CN212981652U

CN212981652U - Non-electric gripping device and carrying device

Info

Publication number: CN212981652U
Application number: CN202021266372.6U
Authority: CN
Inventors: 靳贺凯; 张壮壮; 史亮
Original assignee: Suzhou Juyi Intelligent Equipment Co ltd
Current assignee: Suzhou Juyi Intelligent Equipment Co ltd
Priority date: 2020-07-01
Filing date: 2020-07-01
Publication date: 2021-04-16
Anticipated expiration: 2030-07-01

Abstract

The utility model discloses a no electric formula grabbing device and handling device, no electric formula grabbing device wherein, which comprises a frame, be provided with a plurality of pneumatic clamping jaws on the frame and be used for judging the operating condition's of every pneumatic clamping jaw first pneumatic sensor, first pneumatic sensor connection control subassembly, control assembly has and is used for instructing the pneumatic pilot lamp and the control of the operating condition of pneumatic clamping jaw work. This scheme is through the mode that adopts pneumatics to realize the affirmation and the instruction of the operating condition of pneumatic clamping jaw through pneumatic sensor and pneumatic pilot lamp, need not corresponding ground electric elements and circuit control structure, greatly improved the security of control, satisfied the requirement of not live operation effectively.

Description

Non-electric gripping device and carrying device

Technical Field

The utility model belongs to the technical field of haulage equipment and specifically relates to electroless formula grabbing device and handling device.

Background

In the field of automated processing, in order to implement automated control, various electrical components and control circuits are generally required to implement corresponding processing control processes, such as object grabbing, moving, and the like. However, in some special processing fields, for example, power battery processing, flammable and explosive substance processing, and the like, certain potential safety hazards exist in an electrical control mode, and therefore an uncharged material grabbing and moving mode is needed to meet the safety requirements of corresponding processing.

SUMMERY OF THE UTILITY MODEL

The utility model aims at providing an electroless formula grabbing device and handling device in order to solve the above-mentioned problem that exists among the prior art.

The purpose of the utility model is realized through the following technical scheme:

electroless formula grabbing device, including the frame, be provided with a plurality of pneumatic clamping jaws on the frame and be used for judging the first pneumatic sensor of the operating condition of every pneumatic clamping jaw, first pneumatic sensor connection control subassembly, control subassembly has and is used for instructing the pneumatic pilot lamp of the operating condition of pneumatic clamping jaw and control pneumatic clamping jaw work.

Preferably, in the electroless gripping device, the pneumatic gripper includes a gripper body and a pneumatic element, an upper end of the gripper body is rotatably connected to the frame through a shaft, and the pneumatic element drives the gripper body to rotate around the shaft.

Preferably, in the electroless gripping device, the pneumatic element is connected to a transmission rod, the transmission rod is pivotally connected to one end of a link, and the other end of the link is pivotally connected to the claw body.

Preferably, in the electroless catching apparatus, at least one end of the driving rod is formed with a locking hole, and the frame is provided with a locking pin which can be inserted into the locking hole.

Preferably, in the electroless grasping apparatus, a second pneumatic sensor for determining a position of the locking pin is provided on the frame, and the second pneumatic sensor is connected to the control unit.

Preferably, in the electroless gripping device, a workpiece positioner corresponding to the position of each pneumatic clamping jaw is arranged on the frame.

Preferably, in the electroless gripping apparatus, the workpiece positioner includes a floating pin capable of reciprocating along an axial direction thereof, and a third pneumatic sensor for determining a position of the floating pin is further provided beside the workpiece positioner.

Preferably, in the electroless gripping device, the number of the pneumatic clamping jaws is at least three, the pneumatic clamping jaws are distributed in a polygonal shape, and part or all of the pneumatic clamping jaws are linearly and translationally arranged on the frame.

Preferably, in the electroless gripping device, the height of the control assembly is adjustable.

The carrying device comprises any one of the electroless gripping devices and a pneumatic balance crane connected with the electroless gripping device, and the control assembly is connected with the pneumatic balance crane.

The utility model discloses technical scheme's advantage mainly embodies:

this scheme is through the mode that adopts pneumatics to realize the affirmation and the instruction of the operating condition of pneumatic clamping jaw through pneumatic sensor and pneumatic pilot lamp, need not corresponding ground electric elements and circuit control structure, greatly improved the security of control, satisfied the requirement of not live operation effectively.

The pneumatic clamping jaw of this scheme is fixed at accessible stop pin under the closure state, has avoided effectively causing the problem that the claw body was opened because of the air feed trouble, has guaranteed the security of carrying, combines pneumatic sensor and pneumatic pilot lamp simultaneously, satisfies electroless operating requirement effectively.

This scheme sets up the work piece locator, can realize the location of work piece before pneumatic clamping jaw snatchs to guaranteed the position of work piece and pneumatic clamping jaw, improved the reliability of snatching, detect the state of work piece locator through pneumatic sensor simultaneously, provide the signal for the start-up of manual control pneumatic clamping jaw, guaranteed the stability of execution.

A plurality of pneumatic clamping jaws of this scheme can remove, can effectively satisfy the requirement of snatching of the work piece of equidimension not, and the flexibility of using is good, and application scope is wide.

The height of the control assembly is adjustable, operation of operators with different heights can be effectively achieved through the optimal position, and design is more attractive and humanized.

This scheme adopts the pneumatic balance to hang and carries out grabbing device's removal, has greatly reduced manual operation's the degree of difficulty.

Drawings

Fig. 1 is a front view of the gripping device of the present invention;

fig. 2 is a side view of the gripping device of the present invention;

fig. 3 is a rear view of the pneumatic jaw area of the present invention;

fig. 4 is a side view of the pneumatic jaw area of the present invention;

fig. 5 is a front view of the pneumatic jaw area of the present invention;

fig. 6 is a top view of the grasping apparatus of the present invention;

fig. 7 is a rear view of the grasping apparatus of the present invention.

Detailed Description

Objects, advantages and features of the present invention will be illustrated and explained by the following non-limiting description of preferred embodiments. These embodiments are merely exemplary embodiments for applying the technical solutions of the present invention, and all technical solutions formed by adopting equivalent substitutions or equivalent transformations fall within the scope of the present invention.

In the description of the embodiments, it should be noted that the terms "center", "upper", "lower", "left", "right", "front", "rear", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. In the description of the embodiment, the operator is used as a reference, and the direction close to the operator is a proximal end, and the direction away from the operator is a distal end.

The non-electric gripping device of the present invention is described with reference to the accompanying drawings, as shown in fig. 1 and fig. 2, and comprises a frame 100, wherein the frame 100 is used for providing a mounting space and a support for components to be mounted thereon. The frame 100 may be constructed by various profiles and/or plates, and in this embodiment, the frame 100 is a rectangular frame formed by a plurality of profiles 110.

As shown in fig. 1 and fig. 2, a plurality of pneumatic clamping jaws 200 and a first pneumatic sensor 300 for determining an operating state of each pneumatic clamping jaw 200 are disposed on the frame 100, the first pneumatic sensor 300 is connected to a control assembly 400, and the control assembly 400 can control the operation of the pneumatic clamping jaws 200 and has a pneumatic indicator lamp 410 for indicating the operating state of the pneumatic clamping jaws 200.

During operation, the open and closed states of the pneumatic clamping jaw 200 are detected by the first pneumatic sensor 300, and the detection state is displayed by the pneumatic indicator lamp 410, without being detected and displayed by an electric sensor and an electric indicator lamp, thereby effectively avoiding the use of a circuit structure.

As shown in fig. 1 and 2, the number of the pneumatic clamping jaws 200 can be designed according to needs, for example, when a workpiece to be clamped is small, the number of the pneumatic clamping jaws 200 can be two, and the two pneumatic clamping jaws are oppositely arranged on two sides of the frame 100. When the workpiece is large, the number of the pneumatic clamping jaws 200 may be three, and the three pneumatic clamping jaws are distributed on two sides of the frame 100 in a triangular shape, for example, two pneumatic clamping jaws 200 are arranged on one side of the frame, and one pneumatic clamping jaw is arranged on the other side and positioned between the two pneumatic clamping jaws on the other side; or the number of the pneumatic clamping jaws 200 is four, and the pneumatic clamping jaws are distributed on two sides of the frame 100 in a rectangular mode and opposite to each other in position. Of course, the number of pneumatic clamping jaws 200 may be larger.

The pneumatic clamping jaw 200 may have various possible structures, as shown in fig. 3, and preferably, the pneumatic clamping jaw 200 includes a jaw body 210 and a pneumatic element 220, the jaw body 210 is generally L-shaped, an upper end of the jaw body 210 is rotatably connected to a mounting seat 900 on a side portion of the frame 100 through a shaft 250, the pneumatic element 220 is disposed on the mounting seat 900, and the pneumatic element 220 drives the jaw body 210 to rotate around a shaft connected to the frame 100. The pneumatic element 220 may be of various possible structures, such as a rotary cylinder or a pneumatic motor, which may be connected to the shaft 250 by a bracket, and the shaft 250 is connected to the mounting seat 900 by a bearing and is fixedly connected to the claw body 210.

Of course, in other embodiments, the pneumatic element 220 may be a pneumatic or hydraulic device capable of generating linear movement, such as a pneumatic or hydraulic cylinder. The following pneumatic elements 220 are illustrated by way of example as cylinders: as shown in fig. 3 and 4, the cylinder shaft 221 of the cylinder penetrates through the mounting seat 900 and is connected to a transmission rod 230, the transmission rod 230 is perpendicular to and rotatably connected to the cylinder shaft of the cylinder, specifically, the cylinder shaft 221 of the cylinder is connected to the transmission rod 230 through a connecting sleeve 260, the transmission rod 230 can move up and down relative to the mounting seat 900, and a kidney-shaped hole 910 for the transmission rod 230 to move is formed in the mounting seat 900. The driving rod 230 is pivotally connected to one end of a link 240, the link 240 is integrally T-shaped, a notch 241 for installing the connecting sleeve 260 is formed in the link 240, the other end of the link 240 is pivotally connected to the claw body 210, specifically, is located in the middle of the claw body 210, and an avoiding hole (not shown in the figure) for allowing the link 240 to rotate is formed in the claw body 210.

When the work is performed, the air cylinder drives the transmission rod 230 to ascend and descend, and when the transmission rod 230 descends, the transmission rod 230 drives the linkage 240 to be switched from an approximately vertical state to an approximately horizontal state, so that the claw bodies 210 are pushed to rotate around the shafts 250 connected with the frame to the bottom of the frame 100, and the plurality of claw bodies 210 synchronously rotate to hold a workpiece at the bottom of the frame 100 tightly. When the driving rod 230 ascends, the claw body 210 moves reversely to open.

The first pneumatic sensor 300 is fixed on the mounting seat 900 and can be triggered by contacting with the outer side wall of the claw body 210 in the closed state.

In addition, in order to ensure the locking reliability of the claw body 210, as shown in fig. 3, a locking hole 231 is formed at least one end of the transmission rod 230, a locking pin 500 which can be inserted into the locking hole 231 is provided on the frame 100, and the locking pin 500 can be locked manually, for example, the locking pin 500 is screwed on a support, and the locking pin 500 is twisted by a human hand to be inserted into the locking hole 231 to realize locking. Of course, an automatic locking means may be used, for example, the locking pin 500 is connected to a linear driving means for driving the locking pin to reciprocate along its axis, such as an air cylinder, etc. Meanwhile, a second pneumatic sensor 600 for determining the position of the locking pin 500 is disposed on the frame 100, the pneumatic sensor 600 is connected to the control assembly 400, and a pneumatic indicator lamp for indicating the position of the locking pin 500 is also disposed on the control assembly 400.

Further, in actual use, in order to enable the pneumatic clamping jaws to accurately grip, a workpiece needs to be positioned first, so that the workpiece is matched with the positions of the pneumatic clamping jaws 200, and then, as shown in fig. 4 and 5, workpiece locators 700 corresponding to the positions of each pneumatic clamping jaw 200 are arranged on the frame 100, and the workpiece locators 700 correspond to positioning holes in the workpiece one by one.

Preferably, as shown in fig. 4 and 5, the workpiece positioner 700 includes a floating pin 710 capable of reciprocating along an axial direction thereof, an upper portion of the floating pin 710 is movably limited in a guide sleeve 720, the guide sleeve 720 is fixed on a top of the mounting seat 900 and is located above the support plate 212 of the closed claw body 210, a spring 730 is disposed between the floating pin 710 and the top of the guide sleeve 720 or the mounting seat 900, and the spring 730 causes a lower end of the floating pin 710 to protrude out of the guide sleeve 720.

As shown in fig. 4 and 5, a third pneumatic sensor 800 for determining a position of the workpiece positioner 700 is further disposed near the workpiece positioner 700, a kidney-shaped hole 721 is formed in a side wall of the guide sleeve 720, a sensing portion of the third pneumatic sensor 800 may be inserted into the kidney-shaped hole to contact with a side wall of the floating pin 710, diameters of different sections of the floating pin 710 have different diameters, when the floating pin 710 does not position a workpiece, the side wall of the floating pin 710 is not in contact with the sensing portion of the third pneumatic sensor 800, and when a lower end of the floating pin 710 is moved upward by an upward pressure, the side wall of the floating pin 710 is in contact with the sensing portion of the third pneumatic sensor 800, so as to drive the floating pin 710. Further, the control assembly 400 also has a pneumatic indicator light thereon to indicate the operating status of the workpiece positioner 700.

Since the sizes of the workpieces often vary, some or all of the pneumatic clamping jaws 200 may be linearly translationally disposed on the frame 100 to accommodate different workpiece gripping needs.

In a preferred mode, as shown in fig. 6, the number of the pneumatic clamping jaws 200 is four, the pneumatic clamping jaws 200 are arranged on two sides of the frame 100 in pairs, the mounting seats 900 where the two opposite pneumatic clamping jaws 200 are located are connected with a driving plate 1000, the driving plate 1000 is connected with a sliding table cylinder 3000 which drives the driving plate 1000 to reciprocate linearly in a direction perpendicular to the length direction of the driving plate 1000 through a C-shaped connecting piece 2000, the sliding table cylinder 3000 is fixed on the frame 100, and meanwhile, the mounting seats 900 are slidably arranged on the guide rails 4000 on the side portions of the frame 100.

Thereby move opposite to each other or back to each other through two slip table cylinders 2000 drive two pairs of pneumatic clamping jaw 200 to can adjust the interval between two pairs of pneumatic clamping jaw 200 in order to satisfy the transport needs of the work piece of unidimensional not, in addition, can guarantee that overall structure's focus is steady through the synchronization adjustment of two pairs of pneumatic clamping jaw 200, avoid grabbing device's focus skew.

Of course, after the positions of the two pairs of pneumatic clamping jaws 200 are adjusted, the positions of the two pairs of pneumatic clamping jaws may also be locked to avoid the deviation of the positions when the air supply fails, and the air supply failure may be specifically realized by adopting a structure similar to the locking pin and the locking hole, which is not described herein again.

Meanwhile, as shown in fig. 1, each side of the frame is provided with two positioning structures 7000 between the pneumatic clamping jaws 200, and two positioning members of the positioning structures 7000 are L-shaped and are oppositely arranged to form positioning grooves, so that a workpiece can be pre-positioned before pneumatic clamping jaw pneumatic grabbing, and the positioning members can be driven to lift by cylinders and the like when necessary.

Because the use of manual control assembly 400 in order to realize grabbing device, different operating personnel, the height often has the difference, consequently, more preferred embodiment, makes control assembly 400's height-adjustable, specifically, as shown in fig. 6, fig. 7, the lateral part of frame 100 still is provided with along vertically extending's mounting bracket 120, be provided with slip table cylinder 5000 on the mounting bracket 120, slip table cylinder 5000 connects control assembly 400, control assembly 400 still sets up through the sliding sleeve slidable on guide post 6000 on mounting bracket 120 to one of them sliding sleeve has self-locking structure.

As shown in fig. 6, the control assembly 400 is configured to include a grip handle 420, a plurality of pneumatic indicator lights 410, and a plurality of control buttons 430.

The scheme further discloses a carrying device, which comprises the electroless gripping device and a device for driving the electroless gripping device to move, such as a pneumatic balance crane (not shown in the figure), wherein the specific structure of the pneumatic balance crane is the known technology, is not an innovation point of the scheme, and is not described herein again; the pneumatic balance crane is also connected with the control assembly 400 and is controlled by the control assembly 400 to work.

The utility model has a plurality of implementation modes, and all technical schemes formed by adopting equivalent transformation or equivalent transformation all fall within the protection scope of the utility model.

Claims

1. No electric formula grabbing device, its characterized in that: including frame (100), be provided with a plurality of pneumatic clamping jaws (200) on frame (100) and be used for judging the working condition's of every pneumatic clamping jaw (200) first pneumatic sensor (300), first pneumatic sensor (300) connection control subassembly (400), control subassembly (400) have and are used for instructing pneumatic pilot lamp (410) and the control of the working condition of pneumatic clamping jaw (200) work.

2. The electroless grasping device according to claim 1, wherein: the pneumatic clamping jaw (200) comprises a jaw body (210) and a pneumatic element (220), the upper end of the jaw body (210) is rotatably connected to the frame (100) through a shaft (250), and the pneumatic element (220) drives the jaw body (210) to rotate around the shaft (250).

3. The electroless grasping device according to claim 2, characterized in that: the pneumatic element (220) is connected with a transmission rod (230), the transmission rod (230) is pivotally connected with one end of a linkage piece (240), and the other end of the linkage piece (240) is pivotally connected with the claw body (210).

4. The electroless grasping device according to claim 3, wherein: at least one end of the driving rod (230) is formed with a locking hole (231), and the frame (100) is provided with a locking pin (500) which can be embedded into the locking hole (231).

5. The electroless grasping device according to claim 4, wherein: a second pneumatic sensor (600) for determining the position of the locking pin (500) is arranged on the frame (100), and the second pneumatic sensor (600) is connected with the control component (400).

6. The electroless grasping device according to claim 1, wherein: the frame (100) is provided with a workpiece positioner (700) corresponding to the position of each pneumatic clamping jaw (200).

7. The electroless grasping device according to claim 6, wherein: the workpiece positioner (700) comprises a floating pin capable of reciprocating along the axis direction of the workpiece positioner, and a third pneumatic sensor (800) used for determining the position of the floating pin is arranged beside the workpiece positioner (700).

8. The electroless grasping device according to claim 1, wherein: the number of the pneumatic clamping jaws is at least three, the pneumatic clamping jaws are distributed in a polygonal shape, and part or all of the pneumatic clamping jaws (200) can be linearly and translationally arranged on the frame (100).

9. The electroless grasping device according to any one of claims 1 to 8, wherein: the height of the control assembly (400) is adjustable.

10. Handling device, its characterized in that: the device comprises the electroless gripping device as claimed in any one of claims 1 to 9, and a pneumatic balance crane connected with the electroless gripping device, wherein the control assembly is connected with the pneumatic balance crane.