CN212502765U - Grabbing device and intelligent carrying device - Google Patents

Abstract

The utility model relates to a gripping device and an intelligent handling device, which comprises at least one group of transmission components arranged on a frame body, a first power source for driving the transmission components to move, and a gripping part arranged on the transmission components; each group of transmission components comprises two transmission wheels arranged on the frame body, a transmission piece tensioned on the two transmission wheels, and a first slide carriage and a second slide carriage movably arranged on the frame body; the first slide carriage and the second slide carriage can move along the longitudinal direction of the frame body relative to the frame body; the transmission piece comprises an ascending section and a descending section which extend along the longitudinal direction of the frame body and are arranged in parallel up and down, one side of the first slide carriage is fixed on the ascending section, and one side of the second slide carriage is fixed on the descending section; the grabbing piece is arranged on the first slide carriage and the second slide carriage, the cylinder body of the first power source is fixed on the frame body, the power source is provided with a power output piece for outputting driving force, the power output piece is connected on the first slide carriage or the second slide carriage, and the power output piece pushes the first slide carriage or the second slide carriage to move.

Description

Grabbing device and intelligent carrying device

Technical Field

The utility model relates to a grabbing device and intelligent handling device belongs to automation equipment.

Background

The prior portal frame generally adopts a power source to control a gripper to grab and take articles, in the prior art, the gripper is generally composed of two parts, so that the two parts of the gripper need to move relatively at the same time in the grabbing process, in the prior art, the two parts of the gripper are generally provided with the power source to realize the relative movement of the two parts, but the cooperative movement mode of the two power sources has the requirement of high control cooperativity, namely a higher-level controller needs to have certain control cooperativity requirement.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a control simple grabbing device.

In order to achieve the above purpose, the utility model provides a following technical scheme: a gripping device comprises a frame body, at least one group of transmission assemblies arranged on the frame body, a first power source for driving the transmission assemblies to move, and a gripping part arranged on the transmission assemblies; each group of transmission assemblies comprises two transmission wheels arranged on the frame body, a transmission piece tensioned on the two transmission wheels, and a first slide carriage and a second slide carriage movably arranged on the frame body; the first slide carriage and the second slide carriage can move along the longitudinal direction of the rack body relative to the rack body; the transmission piece comprises an ascending section and a descending section which extend along the longitudinal direction of the frame body and are arranged in parallel up and down, one side of the first slide carriage is fixed on the ascending section, and one side of the second slide carriage is fixed on the descending section; the grabbing piece is installed on the first slide carriage and the second slide carriage, the power source is provided with a power output piece for outputting driving force, and the power output piece is connected to the first slide carriage or the second slide carriage and pushes the first slide carriage or the second slide carriage to move.

Further, the transmission assemblies are arranged in two groups in a mirror image mode.

Further, the support body includes two longitudinal beams of parallel arrangement, every group the transmission assembly corresponds the setting and is in one on the longitudinal beam.

Further, the power output part of the first power source is connected to the first slide carriage of one of the transmission assemblies, the gripping device further comprises a second power source, a cylinder body of the second power source is fixed on the frame body, and the power output part of the second power source is connected to the second slide carriage of the other transmission assembly.

Furthermore, the grabbing device further comprises an inductor which is arranged on the frame body and used for inducing the grabbed objects below the grabbing piece, and the inductor is in signal connection with an upper computer.

Furthermore, the first slide carriage and the second slide carriage are symmetrically arranged by taking the vertical central axis of the transmission piece as a symmetry axis.

Further, be provided with guide rail set spare on the support body, first carriage apron and second carriage apron are fixed on the guide rail set spare.

Further, the first slide carriage is fixed on the ascending section through a first extending piece, the second slide carriage is fixed on the descending section through a second extending piece, a sealing cover used for sealing the transmission wheel and the transmission piece is arranged on the outer side of the frame body, and the first extending piece and the second extending piece extend into the sealing cover.

Further, the transmission piece is a chain, and the transmission wheel is a chain wheel.

The invention also provides an intelligent carrying device which comprises the gripping device and the upper computer, wherein the upper computer controls the gripping device to operate.

The beneficial effects of the utility model reside in that: the utility model discloses a grabbing device is through setting up drive assembly on the support body, and first carriage apron, second carriage apron are connected with the ascending section of drive assembly's transmission piece, descending section respectively, and this first carriage apron or second carriage apron are connected with the power take off spare of first power supply again to only realize first carriage apron, second carriage apron simultaneously through first power supply and remove, compare with prior art, control is simpler. And the first slide carriage and the second slide carriage can move simultaneously through the first power source, so that the gripping device can simultaneously realize the orthopedic effect when gripping.

The above description is only an overview of the technical solution of the present invention, and in order to make the technical means of the present invention clearer and can be implemented according to the content of the description, the following detailed description is made with reference to the preferred embodiments of the present invention and accompanying drawings.

Drawings

Fig. 1 is a schematic structural view of a gripping device according to an embodiment of the present invention;

fig. 2 is a schematic structural view of the grasping apparatus shown in fig. 1 in another direction, without the first connecting rod 6 and the second connecting rod;

fig. 3 is a state view of the grasping apparatus shown in fig. 1 when grasping the grasped object.

Detailed Description

The following detailed description of the embodiments of the present invention is provided with reference to the accompanying drawings and examples. The following examples are intended to illustrate the invention, but are not intended to limit the scope of the invention.

Referring to fig. 1 and 2, a gripping device 100 according to a preferred embodiment of the present invention includes a frame body 1, two sets of transmission assemblies 2 disposed on the frame body 1, a first power source 3 for driving the transmission assemblies 2 to move, and a gripping member 4 disposed on the transmission assemblies 2. The support body 1 comprises two longitudinal beams 11 arranged in parallel, a cross beam 12 connecting the two longitudinal beams 11 and a connecting rod 13. The cross beam 12 is arranged above the two longitudinal beams 11 and is perpendicular to the middle point of the longitudinal beams 11, and the connecting rod 13 is clamped between the two longitudinal beams 11. Each group of transmission assemblies 2 is correspondingly arranged on one longitudinal beam 11.

Referring to fig. 2 and 3, two sets of the transmission assemblies 2 are arranged in a mirror image manner. Each group of the transmission assembly 2 comprises two transmission wheels 21 arranged on the frame body 1, a transmission piece 22 tensioned on the two transmission wheels 21, and a first slide carriage 23 and a second slide carriage 24 movably arranged on the frame body 1. The first carriage 23 and the second carriage 24 are capable of moving along the longitudinal direction of the rack 1 relative to the rack 1. The transmission member 22 comprises an upper traveling section 221 and a lower traveling section 222 which extend along the longitudinal direction of the frame body 1 and are arranged in parallel up and down, one side of the first carriage 23 is fixed on the upper traveling section 221, and one side of the second carriage 24 is fixed on the lower traveling section 222. The frame body 1 is provided with a guide rail assembly 5, and the first slide carriage 23 and the second slide carriage 24 are fixed on the guide rail assembly 5. The guide rail assembly 5 includes a guide rail 51 disposed on the lower surface of the longitudinal beam 11, and a sliding seat 52 disposed on the guide rail 51 and movable on the guide rail 51 in the longitudinal direction of the guide rail 51 (the longitudinal direction of the guide rail 51 is the longitudinal direction of the longitudinal beam 11), and the first carriage 23 and the second carriage 24 are fixed below the corresponding sliding seats 52. In the present embodiment, the transmission member 22 is a chain, and the transmission wheel 21 is a sprocket, however, in other embodiments, the transmission member 22 may have other transmission structures, such as a belt structure, such as a transmission belt, and the transmission wheel 21 may also be a roller, etc. But the chain and sprocket arrangement prevents slippage and, most importantly, provides drive stability as compared to other arrangements.

In the present embodiment, the two transmission wheels 21 are provided near both ends of the longitudinal beam 11, respectively. The first slide carriage 23 and the second slide carriage 24 are symmetrically arranged by taking the vertical central axis of the transmission piece 22 as a symmetrical axis, and when the grabbing piece 4 is in an open state, the first slide carriage 23 and the second slide carriage 24 are respectively arranged close to two ends of the longitudinal beam 11, so that the first slide carriage and the second slide carriage are centered when grabbing, and the subsequent positioning of the placing position is facilitated.

Referring to fig. 1 and 3, in this embodiment, the first carriage 23 is fixed to the upper section 221 through a first extending member, the second carriage 24 is fixed to the lower section 222 through a second extending member, a sealing cover 14 for sealing the transmission wheel 21 and the transmission member 22 is disposed outside the longitudinal beam 11, and the first extending member and the second extending member extend into the sealing cover 14. Specifically, the first extending member includes a first latch 251 retained on the ascending section 221 and a connecting block 252 connecting the first latch 251 and the first carriage 23, and the second extending member is a second latch 253 retained on the descending section 222.

The gripping elements 4 are mounted below the first carriage 23 and the second carriage 24. Specifically, in the present embodiment, the gripping member 4 is a claw, and the claw 4 is disposed below each of the first carriage plate 23 and the second carriage plate 24, that is, 4 claws 4 are disposed in the present embodiment. The clamping parts 41 of the two claws 4 on each group of transmission assembly 2 are arranged oppositely. In other embodiments, the gripping member 4 may be another member that can be used for gripping or suction functions.

In this embodiment, in order to make the transmission assemblies 2 move in unison, the two jaws 4 connected to the first carriages 23 of each set of transmission assemblies 2 are connected by a first connecting rod 61, and the two jaws 4 connected to the second carriages of each set of transmission assemblies 2 are connected by a second connecting rod 62. The first connecting rod 61 and the second connecting rod 62 are located on the clamping part 41 of the claw, and the first connecting rod 61 and the second connecting rod 62 can be made of elastic materials or partially provided with elastic materials so as to reduce rigid impact when the claw 4 grabs the grabbed object 200. In this embodiment, the cross sections of the first connecting rod 61 and the second connecting rod 62 are L-shaped, and with this arrangement, the first connecting rod 61 and the second connecting rod 62 are disposed on the retaining portion 41, so that the gripping force can be increased.

In the present embodiment, the first power source 3 is a cylinder, specifically, a hydraulic cylinder, but in other embodiments, the first power source may be other power output devices such as a motor. In detail, referring to fig. 1 and 2 again, the first power source 3 includes a first cylinder (not numbered) fixed to the frame body 1 and a first power output member (not numbered) extending outward from the first cylinder and connected to the second carriage 24. Of course, in embodiments, the first power take-off may also be connected to the first carriage 23. The first power take-off and the first carriage 23 are connected by a hinge assembly 7.

In this embodiment, the gripping device 100 is provided with a second power source 8 in addition to the first power source 3. In this embodiment, the second power source 8 is also a cylinder, specifically a hydraulic cylinder, but in other embodiments, the second power source may be other power output devices such as a motor. In detail, the second power source 8 includes a second cylinder (not numbered) and a second power output member (not numbered) extending outwardly from the second cylinder. The second cylinder is fixed on the frame body 1, and the second power output part is connected to a first slide carriage 23 of another transmission assembly 2. Through setting up two power supplies (first power supply 3 and second power supply 8), and two power supplies (first power supply 3 and second power supply 8) are connected with two sets of transmission assembly 2 respectively in order to prevent in the actual work that one of them power supply still can use after the safety failure. In this embodiment, the beam 12 is provided with an air path component (not numbered) communicated with the first power source 3 and the second power source 8 and an electromagnetic valve component (not numbered) arranged on the air path component, and the electromagnetic valve component is used for controlling the on-off of the air path component so as to control the first power source 3 and the second power source 8.

In order to realize automatic control, the grabbing device 100 of this embodiment further includes a sensor 9 disposed on the frame body 1 and used for sensing whether the object to be grabbed is located below the grabbing piece 4, the sensor 9 is connected to an upper computer through a signal, the sensor 9 may be a laser sensor, and the laser sensor 9 may sense whether the object to be grabbed 200 is located below the grabbing piece 4, and may detect a distance between the grabbing piece 4 and the object to be grabbed 200, and may detect the type of the object to be grabbed 200 through the laser sensor 9.

Referring to fig. 1 to fig. 3, the operation principle of the grasping apparatus 100 is as follows: when the gripping device 100 moves above the gripped object 200, the type of the gripped object 200 and the distance from the gripped object 200 are determined by sensing the gripped object 200 by the laser sensor 9; after the host computer judges that the model is correct and calculates the distance, the gripping device 100 is pushed to move towards the direction of the gripped object 200, the laser sensor 9 senses the distance between the gripped object 200 and the laser sensor in real time, when the distance between the gripped object 200 is within the range of the gripping device 100, the first power source 3 and the second power source 8 are started, at this time, the first power source 3 and the second power source 8 respectively pull the corresponding first slide carriage 23 and the second slide carriage 24 on the transmission component 2 to move, at this time, because the first slide carriage 23 and the second slide carriage 24 are respectively connected with the chain 22 on each group of transmission component 2, when the first slide carriage 23 and the second slide carriage 24 move, the chain 22 is driven to move, thus, the corresponding second slide carriage 24 and the first slide carriage 23 on the chain 22 move simultaneously, and because the first slide carriage 23 and the second slide carriage 24 on each group are respectively fixed on the ascending section 221 and the descending section 222 of the same chain 22, therefore, when the first carriage 23 or the second carriage 24 on the same conveyor moves, the corresponding other carriage (the second carriage 24 or the first carriage 23) moves in the opposite direction, for example, when the first power source 3 pulls the first carriage 23 of the corresponding transmission assembly 2 to move toward the corresponding second carriage 24, the first carriage 23 will drive the corresponding chain 22 to rotate clockwise (in this embodiment, when the grabbing device 100 is set to grab the object 200, the chain 22 rotates clockwise), and when the chain 22 rotates, the chain 22 transmits force to the second carriage 24 to move the second carriage 24 toward the first carriage 23 (as shown in fig. 3), so that the claws 4 can grab the object 200. After the claws 4 grab the object 200, the grabbing device 100 is pushed to move towards the placing place of the object 200, and after the grabbing device 100 reaches the placing place, the first power source 3 and the second power source 8 are started again, and the first power source 3 and the second power source 8 push the corresponding first slide carriage 23 and the second slide carriage 24 to move towards the opposite direction of the previous moving direction to realize the loosening (opening state) of the claws 4.

In practical use, the gripping device 100 may be matched with a gantry, or may be matched with a robot to be matched with a manipulator or a manipulator with assistance, or matched with a truss manipulator, so as to form an intelligent carrying device. It should be noted that, the intelligent handling device includes the gripping device 100, a gantry or a manipulator, and the like, and also includes an upper computer, and the upper computer is used to control the gripping device 100 to operate.

In summary, the above gripping device 100 is provided with the transmission assembly 2 on the frame body 1, and the first carriage 23 and the second carriage 24 are respectively connected to the ascending section 221 and the descending section 222 of the transmission member 22 of the transmission assembly 2, and the first carriage 23 or the second carriage 24 is connected to the power output member of the first power source 3, so that the first carriage 23 and the second carriage 24 can move simultaneously only by the first power source 3, and compared with the prior art, the control is simpler. Moreover, the first power source 3 simultaneously realizes the simultaneous movement of the first slide carriage 23 and the second slide carriage 24, so that the gripping device can simultaneously realize the orthopedic effect when gripping.

In addition, in the application, because two power sources (the first power source 3 and the second power source 8) are provided, and the two power sources respectively drive the claws 4 on the two sets of transmission assemblies 2 to respectively move, when one of the power sources is damaged, the operation of the gripping device 100 cannot be influenced.

Besides, in this application, because first carriage 23, second carriage 24 use the vertical axis of transmission piece to set up as symmetry axis symmetry again, so, make this grabbing device when realizing snatching, can realize the effect of centering simultaneously, moreover, this kind of setting for the stroke of power supply (first power supply 3 and/or second power supply 8) only need the half of tight scope of clamp can. The sensor 9 can realize the functions of positioning and identifying, so that the grabbing is more effective.

The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only represent some embodiments of the present invention, and the description thereof is specific and detailed, but not to be construed as limiting the scope of the present invention. It should be noted that, for those skilled in the art, without departing from the spirit of the present invention, several variations and modifications can be made, which are within the scope of the present invention. Therefore, the protection scope of the present invention should be subject to the appended claims.

Claims (10)

1. The gripping device comprises a frame body and is characterized by further comprising at least one group of transmission assemblies arranged on the frame body, a first power source for driving the transmission assemblies to move and a gripping part arranged on the transmission assemblies; each group of transmission assemblies comprises two transmission wheels arranged on the frame body, a transmission piece tensioned on the two transmission wheels, and a first slide carriage and a second slide carriage movably arranged on the frame body; the first slide carriage and the second slide carriage can move along the longitudinal direction of the rack body relative to the rack body; the transmission piece comprises an ascending section and a descending section which extend along the longitudinal direction of the frame body and are arranged in parallel up and down, one side of the first slide carriage is fixed on the ascending section, and one side of the second slide carriage is fixed on the descending section; the grabbing piece is installed on the first slide carriage and the second slide carriage, the cylinder body of the first power source is fixed on the frame body, the power source is provided with a power output piece for outputting driving force, and the power output piece is connected to the first slide carriage or the second slide carriage and pushes the first slide carriage or the second slide carriage to move.

2. The grasping apparatus according to claim 1, wherein the drive assemblies are two sets arranged in mirror image.

3. The grasping apparatus according to claim 2, wherein the frame body includes two elongated beams arranged in parallel, each set of the transmission assemblies being disposed on a corresponding one of the elongated beams.

4. The hitch apparatus of claim 2, wherein the power output member of the first power source is connected to the first slide of one of the drive assemblies, the hitch apparatus further comprising a second power source having a cylinder secured to the frame body and a power output member connected to the second slide of the other of the drive assemblies.

5. The grasping apparatus according to claim 1, wherein the grasping apparatus further comprises a sensor disposed on the frame body for sensing the object to be grasped below the grasping member, and the sensor is in signal connection with an upper computer.

6. The gripping apparatus according to claim 1, wherein the first and second carriages are symmetrically arranged with respect to a central vertical axis of the transport member as an axis of symmetry.

7. The gripping apparatus of claim 1, wherein the frame body has a rail assembly, the first and second carriages being secured to the rail assembly.

8. The gripping apparatus according to claim 6, wherein the first carriage is fixed to the up section by a first extension, the second carriage is fixed to the down section by a second extension, and the outer side of the frame body is provided with a sealing cover for sealing the transmission wheel and the transmission member, and the first and second extensions protrude into the sealing cover.

9. The grasping apparatus according to claim 1, wherein the transmission member is a chain and the transmission wheel is a sprocket.

10. An intelligent handling device, comprising the gripping device according to any one of claims 1 to 9 and an upper computer, wherein the upper computer controls the gripping device to operate.

Images