CN210189837U - Lifting clamping type vacuum chuck clamp - Google Patents
Lifting clamping type vacuum chuck clamp Download PDFInfo
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- CN210189837U CN210189837U CN201920657193.6U CN201920657193U CN210189837U CN 210189837 U CN210189837 U CN 210189837U CN 201920657193 U CN201920657193 U CN 201920657193U CN 210189837 U CN210189837 U CN 210189837U
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- 238000001179 sorption measurement Methods 0.000 description 2
- 238000010521 absorption reaction Methods 0.000 description 1
- 238000009825 accumulation Methods 0.000 description 1
- 238000007664 blowing Methods 0.000 description 1
- 239000011248 coating agent Substances 0.000 description 1
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- 101150038956 cup-4 gene Proteins 0.000 description 1
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Abstract
The utility model belongs to the technical field of robot clamps, and discloses a lifting clamping type vacuum chuck clamp which is provided with a mounting frame; the lower end of the mounting frame is fixed with a sucker through a bolt; the upper end of the mounting frame is fixed with a clamp connecting plate through a bolt, the lower sides of the two ends of the clamp connecting plate are connected with a three-axis cylinder through bolts, the lower ends of the three-axis cylinders are fixed with a guide rail frame through bolts, the upper sides of the left and right ends of the guide rail frame are fixed with one-way cylinders through bolts, and the lower ends of output shafts of the two one-way cylinders are connected with clamping plates through bolts; there is the triaxial cylinder of camera through the bolt fastening in the mounting groove of mounting bracket lower extreme, and there is the 3D camera output shaft lower extreme of triaxial cylinder of camera through bolted connection, and the 3D camera wears out in the rectangle through-hole department that sucking disc central authorities seted up. The utility model discloses a carry out the integrated design with cylinder, sucking disc and splint to and the article discernment of 3D camera, solved and to have carried out the goods discernment, can't snatch, damage, snatch the slow problem of beat.
Description
Technical Field
The utility model belongs to the technical field of the robot clamp, especially, relate to a tight type vacuum chuck anchor clamps of lift clamp.
Background
The robot clamp only uses a vacuum chuck to suck the box body, so that the problem that the outer package of the carton box is damaged due to the fact that the robot is too fast is brought; for the film package with a concave surface, the film package can not be grabbed or can be grabbed and then dropped, so that great loss is caused; and lack of optional 3D industrial camera recognition functionality. At present, the robot clamp adopts a clamping type and an adsorption type, and a rotating shaft is driven by a cylinder.
In summary, the problems of the prior art are as follows:
(1) when the robot speed is too high, the existing robot clamp easily damages a film package wrapped outside a carton and sunken in the surface, cannot be grabbed or can be grabbed to fall, and causes great loss;
(2) lack optional 3D industry camera recognition function, can't discern the goods.
The difficulty of solving the technical problems is as follows:
1. the camera and the clamp sucker cooperate, and the grabbing of the sucker is not influenced after the camera is extended and contracted under the action of the three-axis cylinder to finish photographing;
2. the clamping plate is lifted through the three-shaft cylinder, and the one-way cylinder is used for completing the adsorption and clamping of goods under the condition that the sucking disc is not moved;
3. under the action of the spring device, the clamping plate is transversely restored to the original position.
The significance of solving the technical problems is as follows:
1. adding a camera recognition function without causing interference to the jig;
2. the safe grabbing of goods in various ranges can be met;
3. additional mechanical power is not needed, potential cost is reduced, and the method is simple and easy to implement.
SUMMERY OF THE UTILITY MODEL
Problem to prior art existence, the utility model provides a tight type vacuum chuck anchor clamps of lift clamp.
The utility model discloses a realize like this, a tight type vacuum chuck anchor clamps of lift clamp are provided with:
a mounting frame;
the middle of the mounting rack is provided with a connecting pipe, the upper end and the lower end of the connecting pipe are welded with mounting grooves which are vertical to each other, and the lower end of the mounting rack is fixed with a sucker through a bolt;
the upper end of the mounting frame is fixed with a clamp connecting plate through a bolt, the lower sides of the two ends of the clamp connecting plate are connected with a three-axis cylinder through bolts, the lower end of the three-axis cylinder is fixed with a guide rail frame through a bolt, the upper sides of the left and right ends of the guide rail frame are fixed with one-way cylinders through bolts, and the lower ends of output shafts of the two one-way cylinders are connected with clamping plates through bolts;
there is the triaxial cylinder of camera through the bolt fastening in the mounting groove of mounting bracket lower extreme, and there is the 3D camera output shaft lower extreme of triaxial cylinder of camera through bolted connection, and the 3D camera wears out in the rectangle through-hole department that sucking disc central authorities seted up.
The utility model discloses can not only absorb non-standard goods through the sucking disc vacuum, also can press from both sides tight goods through going up and down and controlling splint simultaneously, the high-speed during operation of robot also can guarantee that the goods can not drop, the extranal packing can not damage to be favorable to improving the efficiency that whole robot snatched the goods. The utility model discloses a carry out the integrated design with cylinder, sucking disc and splint to and the article discernment of 3D camera, solved and to have carried out the goods discernment, can't snatch, damage, snatch the slow problem of beat.
Further, the installation groove at the upper end of the installation frame is internally fixed with a vacuum system related element through a bolt.
The utility model discloses a vacuum system associated component can receive external control signal, opens and shuts the gas circuit of sucking disc and controls.
Further, the upper ends of the clamping plates on the two sides are fixed with fixing grooves through bolts, the two ends of the spring rod are sleeved in the fixing grooves, the spring rod is provided with a supporting rod, springs are sleeved on the outer sides of the two ends of the supporting rod, the outer ends of the springs are provided with fixing sleeves sleeved on the outer sides of the supporting rod, and the fixing sleeves are clamped and fixed in the fixing grooves.
The utility model discloses a spring at spring lever both ends can exert outside thrust to the splint of both sides, and splint resume to initial position about can assisting.
Furthermore, a plurality of vertical slots are formed in the middle of the clamping plate.
The utility model discloses a vertical fluting can reduce the weight of splint, and the state by the centre gripping goods is observed to the side to the convenience simultaneously.
Drawings
Fig. 1 is an exploded view of a lifting clamping type vacuum chuck fixture provided in an embodiment of the present invention;
fig. 2 is a schematic structural view of a lifting clamping type vacuum chuck fixture provided in an embodiment of the present invention;
fig. 3 is a schematic view of a 3D camera mounting structure provided in an embodiment of the present invention;
fig. 4 is a schematic structural view of a one-way cylinder, a mounting rack and a clamping plate provided by the embodiment of the invention;
fig. 5 is a diagram of a sucker in a real object provided by the embodiment of the present invention;
fig. 6 is a schematic view of an article clamping structure provided by an embodiment of the present invention;
fig. 7 is a schematic view of a splint descending structure provided by an embodiment of the present invention;
fig. 8 is a schematic view of an absorption structure of the lifting gripper-suction cup according to an embodiment of the present invention;
fig. 9 is a schematic view of a camera descending structure provided by an embodiment of the present invention;
fig. 10 is a flow chart of clamping goods by the clamping plate according to the embodiment of the present invention;
in the figure: 1. a three-axis cylinder; 2. a one-way cylinder; 3. a mounting frame; 4. a suction cup; 5. a 3D camera; 6. a camera triaxial cylinder; 7. a guide rail frame; 8. a spring lever; 9. a vacuum system associated element; 10. a splint; 11. And (5) connecting the clamp with the plate.
Detailed Description
In order to further understand the contents, features and effects of the present invention, the following embodiments are illustrated and described in detail with reference to the accompanying drawings.
As shown in fig. 1 to 3, an embodiment of the present invention provides a lifting clamping type vacuum chuck clamp, including: the three-axis camera comprises a three-axis cylinder 1, a one-way cylinder 2, a mounting frame 3, a sucker 4, a 3D camera 5, a camera three-axis cylinder 6, a guide rail frame 7, a spring rod 8, a vacuum system related element 9, a clamping plate 10 and a clamp connecting plate 11.
A connecting pipe is arranged in the middle of the mounting frame 3, mounting grooves which are perpendicular to each other are welded at the upper end and the lower end of the connecting pipe, and a sucker 4 is fixed at the lower end of the mounting frame 3 through a bolt; the upper end of the mounting frame 3 is fixed with a clamp connecting plate 11 through bolts, the lower sides of two ends of the clamp connecting plate 11 are connected with a three-axis cylinder 1 through bolts, the lower end of the three-axis cylinder 1 is fixed with a guide rail frame 7 through bolts, the upper sides of the left and right ends of the guide rail frame 7 are fixed with a one-way cylinder 2 through bolts, and the lower ends of output shafts of the two one-way cylinders 2 are connected with a clamping plate 10 through bolts; there is camera triaxial cylinder 6 through the bolt fastening in the mounting groove of mounting bracket 3 lower extreme, and there is 3D camera 5 camera triaxial cylinder 6's output shaft lower extreme through bolted connection, and 3D camera 5 wears out in the rectangle through-hole department that sucking disc 4 central authorities seted up.
Preferably, the vacuum system related element 9 is fixed in the mounting groove at the upper end of the mounting frame 3 through a bolt.
Preferably, the upper ends of the two side clamping plates 10 are both fixed with fixing grooves through bolts, the two ends of the spring rod 8 are sleeved in the fixing grooves, the spring rod 8 is provided with a supporting rod, springs are sleeved on the outer sides of the two ends of the supporting rod, a fixing sleeve sleeved on the outer side of the supporting rod is arranged at the outer end of each spring, and the fixing sleeve is clamped and fixed in the fixing grooves.
Preferably, the middle of the clamping plate 10 is provided with a plurality of vertical slots.
Preferably, the vacuum system related element is provided with a solenoid valve, a vacuum generator and a pressure sensor; the functions of air blowing and air suction are realized through a two-position four-way electric reversing valve (integrated inside); the vacuum generator utilizes a positive pressure gas source to generate negative pressure.
The utility model discloses a theory of operation is:
3D camera photographing: the pressure of compressed air is converted into mechanical energy by the three-axis cylinder, and the whole camera is driven to reciprocate up and down along with the three-axis cylinder, so that the camera can extend out of the sucker to photograph and then returns to the original position without influencing the next work.
After the clamp moves above the goods, the external control system sends a photographing signal to the vacuum system related element 9 on the clamp, the vacuum system related element 9 opens the air passage of the camera three-axis cylinder 6 connected to the 3D camera 5 after receiving the photographing signal, the 3D camera 5 is ejected out of the suction cup 4 by air pressure (as shown in figure 5), the visual field of the camera is not limited any more, and the vacuum system related element 9 outputs a signal to the external control system after reaching a certain pressure. And after receiving the feedback signal of the vacuum system related element 9, the external control system controls the 3D camera 5 to take a picture. After the photographing is finished, the external control system sends a camera retraction signal to the vacuum system related element 9, the vacuum system related element 9 of the clamp closes the air path after receiving the signal, and the 3D camera 5 automatically retracts to the position shown in the figure 3.
The principle that the vacuum chuck grabs the goods is as follows: the positive pressure is converted into a negative pressure below atmospheric pressure by a vacuum generator, forming a pressure difference, creating suction.
After the clamp clings to the surface of the grabbed goods (as shown in fig. 6), the external control system sends a suction signal to the vacuum system related element 9 of the clamp, and after the vacuum system related element 9 receives the suction signal, the vacuum generator connected with the sucker through the air path is opened, positive pressure is converted into negative pressure to generate suction force, and then the goods are sucked tightly. After the related element 9 of the vacuum system reaches a certain pressure, a signal is output to an external control system until the vacuum chuck finishes grabbing the goods. When the vacuum system related element 9 receives the suction stopping signal, the suction cup air circuit is closed, and the goods are not sucked any more.
Extension of the clamp plate device: the three-axis cylinder converts the pressure of the compressed air into mechanical energy, and the driving mechanism moves in a linear reciprocating manner, so that the clamping plate device can extend and return to the original position.
After the external control system sends a splint device extension signal to the associated element 9 of the clamp vacuum system, the associated element 9 of the vacuum system receives the signal and then opens the air channels of the three-axis cylinders 1 on both sides, the splint is changed from a non-telescopic state (as shown in fig. 7 (a)) to an extension state (as shown in fig. 7 (b)), and after the associated element 9 of the vacuum system reaches a certain pressure, the associated element 9 of the vacuum system opens the air channel of the single-phase cylinder 2 and simultaneously outputs a signal to the external control system. So far, two triaxial cylinders connected on the clamp plate of the clamp make the whole clamp plate assembly and the slide rail plate assembly descend through extension, and the process of half-coating of articles is completed.
The clamp plate device clamps the goods: the two one-way cylinders generate air pressure through air supply and energy accumulation on one side of the piston, the air pressure pushes the piston to generate thrust to push out, so that the clamping plate presses goods, and the goods and the clamping plate generate large friction force, thereby clamping the goods; the one-way cylinder is a single-acting cylinder and returns to the original position by a spring device.
After the one-way cylinder gas circuit 2 is opened, the gas rod of the transverse one-way cylinder 2 is pressed out by positive pressure, and the clamping plates on the two sides are driven by the cylinder slide rail to clamp goods. When putting down goods, the external control system sends a clamping stopping signal to the pneumatic control device, the vacuum system related elements receive the signal, the transverse one-way cylinder air channel clamping plates are closed to be transversely rebounded, the spring rod 8 can apply outward thrust to the clamping plates on the two sides through the springs at the two ends, the left clamping plate and the right clamping plate are assisted to restore to the initial positions, then the three-axis cylinder 1 air channels connected to the clamping plates on the two sides of the sucker are closed, and the clamping plates on the two sides restore to the initial states.
The above description is only for the preferred embodiment of the present invention, and is not intended to limit the present invention in any way, and all the modifications and equivalents of the technical spirit of the present invention to any simple modifications of the above embodiments are within the scope of the technical solution of the present invention.
Claims (4)
1. The utility model provides a lift clamping type vacuum chuck anchor clamps which characterized in that, lift clamping type vacuum chuck anchor clamps are provided with:
a mounting frame;
the middle of the mounting rack is provided with a connecting pipe, the upper end and the lower end of the connecting pipe are welded with mounting grooves which are vertical to each other, and the lower end of the mounting rack is fixed with a sucker through a bolt;
the upper end of the mounting frame is fixed with a clamp connecting plate through a bolt, the lower sides of the two ends of the clamp connecting plate are connected with a three-axis cylinder through bolts, the lower ends of the three-axis cylinders are fixed with a guide rail frame through bolts, the upper sides of the left and right ends of the guide rail frame are fixed with one-way cylinders through bolts, and the lower ends of output shafts of the two one-way cylinders are connected with clamping plates through bolts;
there is the triaxial cylinder of camera through the bolt fastening in the mounting groove of mounting bracket lower extreme, and there is the 3D camera output shaft lower extreme of triaxial cylinder of camera through bolted connection, and the 3D camera wears out in the rectangle through-hole department that sucking disc central authorities seted up.
2. The lift-clamping type vacuum chuck jig of claim 1, wherein an air control means is fixed in the mounting groove at the upper end of the mounting frame by means of a bolt.
3. The vacuum chuck jig of claim 1, wherein fixing grooves are fixed to upper ends of the both side clamping plates by bolts, both ends of the spring rod are fitted into the fixing grooves, the spring rod is provided with a support rod, springs are fitted to outer sides of both ends of the support rod, outer ends of the springs are provided with fixing sleeves fitted to outer sides of the support rod, and the fixing sleeves are engaged and fixed in the fixing grooves.
4. The lift-clamping vacuum chuck assembly of claim 1, wherein the clamp plate defines a plurality of vertical slots therein.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920657193.6U CN210189837U (en) | 2019-05-09 | 2019-05-09 | Lifting clamping type vacuum chuck clamp |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920657193.6U CN210189837U (en) | 2019-05-09 | 2019-05-09 | Lifting clamping type vacuum chuck clamp |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210189837U true CN210189837U (en) | 2020-03-27 |
Family
ID=69882710
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920657193.6U Withdrawn - After Issue CN210189837U (en) | 2019-05-09 | 2019-05-09 | Lifting clamping type vacuum chuck clamp |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN210189837U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110271031A (en) * | 2019-05-09 | 2019-09-24 | 湖南视比特机器人有限公司 | A kind of lifting pinching vacuum chuck fixture and application method |
| CN113146516A (en) * | 2021-02-01 | 2021-07-23 | 北京理工大学 | Modular flexible clamp |
| CN113894122A (en) * | 2021-10-15 | 2022-01-07 | 阜阳市利康医疗废物处置有限公司 | First robot in medical kit cleaning system |
-
2019
- 2019-05-09 CN CN201920657193.6U patent/CN210189837U/en not_active Withdrawn - After Issue
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110271031A (en) * | 2019-05-09 | 2019-09-24 | 湖南视比特机器人有限公司 | A kind of lifting pinching vacuum chuck fixture and application method |
| CN110271031B (en) * | 2019-05-09 | 2024-05-24 | 湖南视比特机器人有限公司 | Lifting clamping type vacuum chuck clamp and use method thereof |
| CN113146516A (en) * | 2021-02-01 | 2021-07-23 | 北京理工大学 | Modular flexible clamp |
| CN113146516B (en) * | 2021-02-01 | 2022-05-27 | 北京理工大学 | Modular flexible clamp |
| CN113894122A (en) * | 2021-10-15 | 2022-01-07 | 阜阳市利康医疗废物处置有限公司 | First robot in medical kit cleaning system |
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| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20200327 Effective date of abandoning: 20240524 |
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| AV01 | Patent right actively abandoned |
Granted publication date: 20200327 Effective date of abandoning: 20240524 |