CN211972664U

CN211972664U - Mark automatic clamping and grabbing device

Info

Publication number: CN211972664U
Application number: CN201922137429.6U
Authority: CN
Inventors: 杨光
Original assignee: Guangdong Jinyuelai Automation Equipment Co ltd
Current assignee: Guangdong Jinyuelai Automation Equipment Co ltd
Priority date: 2019-12-03
Filing date: 2019-12-03
Publication date: 2020-11-20
Anticipated expiration: 2029-12-03

Abstract

The utility model discloses a mark automatic clamping and grabbing device, which comprises a clamping and grabbing head and a clamping and grabbing driving mechanism; the gripping head comprises a clamping seat and two contact pin assemblies which are arranged on the clamping seat in a front-back manner; the pin assembly comprises a pin and a pin cylinder for driving the pin to stretch downwards in an inclined manner; the contact pins on the front side extend obliquely downwards from front to back, the contact pins on the rear side extend obliquely downwards from back to front, the lower ends of the two contact pins are puncture ends for puncturing the mark, and the puncture ends of the contact pins on the front side are positioned in front of the puncture ends of the contact pins on the rear side and keep a distance; the clamp seat is provided with a shipping mark sensor used for sensing whether the shipping mark is caught by the clamp or not; so, through preceding, the rear side contact pin setting, realize that the automation that the V-arrangement inserted the mark presss from both sides the mode of grabbing, preceding, the rear side contact pin is the opposite side and inserts the mark, has ensured to press from both sides to grab firm reliable, stops the abnormal obscission of mark, and it is applicable to multiple material and the mark of different surface roughness, simultaneously, responds to by the mark sensor, avoids leaking to press from both sides the phenomenon of grabbing.

Description

Mark automatic clamping and grabbing device

Technical Field

The utility model relates to a mark is carried the field technique, especially indicates an automatic device of grabbing that presss from both sides of mark.

Background

In the traditional technology, when mark (such as washing mark) sewing is carried out on clothes, mark is mostly folded manually, and then the clothes are placed at the position of the mark to be sewn and then sewn; the manual operation method has many disadvantages, such as: put location mark accurate nature unsatisfactory, lead to the mark to make the quality uniformity not good enough, simultaneously, manual operation has had the defect such as waste time and energy, production efficiency low undoubtedly.

Afterwards, it has appeared to utilize and has connected vacuum chuck on the manipulator to absorb mark, and it uses vacuum chuck to snatch washing mark from sending mark mechanism's export, simultaneously with the help of XY axle guide rail platform, places platform department at predetermined mark to the washing mark that has been snatched, uses horizontal cylinder to drive anchor clamps, places platform department from the mark and presss from both sides the washing mark that folds in proper order, places the mark through the material loading cylinder to sewing department. Compared with the manual operation mode in the traditional technology, the suction mode is greatly improved, but in practical application, the suction controllability is poor, if the gas amount is large, the phenomenon of sucking a plurality of shipping marks at one time is easy to occur, and if the gas amount is small, the phenomenon of sucking the shipping marks is easy to occur; in addition, different shipping mark materials are different, also appear absorbing unstable phenomenon easily.

And, current manipulator, there are not good enough, occupation space scheduling problem of structural rationality, be unfavorable for the design overall arrangement of board, limited the practicality of board.

Therefore, a new technical solution needs to be developed to solve the above problems.

SUMMERY OF THE UTILITY MODEL

In view of this, the utility model discloses to the disappearance that prior art exists, its main objective provides an automatic device of grabbing that presss from both sides of mark, it is through preceding, the setting of rear side contact pin, realize that the V-arrangement inserts the automatic clamp of mark and grabs the mode, preceding, the rear side contact pin is that the opposite side inserts the mark, has ensured to press from both sides and has grabbed firm reliable, stops the unusual obscission of mark, and it is applicable to the mark of multiple material and different surface roughness, simultaneously, responds to by the mark sensor, avoids leaking to press from both sides and grabs the phenomenon.

In order to achieve the above purpose, the utility model adopts the following technical scheme:

a mark automatic clamping and grabbing device comprises a clamping and grabbing head and a clamping and grabbing driving mechanism for driving the clamping and grabbing to move; wherein:

the gripping head comprises a clamping seat and two contact pin assemblies arranged on the clamping seat in a front-back manner; each pin assembly comprises a pin and a pin cylinder for driving the pin to stretch downwards in an inclined mode; the two contact pins are arranged front and back, the contact pin on the front side extends obliquely downwards from front to back, the contact pin on the back side extends obliquely downwards from back to front, the lower ends of the two contact pins are puncture ends for puncturing the mark, and the puncture end of the contact pin on the front side is positioned in front of the puncture end of the contact pin on the back side and keeps a distance;

and a shipping mark sensor used for sensing whether the shipping mark is clamped and grasped is arranged on the clamping seat.

As a preferred scheme, two inclined holes and a middle hole are arranged on the clamping seat and penetrate through the upper end surface and the lower end surface of the clamping seat; one oblique hole extends obliquely downwards from front to back, the other oblique hole extends obliquely downwards from back to front, the middle hole is positioned between the two oblique holes, and the lower end opening of the middle hole is positioned between the lower end openings of the two oblique holes; the two contact pin assemblies are respectively arranged in the corresponding two inclined holes, the contact pins extend out of the lower end openings of the inclined holes, and the contact pin air cylinders are exposed above the clamping seats from the upper end openings of the inclined holes; mark sensor is installed downtheholely in the middle of.

As a preferable scheme, the clamping seat is of an inverted cone structure with a large upper part and a small lower part.

As a preferred scheme, the clamping and grabbing driving mechanism comprises a front and rear translation cylinder and an up and down lifting cylinder; the front and back translation cylinder is connected with and drives the up-down lifting cylinder to translate front and back, and the up-down lifting cylinder is connected with and drives the clamping head to lift up and down.

As a preferred scheme, the front end of the front and back translation cylinder and the upper end of the clamping and grabbing head are respectively connected with the left side and the right side of the up-down lifting cylinder.

As a preferred scheme, the upper end of the clamping seat is connected with a connecting rod, the right side of the up-down lifting cylinder is connected with a first L-shaped mounting piece, the vertical part of the first L-shaped mounting piece is mounted on the right side of the up-down lifting cylinder, and the horizontal part of the first L-shaped mounting piece is connected with the upper end of the connecting rod.

Preferably, the first L-shaped mounting plate is mounted on the right side of the up-down lifting cylinder in an up-down position adjustable manner.

As a preferred scheme, the front and back translation cylinder is installed on a bearing plate, and the contact pin cylinder corresponding to the contact pin which obliquely extends downwards from back to front on the bearing plate is provided with an avoidance notch.

Compared with the prior art, the utility model has obvious advantages and beneficial effects, concretely speaking, as can be known from the technical scheme, the automatic clamping and grabbing mode of V-shaped inserted mark is realized mainly through the arrangement of the front and rear side contact pins, the front and rear side contact pins are opposite side inserted marks, the clamping and grabbing stability and reliability are ensured, the abnormal falling-off phenomenon of the mark is avoided, the mark is suitable for marks of various materials and different surface flatness, and meanwhile, the mark sensor is used for sensing to avoid the missing clamping and grabbing phenomenon;

secondly, the mounting structure of the shipping mark sensor and the contact pin assembly on the clamping seat is ingenious in design, compact and reasonable, the miniaturization of the whole clamping head is ensured, the shipping mark sensor and the contact pin assembly are protected, the shipping mark sensor is over against the clamping area of the two contact pins, and the sensing effect is good;

moreover, press from both sides and grab actuating mechanism including front and back translation cylinder, oscilaltion cylinder, realize the upper and lower, front and back displacement control to the chuck, the compact structure nature is considered emphatically to the connection structure of front and back translation cylinder, oscilaltion cylinder, chuck for whole mark is automatic to be pressed from both sides the volume of grabbing the device less, and simultaneously, mark is automatic to be pressed from both sides and grabs the device and install and use.

To illustrate the structural features and functions of the present invention more clearly, the present invention will be described in detail with reference to the accompanying drawings and specific embodiments.

Drawings

FIG. 1 is a diagram of an application of an embodiment of the present invention;

FIG. 2 is a first perspective view of an embodiment of the present invention (including a carrier plate);

FIG. 3 is an exploded view of an embodiment of the present invention (including a carrier plate);

FIG. 4 is a second perspective view of an embodiment of the present invention (without a carrier plate);

FIG. 5 is a third perspective view of the embodiment of the present invention (without the carrier plate);

figure 6 is a cross-sectional view of a gripper head in an embodiment of the invention.

The attached drawings indicate the following:

holder 210 pin assembly 220

Pin 230 pin cylinder 240

Up-down lifting cylinder 260 of front-back translation cylinder 250

First L-shaped mounting tab 280 of connecting rod 270

Bearing plate 290 avoiding notch 291

Middle hole 292 second L-shaped mounting tab 293

Marker automatic clamping device 294.

Detailed Description

Fig. 1 to 6 show the specific structure of the preferred embodiment of the present invention. Fig. 1 shows an application of the marker automatic gripping device 294, but it is not limited to the marker.

A mark automatic clamping and grabbing device 294 comprises a clamping and grabbing head and a clamping and grabbing driving mechanism for driving the clamping and grabbing to move; wherein: the gripper head comprises a clamping seat 210 and two pin components 220 which are arranged on the clamping seat 210 in a front-back manner; each pin assembly 220 includes a pin 230 and a pin cylinder 240 for driving the pin 230 to extend and contract obliquely downward; the two pins 230 are arranged front and back, the front pin 230 extends obliquely downwards from front to back, the rear pin 230 extends obliquely downwards from back to front, the lower ends of the two pins 230 are puncturing ends for puncturing the shipping marks, and the puncturing ends of the front pin 230 are positioned in front of the puncturing ends of the rear pin 230 and keep a distance; and, be provided with on the holder 210 and be used for responding to mark whether by the mark sensor that presss from both sides and grasp. From fig. 6, it can be seen that the automatic clamping and grabbing mode of inserting the shipping mark in a V shape is realized by arranging the front and rear side contact pins, the front and rear side contact pins are opposite sides to insert the shipping mark, when the front and rear side contact pins are inserted, the front and rear side contact pins form opposite side acting force on the shipping mark, the shipping mark can form a slight upward arching trend between two contact points, the clamping and grabbing stability and reliability are ensured, the abnormal dropping phenomenon of the shipping mark is avoided, and meanwhile, the shipping mark sensor senses the shipping mark, so that the clamping and grabbing missing phenomenon is avoided; this kind of mode is grabbed to automatic clamp that mark was inserted to V-arrangement for contact pin 230 occupation space under the state of stretching, contracting is all less, conveniently presss from both sides and grabs the action.

Referring to fig. 4 and 6, the holder 210 is provided with two oblique holes and a middle hole, which both penetrate through the upper and lower end surfaces of the holder 210; one oblique hole extends obliquely downwards from front to back, the other oblique hole extends obliquely downwards from back to front, the middle hole is positioned between the two oblique holes, and the lower end opening of the middle hole is positioned between the lower end openings of the two oblique holes; the two pin assemblies 220 are respectively installed in the two corresponding oblique holes, the pins 230 extend out from the lower openings of the oblique holes, and the pin cylinders 240 are exposed above the holders 210 from the upper openings of the oblique holes; mark sensor is installed downtheholely in the middle of. Preferably, the holder 210 has a reverse tapered structure with a large top and a small bottom.

As shown in fig. 2 to 5, the gripping driving mechanism includes a front and rear translation cylinder 250 and an up and down lifting cylinder 260; the front and back translation cylinder 250 is connected with and drives the up-down lifting cylinder 260 to translate front and back, and the up-down lifting cylinder 260 is connected with and drives the gripping head to lift up and down. The front end of the front and back translation cylinder 250 and the upper end of the gripping head are respectively connected with the left side and the right side of the up-down lifting cylinder 260. The upper end of the clamping seat 210 is connected with a connecting rod 270, the right side of the up-down lifting cylinder 260 is connected with a first L-shaped mounting piece 280, the vertical part of the first L-shaped mounting piece 280 is mounted on the right side of the up-down lifting cylinder 260, and the horizontal part of the first L-shaped mounting piece 280 is connected with the upper end of the connecting rod 270. The first L-shaped mounting plate 280 is installed on the right side of the up-down lifting cylinder 260 in an adjustable up-down position. Here, the front and rear translation cylinders 250 are installed on a carrier 290, and the carrier 290 is provided with an escape notch 291 corresponding to the pin cylinder 240 of the pin 230 which extends obliquely downward from the rear to the front. Can set up the mark automatic clamp of a set of or more than two sets of and grab device 294 on loading board 290, preferably, mark automatic clamp is grabbed device 294 and is arranged along controlling the interval formula, and every mark automatic clamp is grabbed device 294 can connect a second L shape mounting panel 293 through its translation cylinder 250 around and lock admittedly on loading board 290.

In summary, the utility model is mainly characterized in that the automatic clamping and grabbing mode of V-shaped inserted mark is realized through the arrangement of the front and rear side contact pins, the front and rear side contact pins are opposite side inserted marks, the clamping and grabbing stability and reliability are ensured, the abnormal falling off phenomenon of the marks is avoided, the mark is suitable for marks made of various materials and with different surface flatness, and meanwhile, the mark sensor is used for sensing to avoid the missing clamping and grabbing phenomenon;

The above description is only a preferred embodiment of the present invention, and is not intended to limit the technical scope of the present invention, so that any slight modifications, equivalent changes and modifications made by the technical spirit of the present invention to the above embodiments are all within the scope of the technical solution of the present invention.

Claims

1. The utility model provides an automatic device of grabbing that presss from both sides of mark which characterized in that: comprises a gripper head and a gripper driving mechanism for driving the gripper to move; wherein:

the clamping and grabbing head comprises a clamping seat (210) and two pin components (220) which are arranged on the clamping seat (210) in a front-back mode; each pin assembly (220) comprises a pin (230) and a pin cylinder (240) which drives the pin (230) to extend and retract obliquely downwards; the two contact pins (230) are arranged front and back, the contact pin (230) on the front side extends downwards obliquely from front to back, the contact pin (230) on the back side extends downwards obliquely from back to front, the lower ends of the two contact pins (230) are puncture ends for puncturing the mark, and the puncture end of the contact pin (230) on the front side is positioned in front of the puncture end of the contact pin (230) on the back side and keeps a distance;

and a shipping mark sensor used for sensing whether the shipping mark is clamped and grabbed is arranged on the clamping seat (210).

2. The mark of claim 1 is automatic presss from both sides and grabs device, its characterized in that: the clamping seat (210) is provided with two inclined holes and a middle hole (292) which are communicated with the upper end surface and the lower end surface of the clamping seat (210); one oblique hole extends obliquely downwards from front to back, the other oblique hole extends obliquely downwards from back to front, the middle hole (292) is positioned between the two oblique holes, and the lower end opening of the middle hole (292) is positioned between the lower end openings of the two oblique holes; the two pin assemblies (220) are respectively arranged in the corresponding two inclined holes, the pins (230) extend out from the lower end openings of the inclined holes, and the pin cylinders (240) are exposed above the clamping seats (210) from the upper end openings of the inclined holes; the shipping mark sensor is installed in middle hole (292).

3. The mark of claim 2 is automatic presss from both sides and grabs device, its characterized in that: the clamping seat (210) is of an inverted cone structure with a large upper part and a small lower part.

4. The mark of claim 1 is automatic presss from both sides and grabs device, its characterized in that: the clamping and grabbing driving mechanism comprises a front and rear translation cylinder (250) and an up and down lifting cylinder (260); the front and back translation cylinder (250) is connected with and drives the up-down lifting cylinder (260) to translate front and back, and the up-down lifting cylinder (260) is connected with the clamping head and drives the clamping head to lift up and down.

5. The mark of claim 4 is from pressing from both sides grabbing device, its characterized in that: the front end of the front and back translation cylinder (250) and the upper end of the clamping head are respectively connected with the left side and the right side of the up-down lifting cylinder (260).

6. The mark of claim 5 is from pressing from both sides grabbing device, its characterized in that: the upper end of holder (210) is connected with connecting rod (270), the right side of oscilaltion cylinder (260) is connected with first L shape installation piece (280), the vertical portion of first L shape installation piece (280) is installed in the right side of oscilaltion cylinder (260), the horizontal portion of first L shape installation piece (280) supplies the upper end of connecting rod (270) to connect.

7. The mark of claim 6 is from pressing from both sides grabbing device, its characterized in that: the first L-shaped mounting piece (280) can be arranged on the right side of the up-down lifting cylinder (260) in an up-down position adjustable manner.

8. The mark of claim 4 is from pressing from both sides grabbing device, its characterized in that: the front and back translation cylinder (250) is arranged on a bearing plate (290), and an avoidance notch (291) is arranged on the bearing plate (290) corresponding to a pin cylinder (240) of a pin (230) which extends and retracts from back to front obliquely and downwards.