided with second pick-up component 20；It is provided on the connecting portion 102
For installing the mounting structure of the manipulator.
Specifically, mounting bracket 100 is using the integrated formed structure of rigid material processing, the mounting structure on connecting portion 102
It generally includes positioned at the installation through-hole 103 of center and positioned at least one shape hole 104 of 103 both sides of installation through-hole, from
And be easily installed frame 100 and be mounted on the manipulator of capture apparatus by installation through-hole 103 and bar hole 104, so that manipulator
Mounting bracket 100 can be driven to move in space, and mounting bracket 100 is driven to be carried out around the axle center of central through hole using central through hole
Rotation.
As shown in Figures 2 to 5, first pick-up component 10 includes adjustment seat 11, lead 12, buffer spring 13, the
One suction disc 14 and the first suction nozzle 15.
One first guide through hole 111 and a threaded connection hole 112 are offered on the central axis both ends of adjustment seat 11 respectively,
The position of corresponding first guide through hole 111 and threaded connection hole 112 offers the second guiding respectively on the one end of mounting portion 101
Through-hole (not shown) and through hole 1011, and the one end of mounting portion 101 corresponds to and is opened up respectively on the corner location of adjustment seat 11
There is an adjusting screw hole 1012, each 1012 internal thread of adjusting screw hole is connected with adjusting bolt 17, under the adjusting bolt 17
End stretches out in the lower surface of mounting portion 101, and two connection bolts 16 are each passed through through hole 1011 and are threaded in adjustment seat 11
Threaded connection hole 112 in, so as to be fixedly connected between adjustment seat 11 and mounting portion 101, and the upper surface of adjustment seat 11 and four
The lower end of a adjusting bolt 17 is pressed against each other, in this way, can be by adjusting the height and position of each adjusting bolt 17 respectively so that four tune
The lower face of section bolt 17 is in same level, and then make to be in adjustment seat 11 during 16 secured adjusted seat 11 of connection bolt
Horizontal position can carry out alone Level tune so as to which adjustment seat 11 be made not influenced by mounting bracket 100.
Preferably, it is provided with the nothing being adapted with the lead 12 in the first guide through hole 111 of the adjustment seat 11
Oily bushing 113 is arranged in order to which lead 12 can slide up and down in the oil-free bushing 113.
The upper end of the lead 12 can slide up and down is arranged in the oil-free of the adjustment seat 11 and mounting portion 101 successively
In 113 and second guide through hole of bushing, and upper end is pierced by from the second guide through hole of mounting portion 101, and the end being pierced by leads to
It crosses a lock-screw 18 and is fixed with a spacing shim 19, the diameter of the spacing shim 19 is more than the diameter of the second guide through hole,
So as to make spacing shim 19 can stop in the upper surface of the mounting portion 101 (i.e. stop is in the top of the second guide through hole), lead
It is fixedly mounted on first suction disc 14 to the lower end of column 12.
That is, the first suction disc 14 is slidably connected by lead 12 and oil-free bushing 113 with adjustment seat 11, it can
Adjustment seat 11 is adjusted by adjusting bolt 17 indirectly to achieve the purpose that adjust the first suction disc 14, so that first inhales
Plate 14 is horizontal, and improves fastness when drawing.
First suction disc 14 is located at the lower section of adjustment seat 11, and the position for corresponding to the first guide through hole 111 thereon offers guiding
12 mounting hole of column, the lower end of lead 12 are threaded through in 12 mounting hole of lead, by trip bolt by lead 12 and first
Suction disc 14 is fixed to each other.
Preferably, the lower surface of first suction disc 14 is recessed upwards is useful for installing the mounting groove of first suction nozzle 15
(not shown), the inside of first suction disc 14 offers the first venting channels 142 connected with first suction nozzle 15, described
The bottom of first suction nozzle 15 is organ-shaped sucker 151, and the lower end of the organ-shaped sucker 151 is stretched out out of described mounting groove,
Extension elongation is usually less than shortening distance of the organ-shaped sucker 151 when negative pressure is shunk.In this way, it is drawn by the first suction nozzle 15
During glass sheet 200, negative pressure is provided to draw glass sheet 200 to the first suction nozzle 15 by the first venting channels 142, and organ
Type sucker 151 is shunk upwards in negative pressure, so as to which glass sheet 200 and the lower surface of the first suction disc 14 be driven to fit, is ensured
Levelness of the glass sheet 200 after absorption.
The buffer spring 13 is set on the lead 12 and is carried between 11 and first suction disc 14 of adjustment seat
For cushion effect, i.e. the upper and lower ends of buffer spring 13 support respectively with 11 and first suction disc 14 of adjustment seat, pass through buffer spring 13
Cushioning effect, it is therefore prevented that 200 hard contact of glass sheet to be drawn of the first suction disc 14 and damage glass sheet 200.
With reference to shown in Fig. 6 and Fig. 7, the second pick-up component 20 includes the second suction disc 22, the second suction nozzle 23 and driving device.
Wherein, it is convexly equipped with the first articulated section 221 and the second articulated section 222 respectively on the one side of second suction disc 22,
First articulated section 221 is hinged on the other end of the mounting portion 101；Second articulated section 222 and the drive
Dynamic device is hinged；Second suction nozzle 23, the inside of the second suction disc 22 are provided on the opposite another side of second suction disc 22
Offer the second venting channels 223 connected with second suction nozzle 23.
The driving device includes cylinder 21, and the other end of 21 relative telescopic bar 211 of cylinder is hinged on mounting bracket 100
On one hinged seat 24, the end of telescopic rod 211 is hinged by a flake connector 212 and the second articulated section 222, in this way, passing through gas
The telescopic rod 211 of cylinder 21 can drive the hinge that the second suction disc 22 is connect around the first articulated section 221 with the mounting portion 101 of mounting bracket 100
Spindle is overturn, so that the plane of the second suction nozzle 23 of the second suction disc 22 installation is in the vertical state in different conditions, such as Fig. 6
With the horizontality in Fig. 7.
In conclusion the grasping mechanism of the utility model can pass through the telescopic rod 211 of 20 upper cylinder 21 of the second pick-up component
The second suction disc 22 is driven to be in vertical state, using robot drives mounting bracket 100 so that the second suction nozzle 23 of the second suction disc 22
The glass sheet 200 placed vertically is drawn, glass sheet 200 is proposed on its rack from placing after drawing securely, is utilized
The telescopic rod 211 of cylinder 21 drives the second suction disc 22 to rotate so that the glass sheet 200 drawn is horizontal, then by glass
The movement of glass sheet material 200 is placed on on the transferring device of horizontal positioned 200 positioning function of glass sheet, finally utilizes the
One pick-up component 10 draws glass sheet 200 that is horizontal positioned and having good positioning, and the glass sheet 200 of absorption is moved
Be placed on the processing stations of process equipment, realize draw it is quick securely, accurate positioning, improve glass sheet 200 it is automatic on
The working efficiency of material.
The above is only the preferred embodiment of the present invention, and it does not limit the scope of the patent of the present invention,
It is every under the inventive concept of the utility model, equivalent structure made based on the specification and figures of the utility model becomes
It changes or directly/is used in other related technical areas indirectly and is included in the scope of patent protection of the utility model.
Claims (10)
1. a kind of grasping mechanism, which is characterized in that including：
Mounting bracket, the mounting bracket is horizontal to be installed on the manipulator of capture apparatus, and the peace as described in the robot drives
Movement is shelved, at least one first pick-up component is provided on the mounting bracket；
First pick-up component includes the adjustment seat mounted on the mounting bracket lower surface, mounted on the adjustment seat bottom
First suction disc and the first suction nozzle for being set to the first suction disc bottom, pass through company between the adjustment seat and the mounting bracket
Connecting bolt is fixed, and the mounting bracket corresponds to and offers adjusting screw hole on the corner location of the adjustment seat respectively, each described
Adjusting screw hole internal thread is connected with adjusting bolt, and the lower end of the adjusting bolt is pressed on the upper surface of the adjustment seat.
2. grasping mechanism as described in claim 1, which is characterized in that the first pick-up component further includes：
Lead, the upper end of the lead can slide up and down to be arranged in the adjustment seat and mounting bracket, and upper end successively
End is fixed with a spacing shim by a lock-screw, the spacing shim can stop in the upper surface of the mounting bracket, institute
The lower end for stating lead is fixedly mounted on first suction disc；
Buffer spring, the buffer spring are set on the lead and are provided between the adjustment seat and the first suction disc slow
Impulse force.
3. grasping mechanism as claimed in claim 2, which is characterized in that be provided in the adjustment seat and mutually fitted with the lead
The oil-free bushing matched, the lead are arranged in the oil-free bushing.
4. grasping mechanism as described in claim 1, which is characterized in that recess is useful for upwards for the lower surface of first suction disc
The mounting groove of first suction nozzle is installed, the bottom of first suction nozzle is organ-shaped sucker, the lower end of the organ-shaped sucker
It is stretched out out of described mounting groove.
5. grasping mechanism as claimed in claim 4, which is characterized in that the inside of first suction disc offers and described first
First venting channels of suction nozzle connection.
6. the grasping mechanism as described in claim 1-5 is any, which is characterized in that at least 1 is additionally provided on the mounting bracket
Two pick-up components, second pick-up component include the second suction disc hinged on the outside of side and the mounting bracket, be set to it is described
It the second suction nozzle on second suction disc opposite side and is set on the mounting bracket and is filled with the hinged driving of second suction disc
It puts, the driving device can drive second suction disc around the articulated shaft overturning being connect with mounting bracket.
7. grasping mechanism as claimed in claim 6, which is characterized in that the mounting bracket include be mutually parallel it is spaced extremely
The mounting portion of few two string configurations and the connecting portion being shaped between two mounting portion, each mounting portion
One end is both provided with first pick-up component, and the other end is provided with second pick-up component；It is provided on the connecting portion
For installing the mounting structure of the manipulator.
8. grasping mechanism as claimed in claim 7, which is characterized in that be convexly equipped with first respectively on the side of second suction disc
Articulated section and the second articulated section, first articulated section are hinged on the other end of the mounting portion；Described second is hinged
Portion is hinged with the driving device.
9. grasping mechanism as claimed in claim 8, which is characterized in that the driving device includes cylinder, and the cylinder is stretched
Contracting bar end is hinged with second articulated section.
10. grasping mechanism as claimed in claim 6, which is characterized in that the inside of second suction disc offers and described
Second venting channels of two suction nozzles connection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721056542.6U CN207596062U (en) | 2017-08-22 | 2017-08-22 | Grasping mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721056542.6U CN207596062U (en) | 2017-08-22 | 2017-08-22 | Grasping mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207596062U true CN207596062U (en) | 2018-07-10 |
Family
ID=62753398
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721056542.6U Active CN207596062U (en) | 2017-08-22 | 2017-08-22 | Grasping mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207596062U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112770992A (en) * | 2018-09-20 | 2021-05-07 | 特鲁普机械奥地利有限公司及两合公司 | Vacuum gripper, feed unit and method for transporting flat components |
| CN114300731A (en) * | 2021-12-31 | 2022-04-08 | 无锡骄成智能科技有限公司 | Battery cell tab pressing plate grabbing mechanism, grabbing method and cell assembly production line |
| CN115026530A (en) * | 2022-06-17 | 2022-09-09 | 博众精工科技股份有限公司 | Horizontal adjusting mechanism, mounting device and adjusting method of mounting device |
| US11919152B2 (en) | 2018-09-20 | 2024-03-05 | Trumpf Maschinen Austria Gmbh & Co. Kg. | Vacuum gripper, feed unit, and method for conveying flat components |
-
2017
- 2017-08-22 CN CN201721056542.6U patent/CN207596062U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112770992A (en) * | 2018-09-20 | 2021-05-07 | 特鲁普机械奥地利有限公司及两合公司 | Vacuum gripper, feed unit and method for transporting flat components |
| US11919152B2 (en) | 2018-09-20 | 2024-03-05 | Trumpf Maschinen Austria Gmbh & Co. Kg. | Vacuum gripper, feed unit, and method for conveying flat components |
| CN114300731A (en) * | 2021-12-31 | 2022-04-08 | 无锡骄成智能科技有限公司 | Battery cell tab pressing plate grabbing mechanism, grabbing method and cell assembly production line |
| CN114300731B (en) * | 2021-12-31 | 2024-04-05 | 无锡骄成智能科技有限公司 | Battery cell tab pressing plate grabbing mechanism, grabbing method and battery cell assembly production line |
| CN115026530A (en) * | 2022-06-17 | 2022-09-09 | 博众精工科技股份有限公司 | Horizontal adjusting mechanism, mounting device and adjusting method of mounting device |
| CN115026530B (en) * | 2022-06-17 | 2023-11-21 | 博众精工科技股份有限公司 | Horizontal adjusting mechanism, mounting device and adjusting method of mounting device |
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