CN212558363U - Automatic grabbing device of stereoplasm work piece - Google Patents
Automatic grabbing device of stereoplasm work piece Download PDFInfo
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- CN212558363U CN212558363U CN202020702439.XU CN202020702439U CN212558363U CN 212558363 U CN212558363 U CN 212558363U CN 202020702439 U CN202020702439 U CN 202020702439U CN 212558363 U CN212558363 U CN 212558363U
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Abstract
The utility model provides an automatic grabbing device of stereoplasm work piece, including first transport structure, first transport structure is used for carrying the stereoplasm work piece in proper order to snatching on the platform. The hard workpiece grabbing device is characterized by further comprising a second conveying structure, one end of the second conveying structure is located right above the grabbing platform, and the other end of the second conveying structure is located right above the hard workpiece installing platform. The conveying device further comprises a third conveying structure, one end face of the third conveying structure is sleeved on the horizontal guide rail of the second conveying structure, and the third conveying structure moves on the horizontal guide rail. And the other end face of the third conveying structure is provided with a grabbing component which moves up and down on the third conveying structure. The utility model discloses an accuracy that initiative grabbing device's setting can realize the stereoplasm work piece snatchs and transport installation stereoplasm work piece mounting platform, has the stereoplasm work piece installation effectiveness of product high, fast advantage. And the problem of neglected loading can not occur, and the quality of the product can be ensured.
Description
Technical Field
The utility model relates to an automatic technical field specifically is an automatic grabbing device of stereoplasm work piece, the utility model discloses an automatic grabbing device is applicable to the stereoplasm work piece that has regular shape.
Background
Hard workpieces such as round or square gaskets having regular shapes, round insulating gaskets on batteries, round or hexagonal nuts, bottle caps, etc., have applications in many products.
Because the specification of above-mentioned stereoplasm work piece is less or the quantity is many, current machine is difficult to realize that accurate snatching and releasing it to workman's mounted position, and the majority is through taking one by the manual work again on the product with the mounted position, has that the installation rate is slow, inefficiency, manual work intensity is big, with high costs problem, and the quality problem that neglected loading and then influence the product function appears easily.
Therefore, it is necessary to provide an automatic gripping device to achieve automatic gripping of a hard workpiece during product installation, and solve the problems of low installation efficiency, low speed, missing installation and the like of the hard workpiece of the product.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to solve above-mentioned stereoplasm work piece and snatch inefficiency, and take place quality problems such as neglected loading easily, provide an automatic grabbing device of stereoplasm work piece. The utility model discloses an automatic grabbing device can be timely accurate snatch the stereoplasm work piece and transport the mounted position, can increase substantially the installation effectiveness of stereoplasm work piece, have degree of automation height, simple structure, efficient, snatch reliable and stable advantage.
The technical scheme for realizing the purpose of the utility model is as follows: the utility model provides an automatic grabbing device of stereoplasm work piece, includes first transport structure, and first transport structure is used for carrying the stereoplasm work piece to snatching the platform in proper order.
The hard workpiece grabbing device is characterized by further comprising a second conveying structure, one end of the second conveying structure is located right above the grabbing platform, and the other end of the second conveying structure is located right above the hard workpiece installing platform.
The conveying device further comprises a third conveying structure, one end face of the third conveying structure is sleeved on the horizontal guide rail of the second conveying structure, and the third conveying structure moves on the horizontal guide rail.
And the other end face of the third conveying structure is provided with a grabbing component which moves up and down on the third conveying structure.
The utility model discloses an accuracy that initiative grabbing device's setting can realize the stereoplasm work piece snatchs and transport installation stereoplasm work piece mounting platform, has the stereoplasm work piece installation effectiveness of product high, fast advantage. And the problem of neglected loading can not occur, and the quality of the product can be ensured.
As right the utility model discloses a snatch the improvement of platform, snatch and be equipped with the work piece location portion the same with the shape of stereoplasm work piece on the platform, work piece location portion's size is greater than the size of stereoplasm work piece. And milling the positioning part of the workpiece to form a hard workpiece supporting area and a grabbing area of the claw of the grabbing component.
The height of the hard workpiece supporting area is the same as that of the grabbing platform, the height of the grabbing area is lower than that of the grabbing platform, and the shape of the grabbing area is the same as that of the claw.
Furthermore, a hard workpiece guide groove is further formed in the grabbing platform and located between the workpiece positioning portion and the first conveying structure, and the center line of the hard workpiece guide groove is overlapped with the center of the workpiece positioning portion.
Furthermore, the workpiece positioning part is also provided with a hard workpiece limiting bulge, and the hard workpiece limiting bulge is positioned at the peripheral edge of the workpiece positioning part far away from the first conveying structure.
As right the utility model discloses a conveying structure's improvement, first conveying structure is including setting up vibration dish and stereoplasm work piece guide rail on first support. The lower part of the vibration disk is provided with a first vibrator which is electrically connected with a first controller. One end of the hard workpiece guide rail extends into the vibration disc, and the other end of the hard workpiece guide rail is connected with the grabbing platform. And a second vibrator is arranged at the lower part of the hard workpiece guide rail and is electrically connected with a second controller.
As right the utility model discloses second transport structure's improvement, second transport structure are connected with third transport structure including setting up first cylinder and the horizontal guide on the second support, first cylinder, and first cylinder still is connected with the third controller electricity.
As right the utility model discloses third transport structure's improvement is equipped with vertical guide rail on the third transport structure, snatchs the subassembly and is located vertical guide rail. And the third conveying structure is also provided with a second air cylinder, the second air cylinder is connected with the grabbing assembly, and the second air cylinder is electrically connected with the fourth controller.
As the improvement to the subassembly of snatching of this application, snatch the subassembly and include the third cylinder, the third cylinder lower part is equipped with 2 at least claws. The third cylinder stretches out, at least 2 claws are far away from each other, and the claws enter the hard workpiece grabbing platform or release the hard workpiece. The third cylinder withdraws, and 2 at least claws are close to each other, and the inner wall of claw and the periphery wall in close contact with of stereoplasm work piece, the claw snatchs the stereoplasm work piece.
The working principle of the grabbing component is as follows: the grabbing component moves to a position right above the grabbing platform, the third air cylinder extends out, and the claw enters the grabbing platform.
The inner side wall of the third cylinder withdrawing claw is in close contact with the hard workpiece, and the claw tightly grasps the hard workpiece.
Further, the milling of claw inside wall is established and is processed and is had the holding tank, and the width of holding tank is greater than the thickness of stereoplasm work piece, and 2 at least claws the holding tank is located same horizontal plane.
The utility model discloses an automatic grabbing device's working process and principle are:
1. the first controller controls the first vibrator to vibrate, so that the vibration disc vibrates, and the hard workpiece in the vibration disc is vibrated to the hard workpiece guide rail;
2. the second controller controls the second vibrator to vibrate and is used for driving the hard workpiece guide rail to convey the hard workpiece to the grabbing platform, so that the hard workpiece enters the hard workpiece supporting area to wait for grabbing;
3. the third controller enables the third conveying structure to move on the horizontal guide rail, and the third conveying structure drives the grabbing component to move right above the grabbing platform;
4. the fourth controller enables the grabbing component to move on the vertical rail, meanwhile, the third air cylinder extends out to enable the grabbing component to move downwards and enable the claw to enter a grabbing area, and the third air cylinder retracts to enable the claw to grab a hard workpiece;
5. the fourth controller enables the grabbing component to move upwards, and the third controller enables the third conveying structure to move to the position right above the hard workpiece mounting platform on the horizontal guide rail;
6. and the fourth controller enables the grabbing component to move downwards to the hard workpiece mounting platform, and the third air cylinder extends out to release the hard workpiece.
Compared with the prior art, the utility model has the advantages that: the utility model discloses an accuracy that initiative grabbing device's setting can realize the stereoplasm work piece snatchs and transport installation stereoplasm work piece mounting platform, has the stereoplasm work piece installation effectiveness of product high, fast advantage. And the problem of neglected loading can not occur, and the quality of the product can be ensured.
Drawings
Fig. 1 is a perspective view of the automatic gripping device of the present invention;
FIG. 2 is an enlarged view of the automated grasping apparatus of FIG. 1 at A;
FIG. 3 is an enlarged view of the automatic grasping apparatus of FIG. 1 at B;
FIG. 4 is an enlarged view of the automated grasping apparatus of FIG. 1 at C;
fig. 5 is a perspective view of the automatic gripping device of the present invention;
fig. 6 is a perspective view of the automatic gripping device of the present invention;
FIG. 7 is an enlarged view of the automated grasping apparatus of FIG. 6 at D;
wherein, 1, a platform is grabbed; 2. a first bracket; 3. a vibrating pan; 4. a hard workpiece guide rail; 5. a first vibrator; 6. a first controller; 7. a second vibrator; 8. a second controller; 9. a second bracket; 10. a first cylinder; 11. a horizontal guide rail; 13. a grasping assembly; 14. a claw; 15. a third conveying structure; 16. a vertical track; 17. a second cylinder; 18. a third cylinder; 19. hard workpieces; 41. a lower base plate; 42. an upper cover plate; 43. a track; 44. a visible area; 101. a hard workpiece support region; 102. a grabbing area; 103. a hard workpiece guide groove; 104. a limiting plate; 105. and hard workpieces are limited and raised.
Detailed Description
The present invention is described in detail with reference to the embodiments shown in the drawings, but it should be understood that these embodiments are not intended to limit the present invention, and those skilled in the art should understand that the functions, methods, or structural equivalents or substitutions made by these embodiments are within the scope of the present invention.
In the description of the present embodiments, it is to be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of describing the present invention and simplifying the description, but do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention.
Furthermore, the terms "first," "second," "third," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicit to a number of indicated technical features. Thus, a feature defined as "first," "second," etc. may explicitly or implicitly include one or more of that feature. In the description of the invention, the meaning of "a plurality" is two or more unless otherwise specified.
The terms "mounted," "connected," and "coupled" are to be construed broadly and may, for example, be fixedly coupled, detachably coupled, or integrally coupled; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the creation of the present invention can be understood by those of ordinary skill in the art through specific situations.
Referring to fig. 1 to 7, the present embodiment takes a gasket as an example to describe the automatic gripping device in detail.
As shown in fig. 1, 5 and 6, the automatic gripping device includes a first conveying structure, and the first conveying structure is used for conveying the hard workpieces to the gripping platform 1 in sequence.
In the present embodiment, as shown in fig. 1, 5, and 6, the first conveying mechanism includes a vibration plate 3 and a hard workpiece guide 4 provided on the first carriage 2. The lower part of the vibration plate 3 is provided with a first vibrator 5, and the first vibrator 5 is electrically connected with a first controller 6. One end of the hard workpiece guide rail 4 extends into the vibrating disk 3, and the other end of the hard workpiece guide rail is connected with the grabbing platform 1. The lower part of the hard workpiece guide rail 4 is provided with a second vibrator 7, and the second vibrator 7 is electrically connected with a second controller 8.
Further, as shown in fig. 1, 5 and 6, as a further optimization of the hard workpiece guide rail 4 of the present embodiment, the hard workpiece guide rail 4 is formed by a lower plate 41 and an upper cover plate 42, a track 43 for moving the hard workpiece is disposed on the upper surface of the lower plate 41, the upper cover plate 42 covers the upper portion of the lower plate 41, and the width of the upper cover plate 42 is smaller than the width of the lower plate 41, so as to form a visible area 44, and the visible area is used for checking and adjusting the hard workpiece in the track 43.
In the present embodiment, as shown in fig. 2, as a further improvement of the grasping platform 1, the grasping platform 1 is provided with a workpiece positioning portion having the same shape as the hard workpiece, and the size of the workpiece positioning portion is larger than that of the hard workpiece. The workpiece positioning portion is milled to form a hard workpiece support area 101 and a gripping area 102 of the claw 14 of the gripping assembly 13. In the present embodiment, the hard workpiece is a spacer, and the outer periphery of the spacer is circular or square, so the outer periphery of the workpiece positioning portion is circular or square, as well as the outer periphery of the hard workpiece.
Further, as shown in fig. 2, the hard workpiece support area 101 is at the same height as the gripping platform 1, and in this embodiment, the hard workpiece support area 101 is at the same height as the gripping platform 1, so that the hard workpiece can smoothly enter the hard workpiece support area 101 from the hard workpiece guide 4. In the present embodiment, there are 4 hard workpiece support areas 101, the 4 hard workpiece support areas 101 are uniformly distributed in the workpiece positioning portion, and one end of each of the 4 hard workpiece support areas 101 is located at the workpiece positioning portion, and the other end is close to or located at the center of the workpiece positioning portion.
Further, as shown in fig. 2, in order to facilitate the claw 14 to grip a hard workpiece, the gripping area 102 is lower than the gripping platform 1, and the shape of the gripping area 102 is the same as that of the claw 14. In the present embodiment, the number of the gripping areas 102 is the same as the number of the claws 14, and the shape of the gripping areas 102 is the same as the cross-sectional shape of the claws (in the present embodiment, the cross-sections of the gripping areas 102 and the claws are both arc-shaped, and may be of other structures, specifically, the structure of the hard workpiece is taken as a standard), so that the claws 14 can be placed in the gripping areas 102.
Further, as shown in fig. 2, a hard workpiece guide groove 103 is further provided on the grasping platform 1 between the workpiece positioning portion and the first conveying structure, and a center line of the hard workpiece guide groove 103 coincides with a center of the workpiece positioning portion. In the present embodiment, the hard work guide groove 103 is located in the same horizontal plane as the hard work support region 101. In this embodiment, snatch and to dismantle on the platform 1 and be fixed with 2 limiting plates 104, form stereoplasm work piece guiding groove 103 between 2 limiting plates 104, according to the stereoplasm work piece of different specifications, can change limiting plate 104 in a flexible way to make the stereoplasm work piece can pass in stereoplasm work piece guiding groove 103.
Further, as shown in fig. 2, a hard workpiece limiting protrusion 105 is further provided on the workpiece positioning portion, and the hard workpiece limiting protrusion 105 is located on the peripheral edge of the workpiece positioning portion away from the first conveying structure. The hard workpiece limiting protrusion 105 can block the hard workpiece to prevent the hard workpiece from being separated from the hard workpiece supporting area 101. In the present embodiment, the hard workpiece stopper projection 105 may be provided on the outer peripheral edge of the workpiece positioning portion, or may be provided on the hard workpiece support region 101 near the outer peripheral edge of the workpiece positioning portion.
As shown in fig. 1, 5 and 6, the automatic gripping device further comprises a second conveying structure, one end of the second conveying structure is located right above the gripping platform 1, and the other end of the second conveying structure is located right above the hard workpiece mounting platform.
In the present embodiment, as shown in fig. 1, 5 and 6, the second transport structure includes a first cylinder 10 and a horizontal rail 11 provided on the second carriage 9, the first cylinder 10 is connected to the third transport structure, and the first cylinder 10 is further electrically connected to a third controller 12. In the present embodiment, the first cylinder 10 is preferably a long stroke cylinder.
As shown in fig. 1, 5 and 6, one end surface of the third conveying structure 15 of the automatic gripping device is sleeved on the horizontal guide rail 2 of the second conveying structure, and the third conveying structure 15 moves on the horizontal guide rail 2. And the other end face of the third conveying structure 15 is provided with a grabbing component 13, and the grabbing component 13 moves up and down on the third conveying structure 15.
In the present embodiment, as shown in fig. 4, as a modification of the third conveying structure 15, a vertical guide rail 16 is provided on the third conveying structure 15, and the grasping assembly 13 is located on the vertical guide rail 16. The third conveying structure 15 is further provided with a second air cylinder 17, the second air cylinder 17 is connected with the grabbing assembly 13, and the second air cylinder 17 is electrically connected with a fourth controller. The fourth controller is used for controlling the second air cylinder 17, and the grabbing assembly 13 is driven by the second air cylinder 17 to move up and down along the vertical rail 16.
In the present embodiment, as shown in fig. 7, as an improvement of the grasping unit 13, the grasping unit 13 includes a third cylinder 18, and at least 2 claws 14 are provided at a lower portion of the third cylinder 18. The third cylinder 18 is extended, at least 2 claws 14 are far away from each other, and the claws 14 enter the gripping platform 1 of the hard workpiece or release the hard workpiece. The third cylinder 18 is retracted, at least 2 claws 14 are close to each other, the inner walls of the claws 14 are in close contact with the outer peripheral wall of the hard workpiece 19, and the claws 14 grip the hard workpiece. In this embodiment, the third cylinder 18 is preferably a four-claw cylinder, the lower part of the four-claw cylinder is provided with 4 claws 14, the distances between the 4 claws are the same, and the operating principle of the grabbing assembly 13 is as follows: the grabbing assembly 13 moves to the position right above the grabbing platform 1, the third air cylinder 18 extends out, and the claw 14 enters the grabbing platform 1. The third cylinder 18 is retracted, the inner wall of the claw 14 is in close contact with the hard workpiece, and the claw 14 grips the hard workpiece.
Furthermore, the milling of the inner side wall of the claw 14 is provided with an accommodating groove (not shown in the drawing), the width of the accommodating groove is greater than the thickness of the hard workpiece, and the accommodating grooves of at least 2 claws 14 are located in the same horizontal plane.
The utility model discloses an installation stereoplasm work piece mounting platform is snatched and transported to the accuracy that can realize stereoplasm work piece 19 in initiative grabbing device's setting, has the advantage that the stereoplasm work piece installation effectiveness of product is high, fast. And the problem of neglected loading can not occur, and the quality of the product can be ensured.
The working process and the principle of the automatic gripping device are as follows:
1. the first controller 6 controls the first vibrator to vibrate 5, so that the vibration disc 3 vibrates the hard workpieces 19 in the vibration disc 3 onto the hard workpiece guide rail 4;
2. the second controller 8 controls the second vibrator 7 to vibrate and is used for driving the hard workpiece guide rail 4 to convey the hard workpiece 19 to the grabbing platform 1, so that the hard workpiece 19 enters the hard workpiece supporting area 101 to wait for grabbing;
3. the third controller enables the third conveying structure 15 to move on the horizontal guide rail 11, and the third conveying structure 15 drives the grabbing component 13 to move right above the grabbing platform 1;
4. the fourth controller moves the grabbing assembly 13 on the vertical rail 16, meanwhile, the third air cylinder 18 extends to move the grabbing assembly 13 downwards and enable the claw 14 to enter the grabbing area 102, and the third air cylinder 18 retracts to enable the claw 14 to grab the hard workpiece 19;
5. the fourth controller moves the grabbing component 13 upwards, and the third controller moves the third conveying structure 15 on the horizontal guide rail 11 to be right above the mounting platform of the hard workpiece 19;
6. the fourth control moves the gripper assembly 13 down onto the hard workpiece mounting platform and the third cylinder 18 extends to release the hard workpiece 19.
The above list of details is only for the practical implementation of the present invention, and they are not intended to limit the scope of the present invention, and all equivalent implementations or modifications that do not depart from the technical spirit of the present invention should be included in the scope of the present invention.
It is obvious to a person skilled in the art that the invention is not restricted to details of the above-described exemplary embodiments, but that it can be implemented in other specific forms without departing from the spirit or essential characteristics of the invention. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.
Claims (9)
1. The utility model provides an automatic grabbing device of stereoplasm work piece which characterized in that: the device comprises a first conveying structure, a second conveying structure and a third conveying structure, wherein the first conveying structure is used for conveying hard workpieces to a grabbing platform in sequence;
the device also comprises a second conveying structure, wherein one end of the second conveying structure is positioned right above the grabbing platform, and the other end of the second conveying structure is positioned right above the hard workpiece mounting platform;
the conveying device further comprises a third conveying structure, and one end face of the third conveying structure is sleeved on the horizontal guide rail of the second conveying structure;
a grabbing component is arranged on the other end face of the third conveying structure and moves up and down on the third conveying structure;
the grabbing component comprises a third cylinder, at least 2 claws are arranged on the lower portion of the third cylinder, and accommodating grooves are formed in the inner side walls of the claws through milling.
2. The automated grasping apparatus according to claim 1, characterized in that: the grabbing platform is provided with a workpiece positioning part which has the same shape as the hard workpiece, and the size of the workpiece positioning part is larger than that of the hard workpiece;
the workpiece positioning part is milled to form a hard workpiece supporting area and a grabbing area of the claw of the grabbing component;
the height of the hard workpiece supporting area is the same as that of the grabbing platform, the height of the grabbing area is lower than that of the grabbing platform, and the shape of the grabbing area is the same as that of the claw.
3. The automated grasping apparatus according to claim 2, characterized in that: and a hard workpiece guide groove is further formed in the grabbing platform and located between the workpiece positioning part and the first conveying structure, and the center line of the hard workpiece guide groove is overlapped with the center of the workpiece positioning part.
4. The automated grasping apparatus according to claim 2, characterized in that: the workpiece positioning part is also provided with a hard workpiece limiting bulge, and the hard workpiece limiting bulge is positioned at the peripheral edge of the workpiece positioning part far away from the first conveying structure.
5. The automated grasping apparatus according to claim 1, characterized in that: the first conveying structure comprises a vibrating disc and a hard workpiece guide rail which are arranged on a first support;
the lower part of the vibration disc is provided with a first vibrator which is electrically connected with a first controller; one end of the hard workpiece guide rail extends into the vibration disc, and the other end of the hard workpiece guide rail is connected with the grabbing platform; and a second vibrator is arranged at the lower part of the hard workpiece guide rail and is electrically connected with a second controller.
6. The automated grasping apparatus according to claim 1, characterized in that: the second conveying structure comprises a first air cylinder and a horizontal guide rail, the first air cylinder is arranged on the second support and connected with the third conveying structure, and the first air cylinder is further electrically connected with a third controller.
7. The automated grasping apparatus according to claim 1, characterized in that: a vertical guide rail is arranged on the third conveying structure, and the grabbing assembly is positioned on the vertical guide rail;
and the third conveying structure is also provided with a second air cylinder, the second air cylinder is connected with the grabbing assembly, and the second air cylinder is electrically connected with a fourth controller.
8. The automated grasping apparatus according to claim 1, characterized in that: the third cylinder extends out, at least 2 claws are far away from each other, and the claws enter the hard workpiece grabbing platform or release the hard workpiece;
the third cylinder withdraws, and at least 2 the claw is close to each other, the inner wall of claw and the periphery wall in close contact with of stereoplasm work piece, the claw snatchs the stereoplasm work piece.
9. The automated grasping apparatus according to claim 8, wherein: the width of holding tank is greater than the thickness of stereoplasm work piece, and at least 2 the holding tank of claw is located same horizontal plane.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020702439.XU CN212558363U (en) | 2020-04-30 | 2020-04-30 | Automatic grabbing device of stereoplasm work piece |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020702439.XU CN212558363U (en) | 2020-04-30 | 2020-04-30 | Automatic grabbing device of stereoplasm work piece |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN212558363U true CN212558363U (en) | 2021-02-19 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202020702439.XU Active CN212558363U (en) | 2020-04-30 | 2020-04-30 | Automatic grabbing device of stereoplasm work piece |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN212558363U (en) |
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2020
- 2020-04-30 CN CN202020702439.XU patent/CN212558363U/en active Active
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