CN212241084U - Support grabbing device and robot - Google Patents
Support grabbing device and robot Download PDFInfo
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- CN212241084U CN212241084U CN202020298754.0U CN202020298754U CN212241084U CN 212241084 U CN212241084 U CN 212241084U CN 202020298754 U CN202020298754 U CN 202020298754U CN 212241084 U CN212241084 U CN 212241084U
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Abstract
The utility model belongs to the technical field of material transportation equipment, concretely relates to support grabbing device and have this material grabbing device's robot. Support grabbing device include the base plate, absorb unit and a plurality of positioning unit, absorb the unit and link to each other with the base plate and be used for absorbing two at least supports, a plurality of positioning unit link to each other with the base plate respectively, positioning unit includes the setting element, the setting element is used for fixing a position two at least supports to keep predetermined relative position between two arbitrary supports in making two at least supports. According to the support grabbing device in this application, when the support snatchs, can guarantee to guarantee that the relative position between two supports remains unchanged with the removal in-process snatching of support, and then guarantee the positioning accuracy of support in the equipment in-process.
Description
Technical Field
The utility model belongs to the technical field of material transportation equipment, concretely relates to support grabbing device and have this material grabbing device's robot.
Background
Two methods are currently adopted for assembling door body glass of household appliances such as a microwave oven and the like and a bracket, wherein the first method adopts the steps of manually pasting double-sided adhesive tape on the glass and manually installing the bracket on the glass; the second kind adopts non-standard special plane to fix a position the support, adopts rectangular coordinate + automatic glue pump system, realizes the rubber coating, and the glass is placed to the manual work. The first mode has poor positioning accuracy and low efficiency, and is difficult to meet the requirement of automatic high-speed production of microwave ovens; the second mode obtains promoting for first kind precision, still can't satisfy the requirement of the relative glass central line precision of support, and compatible relatively poor, adopts the manual work to place glass and support, and intensity of labour is great, and production efficiency and quality are influenced by the artificial factor, are more unfavorable for present automation, unmanned production.
SUMMERY OF THE UTILITY MODEL
The utility model aims at solving the problem that the support is low in positioning accuracy in the assembling process at least, and the purpose is realized through the following mode.
The utility model discloses a first aspect provides a support grabbing device, support grabbing device includes:
a substrate;
the suction unit is connected with the substrate and is used for sucking at least two supports;
the positioning units are respectively connected with the substrate and comprise positioning pieces, and the positioning pieces are used for positioning the at least two supports so as to keep a preset relative position between any two supports in the at least two supports.
According to the support grabbing device in this application, when the support snatchs, fix a position two at least supports through the setting element on the positioning unit to guarantee to keep predetermined relative position between two supports, absorb the support after the location through absorbing the unit simultaneously, thereby the snatching of support and remove the in-process and guarantee that the relative position between two supports keeps unchangeable, and then guarantee the positioning accuracy of support in the equipment in-process.
In addition, according to the stent gripping device in the present application, the following additional technical features may be provided:
in some embodiments of the present application, the positioning element is a positioning pin, a positioning key, or a positioning block that matches the shape of the bracket.
In some embodiments of the present application, the locating pin is a cylindrical locating pin or a polygonal locating pin.
In some embodiments of the present application, the positioning unit further comprises a mounting assembly comprising:
the supporting seat is connected with the substrate;
the driving piece is connected with the supporting seat and is used for driving the positioning piece to move;
the mounting panel, the mounting panel with the driving piece links to each other and is used for being in drive under the effect of driving piece the setting element removes.
In some embodiments of the present application, the positioning unit further comprises a connection assembly, the connection assembly comprising:
the first connecting plate is connected with the mounting plate;
the second connecting plate is detachably connected with the first connecting plate, and a first adjusting sheet is arranged between the first connecting plate and the second connecting plate;
the setting element mount pad, the setting element mount pad is used for connecting the setting element with the second connecting plate, the setting element mount pad with be equipped with the second trimmer between the second connecting plate, just first trimmer place plane with second trimmer place plane looks vertical.
In some embodiments of the present application, the mounting assembly further includes a limiting member mounting plate and a limiting member, the limiting member mounting plate is connected to the supporting seat, the limiting member is connected to the limiting member mounting plate and faces the mounting plate, and the mounting plate is provided with a limiting surface matched with the shape of the limiting member.
In some embodiments of the present application, the support grabbing device further includes a plurality of positioning reference blocks, which are respectively connected to the base plate, the positioning reference blocks are provided with first connection faces for positioning the support, the suction unit is provided with second connection faces for sucking the support, and the first connection faces and the second connection faces are in the same plane.
In some embodiments of the present application, the suction unit is a suction cup or an electromagnet.
Another aspect of the application still provides a robot, the robot has any one of the above-mentioned support grabbing device, the robot still includes flange, flange is used for connecting the robot with support grabbing device.
In some embodiments of this application, the robot still includes the buffering unit, the buffering unit includes guide arm and buffer, the guide arm is used for connecting flange with the base plate, the one end of guide arm is passed flange and with the base plate links to each other, the guide arm is used for the guide flange is followed the axial direction of guide arm slides, the other end of guide arm is equipped with and is used for the restriction the flange roll-off the boss of guide arm, the guide arm is located flange with part cover between the base plate is equipped with the buffering unit.
Drawings
Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Also, like parts are designated by like reference numerals throughout the drawings. Wherein:
fig. 1 is a schematic structural view of a stent gripping device according to an embodiment of the present invention;
FIG. 2 is a schematic view of the bracket assembled with the panel by the bracket grabbing device of FIG. 1;
FIG. 3 is a schematic view of the bracket and the panel of FIG. 2;
fig. 4 is a schematic structural diagram of the positioning unit in fig. 1.
The reference numerals in the drawings denote the following:
100: a stent grabbing device;
10: a substrate;
20: a suction unit;
30: positioning unit, 31: positioning piece, 32: mounting assembly, 321: supporting seat, 3211: first support seat, 3212: second support seat, 3213: riser, 322: air cylinder, 323: mounting plate, 33: connecting assembly, 331: first connection plate, 332: second connection plate, 333: positioning member mount, 334: first tab, 34: locating part mounting panel, 35: a limiting member;
40: positioning a reference block;
50: a connecting flange;
60: buffer unit, 61: guide rod, 62: spring, 63: a boss;
200: a bracket, 210: first mounting hole, 220: a second mounting hole;
300: a panel.
Detailed Description
Exemplary embodiments of the present application will be described in more detail below with reference to the accompanying drawings. While the exemplary embodiments of the present application are shown in the drawings, it should be understood that the technical solutions of the present application can be implemented in various forms and should not be limited by the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
It is to be understood that the terminology used herein is for the purpose of describing particular example embodiments only, and is not intended to be limiting. As used herein, the singular forms "a", "an" and "the" may be intended to include the plural forms as well, unless the context clearly indicates otherwise. The terms "comprises," "comprising," "including," and "having" are inclusive and therefore specify the presence of stated features, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, steps, operations, elements, components, and/or groups thereof. The method steps, processes, and operations described herein are not to be construed as necessarily requiring their performance in the particular order described or illustrated, unless specifically identified as an order of performance. It should also be understood that additional or alternative steps may be used.
Although the terms first, second, third, etc. may be used herein to describe various elements, components, regions, layers and/or sections, these elements, components, regions, layers and/or sections should not be limited by these terms. These terms may be only used to distinguish one element, component, region, layer or section from another region, layer or section. Terms such as "first," "second," and other numerical terms when used herein do not imply a sequence or order unless clearly indicated by the context. Thus, a first element, component, region, layer or section discussed below could be termed a second element, component, region, layer or section without departing from the teachings of the example embodiments.
For convenience of description, spatially relative terms, such as "inner", "outer", "lower", "below", "upper", "above", and the like, may be used herein to describe one element or feature's relationship to another element or feature as illustrated in the figures. Such spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "below" or "beneath" other elements or features would then be oriented "above" or "over" the other elements or features. Thus, the example term "below … …" can include both an orientation of above and below. The device may be otherwise oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
Fig. 1 is a schematic structural diagram of a stent gripping device 100 according to an embodiment of the present invention. Fig. 2 is a schematic structural view illustrating the assembly of the rack 200 and the panel 300 by the rack grab 100 of fig. 1. The support grabbing device 100 in this application is used for positioning and grabbing a plurality of supports 200 and bonding the supports 200 on the panel 300, thereby ensuring the relative accuracy between the bonded supports 200, such as the bonding assembly of a glass panel and a sheet metal support of a microwave oven. Of course, the stent gripping device 100 of the present application may also be used for other assembly and handling processes. As shown in fig. 1 and 2, the rack gripping device 100 in the present application includes a base plate 10, a suction unit 20, and a plurality of positioning units 30. Since the bracket 200 in the present embodiment is a sheet metal part and the suction unit 20 in the present embodiment is an electromagnet, the bracket 200 is sucked and fixed by a magnetic force. In this embodiment or another embodiment of the present application, the suction unit 20 may be a vacuum chuck so that other metal or non-metal materials can be sucked.
Fig. 3 is a schematic diagram illustrating a relative structure of the bracket 200 and the panel 300 in fig. 2. As shown in fig. 3, the bracket 200 in the present embodiment includes two sheet metal brackets arranged side by side. As shown in fig. 3, the upper and lower ends of the bracket 200 are respectively provided with a first mounting hole 210 and a second mounting hole 220, and in order to ensure that the relative positions of the left and right brackets 200 are maintained during the grabbing and moving of the bracket 200, the bracket grabbing device 100 in this embodiment is provided with four positioning units 30, so that both ends of one bracket 200 are commonly positioned by two positioning units 30. Fig. 4 is a schematic structural diagram of the positioning unit 30 in fig. 1. As shown in fig. 1 and 4, the positioning unit 30 in this embodiment includes a mounting assembly 32 and a positioning member 31, the mounting assembly 32 is connected to the substrate 10, the positioning member 31 is connected to the mounting assembly 32 to position the support 200, so as to ensure that a preset relative position is maintained between the two supports 200, and the positioned support 200 is sucked by the suction unit 20, so as to ensure that the relative position between the two supports 200 is maintained in the grabbing and moving processes of the support 200, and further ensure the positioning accuracy of the support 200 in the assembling process.
The positioning member 31 in this embodiment is a positioning pin, and the two ends of the bracket 200 are positioned by inserting the two positioning pins into the first mounting hole 210 and the second mounting hole 220, respectively. Preferably, one of the positioning pins matched with the mounting holes at the two ends of the bracket 200 is a cylindrical positioning pin, and the other one is a polygonal positioning pin, preferably a diamond pin, so that the positioning of the bracket 200 is ensured and the over-positioning is prevented, which results in the fact that the positioning pins at the two ends of the bracket 200 cannot be inserted into the mounting holes at the same time.
In some other embodiments of the present application, the positioning element 31 is a fixed key matched with the mounting holes at the two ends of the bracket 200, or a positioning block, and a positioning groove matched and connected with the shape of the bracket 200 is provided on the positioning block.
In other embodiments of the present application, the racks 200 may be arranged in three or more rows, so as to increase the number of the positioning units 30 and ensure that the relative position between any two racks 200 is unchanged. Or in other embodiments of the present application, the two brackets 200 are disposed in a crossed manner, and the relative position of the positioning unit 30 may be changed accordingly.
As further shown in fig. 3, the mounting assembly 32 of the present embodiment includes a support base 321, a driving member, and a mounting plate 323. The driving member in this embodiment is an air cylinder 322. The supporting plate 321 comprises a second supporting plate 3212 connected with the base plate 10 and a first supporting plate 3211 connected with the cylinder 322, and a vertical plate 3213 is connected between the first supporting plate 3211 and the second supporting plate 3212, so that the strength of the supporting seat 321 is increased. The mounting plate 323 is connected with the extending end of the cylinder 322, and the positioning member 31 is connected with the mounting plate 323 through the connecting assembly 33, so that the mounting plate 323 can drive the positioning member 31 to move under the driving action of the cylinder 322.
The air cylinder 322 is arranged to drive the driving part 31 to move, so that the supports 200 with different heights can be positioned, and the application range of the support grabbing device 100 is widened. In order to prevent the positioning member 31 from moving excessively toward the bracket 200 under the action of the cylinder 322, pressing and damaging the panel 300, the mounting assembly 32 in this embodiment further includes a limiting member mounting plate 34 and a limiting member 35. The limiting member mounting plate 34 is connected to the second supporting plate 3212, the limiting member 35 is connected to the limiting member mounting plate 34 and is disposed toward the mounting plate 323, and the mounting plate 323 is provided with a limiting surface matched with the shape of the limiting member 35, so that when the cylinder 322 extends to a certain length in a direction toward the bracket 200, the limiting member 35 contacts with the limiting surface at the bottom of the mounting plate 323, thereby preventing the cylinder 322 from extending too long, and ensuring the use safety of the bracket grabbing device 100.
The coupling assembly 33 in this embodiment includes a first coupling plate 331, a second coupling plate 332, and a positioning member mount 333. The first connecting plate 331 is connected to the mounting plate 323, and the second connecting plate 332 is detachably connected to the first connecting plate 311, for example, by bolts, so that a first tab 334 can be disposed between the first connecting plate 331 and the second connecting plate 332, which facilitates adjustment of the position of the positioning member 31 along the length direction of the bracket 200. Meanwhile, the positioning member mounting seat 333 is detachably connected to the second connecting plate 332, for example, by bolts, so that a second adjusting piece (not shown) is disposed between the positioning member mounting seat 333 and the second connecting plate 332, and a plane of the second adjusting piece is perpendicular to a plane of the first adjusting piece 334, so that the position of the positioning member 31 is adjusted along the width direction of the bracket 200.
The stent grabbing device 100 in this embodiment further includes a plurality of positioning reference blocks 40, the plurality of positioning reference blocks 40 are respectively connected to the base plate 10, and positions the top of the stent 200 through the positioning reference blocks 40, and the suction unit 20 sucks the top of the stent 200. Wherein, the bottom of location reference block 40 is equipped with the first connection face that is used for fixing a position support 200, and the bottom of absorbing unit 20 is equipped with the second connection face that is used for absorbing support 200, and first connection face is in the coplanar with the second connection face to further guarantee support 200 and absorb the steady of in-process, can prevent to take place the gap between support 200 and panel 300 with the steady laminating of support 200 and panel 300.
The positioning reference block 40 in the present application uses S45C material and performs finishing on the surface of the positioning reference block 40 so that the first connection faces of the plurality of positioning reference blocks 40 are in the same plane, although the material of the positioning reference block 40 in the present application is not limited to S45C.
In this embodiment, the bracket 200 is positioned and grasped by the bracket grasping apparatus 100, and the grasped bracket 200 is adhered to the panel 300. In another embodiment of the present application, the rack holding device 100 of the present embodiment may be fixed by the base plate 10, the rack 200 may be fixed to the rack holding device 100, and the panel 300 may be held and attached to the rack 200.
Another aspect of the present application also proposes a robot having the stent gripping device 100 of any of the above embodiments, the robot further comprising a connecting flange 50, the connecting flange 50 being used to connect the robot and the stent gripping device 100 of any of the above embodiments.
The support grabbing device 100 in the above embodiment is connected with a robot through the connecting flange 50, the support grabbing device 100 is controlled by the robot to grab the support 20, the support 200 is positioned according to the positioning piece 31 on the positioning unit 30, so that the preset relative position between the supports 200 is ensured, meanwhile, the positioned support 200 is sucked through the sucking unit 20, so that the relative position between the two supports 200 is ensured to be kept unchanged in the grabbing and moving processes of the support 200, and the positioning accuracy of the support 200 in the assembling process is ensured. Meanwhile, the support 200 is positioned, grabbed and attached through the robot without manual participation, so that the automatic lifting of support assembly is facilitated, the labor intensity of workers is reduced, the production efficiency of support assembly is improved, and the product quality is ensured.
The robot in the present embodiment further includes a buffer unit 60. The buffer unit 60 includes a guide rod 61 and a buffer member, in this embodiment, the buffer member is a spring 62, the guide rod 61 is used for connecting the connecting flange 50 and the substrate 19, one end of the guide rod 61 penetrates through the connecting flange 50 and is connected with the substrate 10, the connecting flange 50 can slide along the axial direction of the guide rod 61, the other end of the guide rod 61 is provided with a boss 63 for limiting the connecting flange 50 to slide out of the guide rod 61, and the part of the guide rod 61, which is arranged between the connecting flange 50 and the substrate 10, is sleeved with the spring 62. By providing the buffer unit 60, the spring 62 can reduce the impact generated by the connection flange 50 during the movement of the connection flange 50 toward the substrate 10, thereby reducing the impact generated to the panel 300 when the robot presses the support 200 by the support grabbing device 100 and improving the reliability of the operation process.
The top end of the guide rod 61 is provided with an annular boss 63, the boss 63 may be a part of the guide rod 61 itself, or the boss 61 may be welded or assembled to the top end of the guide rod 61, so as to limit the sliding of the connecting flange 50. To further facilitate the relative sliding between the connecting flange 50 and the guide rod 61, a linear bearing (not shown) is connected to the guide rod 61.
The above description is only for the preferred embodiment of the present application, but the scope of the present application is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present application should be covered within the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (10)
1. A stent gripping device, comprising:
a substrate;
the suction unit is connected with the substrate and is used for sucking at least two supports;
the positioning units are respectively connected with the substrate and comprise positioning pieces, and the positioning pieces are used for positioning the at least two supports so as to keep a preset relative position between any two supports in the at least two supports.
2. The stent grabbing device according to claim 1, wherein the positioning element is a positioning pin, a positioning key or a positioning block matched with the shape of the stent.
3. The stent gripping device of claim 2, wherein the locating pins are cylindrical locating pins or polygonal locating pins.
4. The stent gripping device of claim 1, wherein the positioning unit further comprises a mounting assembly, the mounting assembly comprising:
the supporting seat is connected with the substrate;
the driving piece is connected with the supporting seat and is used for driving the positioning piece to move;
the mounting panel, the mounting panel with the driving piece links to each other and is used for being in drive under the effect of driving piece the setting element removes.
5. The stent gripping device of claim 4, wherein the positioning unit further comprises a connection assembly, the connection assembly comprising:
the first connecting plate is connected with the mounting plate;
the second connecting plate is detachably connected with the first connecting plate, and a first adjusting sheet is arranged between the first connecting plate and the second connecting plate;
the setting element mount pad, the setting element mount pad is used for connecting the setting element with the second connecting plate, the setting element mount pad with be equipped with the second trimmer between the second connecting plate, just first trimmer place plane with second trimmer place plane looks vertical.
6. The apparatus according to claim 4, wherein the mounting assembly further comprises a limiting member mounting plate and a limiting member, the limiting member mounting plate is connected to the supporting seat, the limiting member is connected to the limiting member mounting plate and disposed toward the mounting plate, and the mounting plate is provided with a limiting surface matching the shape of the limiting member.
7. The stent gripping device according to any one of claims 1 to 6, further comprising a plurality of positioning reference blocks, the plurality of positioning reference blocks being respectively connected to the base plate, the positioning reference blocks being provided with first connection faces for positioning the stent, the suction unit being provided with second connection faces for sucking the stent, the first connection faces and the second connection faces being in the same plane.
8. The stent gripping device of any one of claims 1 to 6, wherein the suction unit is a suction cup or an electromagnet.
9. A robot having a stent gripping device according to any one of claims 1 to 8, the robot further comprising a connection flange for connecting the robot and the stent gripping device.
10. The robot of claim 9, further comprising a buffer unit, wherein the buffer unit comprises a guide rod and a buffer member, the guide rod is used for connecting the connecting flange and the base plate, one end of the guide rod penetrates through the connecting flange and is connected with the base plate, the guide rod is used for guiding the connecting flange to slide along the axial direction of the guide rod, a boss used for limiting the connecting flange to slide out of the guide rod is arranged at the other end of the guide rod, and the buffer unit is sleeved on the part of the guide rod, which is arranged between the connecting flange and the base plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020298754.0U CN212241084U (en) | 2020-03-11 | 2020-03-11 | Support grabbing device and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020298754.0U CN212241084U (en) | 2020-03-11 | 2020-03-11 | Support grabbing device and robot |
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| Publication Number | Publication Date |
|---|---|
| CN212241084U true CN212241084U (en) | 2020-12-29 |
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| CN202020298754.0U Active CN212241084U (en) | 2020-03-11 | 2020-03-11 | Support grabbing device and robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113021057A (en) * | 2021-04-07 | 2021-06-25 | 湖南凯斯机械股份有限公司 | Automatic mechanical arm gripper on front surface of flat plate of sewing machine and placing rack thereof |
| CN115741021A (en) * | 2022-12-23 | 2023-03-07 | 中建材凯盛机器人（上海）有限公司 | Composite gripper device for realizing automatic assembly of float glass gripper |
-
2020
- 2020-03-11 CN CN202020298754.0U patent/CN212241084U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113021057A (en) * | 2021-04-07 | 2021-06-25 | 湖南凯斯机械股份有限公司 | Automatic mechanical arm gripper on front surface of flat plate of sewing machine and placing rack thereof |
| CN115741021A (en) * | 2022-12-23 | 2023-03-07 | 中建材凯盛机器人（上海）有限公司 | Composite gripper device for realizing automatic assembly of float glass gripper |
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