CN207746399U - A kind of grabbing device carried for zinc ingot metal - Google Patents
A kind of grabbing device carried for zinc ingot metal Download PDFInfo
- Publication number
- CN207746399U CN207746399U CN201721708302.XU CN201721708302U CN207746399U CN 207746399 U CN207746399 U CN 207746399U CN 201721708302 U CN201721708302 U CN 201721708302U CN 207746399 U CN207746399 U CN 207746399U
- Authority
- CN
- China
- Prior art keywords
- zinc ingot
- ingot metal
- movable block
- buffer board
- sensor
- 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.)
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Abstract
The utility model discloses a kind of grabbing devices carried for zinc ingot metal,A kind of grabbing device for zinc ingot metal carrying includes clamping device and angle regulator,Clamping device includes clamping cylinder and two pawl items being mutually parallel,The recessed portion that can be used for clamping zinc ingot metal upper surface is both provided on the inside of two pawl items,The left laser sensor that can be used for detecting objects in front and right laser sensor are respectively arranged in two recessed portions,The rear end of clamping device is provided with angle regulator,When left laser sensor or right laser sensor detect zinc ingot metal,Angle regulator, which turns to left laser sensor and right laser sensor, cannot detect zinc ingot metal,Its advantage is that the utility model can be according to the inclined degree of zinc ingot metal,The angle of adjust automatically crawl,To achieve the purpose that crawl difference cuts the zinc ingot metal tiltedly placed,Improve the success rate and crawl efficiency of the crawl of zinc ingot metal.
Description
Technical field
The utility model is related to robot field more particularly to a kind of grabbing devices carried for zinc ingot metal.
Background technology
Zinc ingot metal is mainly used for diecasting alloys, battery industry, dyeing industry, pharmaceutical sector, rubber industry, chemical industry etc., zinc with it is other
The alloy of metal is widely used in industries such as plating, sprayings.In the manufacture of battery, zinc ingot metal be also important source material it
One.
In prior art designs, with the utilization of modern production line, more and more enterprises capture zinc using robot
The principal mode of ingot, robot is mechanical arm.Mechanical arm includes that can significantly adjust the mechanical arm of position and can be used for
The grabbing device of zinc ingot metal is captured, grabbing device includes cylinder and fixed jaw.Zinc ingot metal is the irregular structure for being substantially in cuboid, Gu
Determining pawl, there are two the pawl items being mutually parallel to constitute, and the recess of the both sides for fixing zinc ingot metal upper surface is provided on the inside of pawl item
Portion, the recessed portion of two pawl items are directed at the both sides of the upper surface of zinc ingot metal to capture zinc ingot metal, then drive zinc ingot metal to go to by mechanical arm
Preset position.
Disadvantage of the prior art is that：Zinc ingot metal is the irregular structure for being substantially in cuboid, when zinc ingot metal is placed on horizontal plane
Or when being stacked on other zinc ingot metals, the upper surface of zinc ingot metal is often inclined, and two pawl items of the prior art can not be with
It the variation of the magnitude of inclination of zinc ingot metal upper surface and is adjusted, the upper surface of zinc ingot metal can not accommodate the recess into pawl item completely
Portion causes clamping loosely to fall, influences the normal operation of assembly line, reduce working efficiency.
Utility model content
The difference for the upper surface magnitude of inclination that the technical problem to be solved by the utility model is to provide a kind of with zinc ingot metal
And a kind of grabbing device carried for zinc ingot metal being adjusted.
Technical solution is used by the utility model solves above-mentioned technical problem：A kind of crawl dress carried for zinc ingot metal
Set, including clamping device and angle regulator, clamping device include include clamping cylinder and two pawl items being mutually parallel, two
It is both provided with the recessed portion that can be used for clamping zinc ingot metal upper surface on the inside of a pawl item, is respectively arranged with and can be used in two recessed portions
The left laser sensor and right laser sensor, the rear end of clamping device for detecting objects in front are provided with angle regulator, when
When left laser sensor or right laser sensor detect zinc ingot metal, angle regulator turns to left laser sensor and right laser
Sensor cannot detect zinc ingot metal.
The further preferred embodiment of the utility model is：Buffering dress is additionally provided between clamping device and angle regulator
It sets.
The further preferred embodiment of the utility model is：Pawl item includes base portion and clamping section, is provided on base portion for holding
It receives the cavity of screw, is provided with the recessed portion on the inside of clamping section, the opening of the recessed portion is towards clamping device
Inside and lower section.
The further preferred embodiment of the utility model is：The buffer unit includes the first buffer board and the second buffering
Plate, is provided with multiple spring assemblies between the first buffer board and the second buffer board, the spring assembly includes guide post and is arranged
Spring on the outside of guide post；When the clamping device external world suffers oppression, the first buffer board and the second buffer board are mutually drawn close；Clamping device
When not oppressed by the external world, the first buffer board and the second buffer board are separated from each other under the action of spring assembly.
The further preferred embodiment of the utility model is：It is additionally provided between first buffer board and the second buffer board
It is described to include the block that is arranged on the first buffer board apart from inductive component and be arranged in the second buffer board apart from inductive component
On sensor.When block and sensor contacts, sensor output signal keeps robot arm out of service.
The further preferred embodiment of the utility model is：The guide post is being arranged into after the second buffer board, slow second
The both sides of punching are provided with nut and axle sleeve, and when the clamping device external world suffers oppression, the first buffer board is buffered along guide post to second
Plate is drawn close.
The further preferred embodiment of the utility model is：The first activity is additionally provided between the clamping cylinder and pawl item
Block and the second movable block are enclosed with shell on the outside of clamping cylinder, and the first sliding groove and second sliding slot are provided on shell, and first lives
Motion block can slidably reciprocate along the first sliding groove, and the second movable block can slidably reciprocate along second sliding slot.
The further preferred embodiment of the utility model is：It is respectively arranged with first in the first sliding groove and second sliding slot
Movable block sensor and the second movable block sensor, the first movable block and the second movable block are when closing up, the first movable block sensing
Device and the phase separation of the first movable block, the second movable block sensor and the phase separation of the second movable block；First movable block and the second activity
When opening, the first movable block sensor and the first movable block are in contact block, the second movable block sensor and the second movable block phase
Contact.Sensor exports the signal that a pneumatic clamper is completely open at this time, and robotic arm judges to carry out to grab in next step according to signal
Take the operation of zinc ingot metal.
Compared with prior art, left laser sensing is arranged by the inside of two pawl items in clamping device in the utility model
Device and right laser sensor, when zinc ingot metal grabbing device moves down, left laser sensor or right laser sensor first it is detected that
Zinc ingot metal controls clamping device by angle regulator at this time and is rotated to undetected direction, until left and right laser sensor
It is not detecting zinc ingot metal, is continuing to move down grabbing device, until left and right laser sensor all detects zinc ingot metal, closing up pawl item and grab
Take zinc ingot metal, the utility model that can be cut according to the inclined degree of zinc ingot metal, the angle of adjust automatically crawl to reach crawl difference
The purpose for the zinc ingot metal tiltedly placed improves the success rate and crawl efficiency of the crawl of zinc ingot metal.
Description of the drawings
Fig. 1 is the structural schematic diagram of the utility model；
Fig. 2 is the explosive view of the utility model；
Fig. 3 is the stereogram of the utility model in the on-state；
Fig. 4 is stereogram of the utility model under clamping state；
Fig. 5 is the stereogram that the utility model stress buffer unit is shunk；
Fig. 6 is the stereogram that the utility model grips zinc ingot metal；
Fig. 7 is that the left laser sensor of the utility model detects that the solid of zinc ingot metal is not detected in the right laser sensor of zinc ingot metal
Figure；
Fig. 8 is that the right laser sensor of the utility model detects that the solid of zinc ingot metal is not detected in the left laser sensor of zinc ingot metal
Figure；
Fig. 9 is detected simultaneously by the side view of zinc ingot metal for the right laser sensor of the utility model and left laser sensor；
Figure 10 is the block diagram of zinc ingot metal grasping means in the utility model.
Specific implementation mode
The utility model is described in further detail below in conjunction with attached drawing embodiment.
As shown in figs 1-9, a kind of grabbing device carried for zinc ingot metal, including clamping device 1 and angle regulator 2,
Clamping device 1 include include clamping cylinder 11 and two pawl items 12 being mutually parallel, the inside of two pawl items 12 is both provided with can
Recessed portion 4 for clamping 3 upper surface of zinc ingot metal is respectively arranged with the left side that can be used for detecting objects in front in two recessed portions 4 and swashs
The rear end of optical sensor 5 and right laser sensor 6, clamping device 1 is provided with angle regulator 2, when left laser sensor 5 or
When right laser sensor 6 detects zinc ingot metal 3, angle regulator 2 turns to left laser sensor 5 and right laser sensor 6 is equal
It cannot detect zinc ingot metal 3.
As shown in Fig. 2, Fig. 5, buffer unit 7 is additionally provided between clamping device 1 and angle regulator 2.Pawl item 12 wraps
Base portion 121 and clamping section 122 are included, the cavity 9 for accommodating screw 8, the inside setting of clamping section 122 are provided on base portion 121
There is a recessed portion 123, the opening of recessed portion 123 is towards the inside and lower section of clamping device 1.
As shown in Fig. 2, Fig. 5, buffer unit 7 includes the first buffer board 71 and the second buffer board 72,71 He of the first buffer board
Multiple spring assemblies 10 are provided between second buffer board 72, spring assembly 10 includes guide post 101 and is set on the outside of guide post 101
Spring 102；When 1 external world of clamping device suffers oppression, the first buffer board 71 and the second buffer board 72 are mutually drawn close；Clamping device 1
When not oppressed by the external world, the first buffer board 71 and the second buffer board 72 are separated from each other under the action of spring assembly 10.First is slow
It is additionally provided between punching 71 and the second buffer board 72 apart from inductive component, includes being arranged in the first buffer board apart from inductive component
Block 111 on 71 and the sensor 112 being arranged on the second buffer board 72.Guide post 101 is being arranged into the second buffer board 72
Afterwards, the both sides of the second buffer board 72 are provided with nut 12 and axle sleeve 13, the second buffer board 72 is thus relatively solid with guide post 101
Fixed, the first buffer board 71 and 101 activity of guide post are fixed, and when 1 external world of clamping device suffers oppression at this time, the first buffer board 71 is along leading
Column 101 is drawn close to the second buffer board 72.
As shown in figs 2-4, the first movable block 14 and the second movable block are additionally provided between clamping cylinder 11 and pawl item 12
15, the outside of clamping cylinder 11 is enclosed with shell 16, is provided with the first sliding groove 161 and second sliding slot 162 on shell 16, and first
14 pieces of activity can slidably reciprocate along the first sliding groove 161, and the second movable block 15 can slidably reciprocate along second sliding slot 162.
The first movable block sensor 171 and the second movable block sensor 172 are respectively arranged in the first sliding groove 161 and second sliding slot 162,
First movable block 14 and the second movable block 15 are when closing up, the first movable block sensor 171 and the phase separation of the first movable block 161,
Second movable block sensor 172 and the phase separation of the second movable block 162；First movable block 161 and the second movable block 162 are being opened
When, the first movable block sensor 171 and the first movable block 161 are in contact, the second movable block sensor 172 and the second movable block
162 are in contact.
As shown in Fig. 7-Figure 10, a kind of method of zinc ingot metal crawl has following steps：1, in mechanical arm, (attached drawing is not shown
Show) control under zinc ingot metal grabbing device is moved to the top of zinc ingot metal 3 to be captured；2, the clamping device of zinc ingot metal grabbing device
1 underface is directed at zinc ingot metal 3 to be captured, and 3 grabbing device of zinc ingot metal is moved downwards the left laser until on clamping device 1
Sensor 5 or right laser sensor 6 detect zinc ingot metal 3, stop moving down；3, as shown in fig. 7, the pawl item 12 in left side already close to
The upper end of zinc ingot metal 3, it is right when left laser sensor 5 detects zinc ingot metal 3 with a certain distance from the pawl item 12 on right side also has from zinc ingot metal 3
When zinc ingot metal 3 is not detected in laser sensor 6, at this time when zinc ingot metal 3 place left side ratio on the right side of high, signal transmission to control axis,
It (can be 0.01- that control axis, which sends order angle regulator 2 is made to rotate clockwise a very small angle in the position,
0.5 degree, preferably 0.1 degree), until vertical decline until left laser sensor 5 is examined again is continued in both sides all without detection signal
Zinc ingot metal 3 is measured, is recycled successively, both sides is dropped to until grabbing device rotates while detecting signal, at this time finger surface and zinc ingot metal
Surface is in parastate, vertically declines fixed range, is closed the pawl item 12 of grabbing device, captures zinc ingot metal 3；As shown in figure 8, right side
Pawl item 12 already close to zinc ingot metal 3 upper end, with a certain distance from the pawl item 12 in left side also has from zinc ingot metal 3, when right laser sensing
Device 6 detects zinc ingot metal 3, when zinc ingot metal 3 is not detected in left laser sensor 5, at this time when zinc ingot metal 3 places right side than high, the letter in left side
Number it is transmitted to control axis, control axis sends order, and so that angle regulator 2 is rotated counterclockwise in the position a very small
Angle (can be 0.01-0.5 degree, preferably 0.1 degree), until vertical decline until the right side is continued in both sides all without detection signal
Side detects zinc ingot metal 3 again, recycles successively, drops to both sides until grabbing device rotates while detecting signal, at this time finger watch
Face is in parastate with zinc ingot metal surface, vertically declines fixed range, is closed the pawl item 12 of grabbing device, captures zinc ingot metal 3；Work as zinc ingot metal
3 place both sides basic horizontal：Left laser sensor 5 and right laser sensor 6 decline with clamping jaw 12, and band detects signal transmission simultaneously
To control axis, control axis, which sends order, makes mechanical arm decline certain distance, is closed the pawl item of grabbing device, captures zinc ingot metal
3。
The utility model has carried out in detail a kind of grabbing device and zinc ingot metal grasping means carried for zinc ingot metal above
It introduces, specific case used herein is expounded the principles of the present invention and embodiment, above example
Illustrate to be only intended to help to manage the utility model and core concept.It should be pointed out that for those skilled in the art
For, without departing from the principle of this utility model, several improvements and modifications can be made to this utility model, these
Improvement and modification are also fallen into the protection domain of the utility model claims.
Claims (8)
1. a kind of grabbing device carried for zinc ingot metal, including clamping device and angle regulator, clamping device include
Clamping cylinder and two pawl items being mutually parallel are both provided with the recess that can be used for clamping zinc ingot metal upper surface on the inside of two pawl items
Portion, it is characterised in that the left laser sensor that can be used for detecting objects in front and right laser are respectively arranged in two recessed portions
The rear end of sensor, clamping device is provided with angle regulator, when left laser sensor or right laser sensor detect zinc ingot metal
When, angle regulator, which turns to left laser sensor and right laser sensor, cannot detect zinc ingot metal.
2. a kind of grabbing device carried for zinc ingot metal according to claim 1, it is characterised in that clamping device and angle
Buffer unit is additionally provided between regulating device.
3. it is according to claim 2 it is a kind of for zinc ingot metal carry grabbing device, it is characterised in that pawl item include base portion and
Clamping section is provided with the cavity for accommodating screw on base portion, the recessed portion is provided on the inside of clamping section, described is recessed
The opening of concave portion is towards the inside and lower section of clamping device.
4. a kind of grabbing device carried for zinc ingot metal according to claim 2, it is characterised in that the buffer unit
Including the first buffer board and the second buffer board, multiple spring assemblies are provided between the first buffer board and the second buffer board, it is described
Spring assembly include guide post and the spring that is set on the outside of guide post；When the clamping device external world suffers oppression, the first buffer board and
Two buffer boards are mutually drawn close；When clamping device is not oppressed by the external world, the work of the first buffer board and the second buffer board in spring assembly
It is separated from each other under.
5. a kind of grabbing device carried for zinc ingot metal according to claim 4, it is characterised in that first buffering
Be additionally provided between plate and the second buffer board apart from inductive component, it is described apart from inductive component include be arranged in the first buffer board
On block and the sensor that is arranged on the second buffer board.
6. a kind of grabbing device carried for zinc ingot metal according to claim 4, it is characterised in that the guide post is covering
If into after the second buffer board, when the both sides of the second buffer board are provided with nut and axle sleeve, and the clamping device external world suffers oppression, first
Buffer board is drawn close along guide post to the second buffer board.
7. a kind of grabbing device carried for zinc ingot metal according to claim 1, it is characterised in that the clamping cylinder
It is additionally provided with the first movable block and the second movable block between pawl item, shell is enclosed on the outside of clamping cylinder, is arranged on shell
There are the first sliding groove and second sliding slot, the first movable block that can slidably reciprocate along the first sliding groove, the second movable block can be along
Two sliding slots slidably reciprocate.
8. a kind of grabbing device carried for zinc ingot metal according to claim 7, it is characterised in that the first sliding groove
Be respectively arranged with the first movable block sensor and the second movable block sensor in second sliding slot, the first movable block and the second activity
Block is when closing up, the first movable block sensor and the phase separation of the first movable block, the second movable block sensor and the second movable block phase
Separation；When opening, the first movable block sensor and the first movable block are in contact for first movable block and the second movable block, and second lives
Motion block sensor and the second movable block are in contact.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721708302.XU CN207746399U (en) | 2017-12-11 | 2017-12-11 | A kind of grabbing device carried for zinc ingot metal |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721708302.XU CN207746399U (en) | 2017-12-11 | 2017-12-11 | A kind of grabbing device carried for zinc ingot metal |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207746399U true CN207746399U (en) | 2018-08-21 |
Family
ID=63148900
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721708302.XU Expired - Fee Related CN207746399U (en) | 2017-12-11 | 2017-12-11 | A kind of grabbing device carried for zinc ingot metal |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207746399U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107803488A (en) * | 2017-12-11 | 2018-03-16 | 宁波双鹿能源科技有限公司 | A kind of grabbing device carried for zinc ingot metal and zinc ingot metal grasping means |
-
2017
- 2017-12-11 CN CN201721708302.XU patent/CN207746399U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107803488A (en) * | 2017-12-11 | 2018-03-16 | 宁波双鹿能源科技有限公司 | A kind of grabbing device carried for zinc ingot metal and zinc ingot metal grasping means |
| CN107803488B (en) * | 2017-12-11 | 2023-09-05 | 宁波倍特瑞新能源科技有限公司 | Grabbing device and method for zinc ingot conveying |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180821 Termination date: 20211211 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |