CN213651143U

CN213651143U - Robot sorting inorganic heavy object anti-loosening pneumatic gripper device

Info

Publication number: CN213651143U
Application number: CN202021451337.1U
Authority: CN
Inventors: 陈松; 张文涛; 叶承明
Original assignee: Anhui Zhengshi Ecological Environment Technology Co ltd
Current assignee: Anhui Zhengshi Ecological Environment Technology Co ltd
Priority date: 2020-07-21
Filing date: 2020-07-21
Publication date: 2021-07-09
Anticipated expiration: 2030-07-21

Abstract

The utility model discloses a locking pneumatic tongs device of inorganic heavy material of robot letter sorting, including cylinder, bed plate, finger mounting bracket, finger, drive mount, actuating lever and locking subassembly, wherein: the two sides of the base plate are connected with the finger mounting frames through shaft pins, fingers are fixed at the two ends of the finger mounting frames, the air cylinder is fixed on the base plate, the driving frame is fixedly arranged at the telescopic end of the air cylinder, and the driving rods are arranged at the two sides of the driving frame; the locking subassembly includes electro-magnet, wire and travel switch, and the electro-magnet of two sets of locking subassemblies attracts each other when circular telegram, and the electro-magnet of two sets of locking subassemblies is installed respectively at two relative medial surfaces of finger, and the wire passes through travel switch and is connected with the electro-magnet, and travel switch controls the intercommunication and the disconnection of electro-magnet circuit according to the shrink degree of cylinder. The utility model discloses in, the locking pneumatic tongs device of inorganic heavy matter thing of robot letter sorting that provides, simple structure increases the bond stress between two fingers of the device, makes and is snatched the object more stable.

Description

Robot sorting inorganic heavy object anti-loosening pneumatic gripper device

Technical Field

The utility model relates to a refuse treatment machine robotechnology field especially relates to a locking pneumatic tongs device of inorganic heavy material of robot letter sorting.

Background

With the rapid development of artificial intelligence and mechanical automation, more and more labor-intensive enterprises select robots to replace manual labor, so that the cost of the enterprises is reduced, and the production efficiency is improved. The advantages of the robot in various industries are gradually shown in the application. The gripping device is used as an important execution part of the robot and requires reliable action and simple structure.

But current sorting robot grabbing device generally adopts the cylinder finger, and this kind of device stroke is less, can not effectively snatch the irregularly shaped heavy matter in the rubbish of depositing, snatchs and makes not have an effectual stabilizing mean.

The authorization announcement is as follows: CN210632489, the name "inorganic heavy matter pneumatic gripper device of rubbish deposited in robot letter sorting platform" disclose that the setting through finger, anti-skidding barb, elastic webbing is convenient for snatch irregular object, and the weak point of this patent lies in: the elastic band is made of elastic materials and is easy to corrode and fatigue damage.

Disclosure of Invention

For solving the technical problem who exists among the background art, the utility model provides a locking pneumatic tongs device of inorganic heavy material of robot letter sorting.

The utility model provides a pair of locking pneumatic tongs device of inorganic heavy material of robot letter sorting, including cylinder, bed plate, finger mounting bracket, finger, drive mount, actuating lever and locking subassembly, wherein:

the two sides of the base plate are connected with the finger mounting frame through shaft pins, two fingers are arranged and fixed at the two ends of the finger mounting frame, the air cylinder is fixed on the base plate, the driving frame is fixedly arranged at the telescopic end of the air cylinder, the driving rods are arranged at the two sides of the driving frame, one end of each driving rod is connected with the corresponding driving frame through the shaft pins, and the other end of each driving rod is connected with the finger mounting frame through the shaft pins;

the locking subassembly includes electro-magnet, wire and travel switch, and the electro-magnet of two sets of locking subassemblies attracts each other when circular telegram, and the electro-magnet of two sets of locking subassemblies is installed respectively at two relative medial surfaces of finger, and the wire passes through travel switch and is connected with the electro-magnet, and travel switch controls the intercommunication and the disconnection of electro-magnet circuit according to the shrink degree of cylinder.

As the utility model discloses the scheme of further optimization, when the cylinder shrink, travel switch closure makes the electro-magnet circuit intercommunication, and when the cylinder was in the biggest extension state, travel switch was in the open mode and makes the electro-magnet circuit disconnection.

As a further preferred solution of the present invention, the travel switch is installed between the driving frame and the base plate.

In some embodiments, the travel switch includes an insulating rod, a sleeve, a conducting ring and a conducting block, the sleeve is fixed on the base plate, the conducting ring is connected with the power supply, the conducting block is connected with the electromagnet through a conducting wire, the conducting ring is fixed in the sleeve, one end of the insulating rod is fixed on the driving frame, the insulating rod slides in the sleeve along with the expansion and contraction of the air cylinder, the conducting block is slidably mounted on the insulating rod, and the conducting block moves in the sleeve along with the contraction of the air cylinder and extrudes the conducting ring to connect the electromagnet circuit.

As the utility model discloses further optimized scheme, the sleeve is made for insulating material.

As the utility model discloses the scheme of further optimization still includes the battery, and the battery passes through travel switch and is connected with the electro-magnet.

The utility model discloses in, the locking pneumatic tongs device of inorganic heavy matter of robot letter sorting that proposes, simple structure prevents through the electro-magnet inter attraction at the in-process two sets of locking subassemblies that snatch that two fingers are not hard up, and then increases the bond stress between the device finger, makes and snatched the object more stable.

Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.

Drawings

FIG. 1 is a schematic structural view of the present invention;

fig. 2 is the schematic diagram of the travel switch structure of the present invention.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar designations denote like or similar elements or elements having like or similar functionality throughout. The embodiments described below with reference to the drawings are exemplary only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.

It will be understood that the terms "central," "longitudinal," "transverse," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in an orientation or positional relationship indicated in the drawings for convenience and simplicity of description only, and do not indicate or imply that the device or element so referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be considered as limiting the invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," and "fixed" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally formed; may be mechanically coupled, may be electrically coupled or may be in communication with each other; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

In the present application, unless expressly stated or limited otherwise, the first feature may be directly on or directly under the second feature or indirectly via intermediate members. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

As shown in fig. 1-2, the robot-sorted anti-loosening pneumatic gripper for inorganic heavy objects comprises a cylinder 1, a base plate 2, a finger mounting rack 4, fingers 3, a driving rack 5, a driving rod 6 and an anti-loosening assembly 7, wherein:

the two sides of the base plate 2 are connected with the finger mounting frame 4 through shaft pins, two fingers 3 are arranged, the two fingers 3 are fixed at the two ends of the finger mounting frame 4, the cylinder 1 is fixed on the base plate 2, the driving frame 5 is fixedly arranged at the telescopic end of the cylinder 1, the driving rods 6 are arranged at the two sides of the driving frame 5, one end of each driving rod 6 is connected with the corresponding driving frame 5 through the shaft pins, and the other end of each driving rod 6 is connected with the finger mounting frame 4 through the shaft pins;

the anti-loosening assemblies 7 comprise electromagnets 70, wires 71 and travel switches 72, the electromagnets 70 of the two anti-loosening assemblies 7 are mutually attracted when being electrified, the electromagnets 70 of the two anti-loosening assemblies 7 are respectively arranged on the inner side surfaces opposite to the two fingers 3, the wires 71 are connected with the electromagnets 70 through the travel switches 72, and the travel switches 72 control the connection and disconnection of circuits of the electromagnets 70 according to the contraction degree of the air cylinder 1.

When cylinder 1 contracts, travel switch 72 is closed to electrically connect electromagnet 70, and when cylinder 1 is in the maximum extension state, travel switch 72 is in the open state to electrically disconnect electromagnet 70.

The travel switch 72 is mounted between the drive frame 5 and the base plate 2.

The travel switch 72 comprises an insulating rod 724, a sleeve 725, a conducting ring 726 and a conducting block 727, wherein the sleeve 725 is fixed on the base plate 2, the conducting ring 726 is connected with a power supply, the conducting block 727 is connected with the electromagnet 70 through a lead 71, the conducting ring 726 is fixed in the sleeve 725, one end of the insulating rod 724 is fixed on the driving frame 5, the insulating rod 724 slides in the sleeve 725 along with the extension and contraction of the cylinder 1, the conducting block 727 is slidably mounted on the insulating rod 724, and the conducting block 727 moves in the sleeve 725 along with the contraction of the cylinder 1 and extrudes the conducting ring 726 to enable the electromagnet 70 to be electrically connected;

and the device also comprises a battery 9, and the battery 9 is connected with the electromagnet 70 through a travel switch 72.

In the working process of the embodiment: when garbage needs to be grabbed, the cylinder 1 contracts to drive the driving frame 5 to move towards the direction close to the base plate 2, the insulating rod 724 further slides in the sleeve 725 to enable the conductive block 727 and the conductive ring 726 to extrude to complete the conduction of the electromagnet 70 and the battery 8, the two electromagnets 70 attract each other to further increase the attraction between the fingers 3, the grip of the fingers 3 during grabbing is increased, along with the continuous contraction of the cylinder 1, the conductive block 727 is continuously contacted with the conductive ring 726, the conductive block 727 slides relative to the insulating rod 724, and the grip of the fingers 3 during grabbing is ensured.

In the embodiment, preferably, when the cylinder 1 contracts, the travel switch 72 is closed to connect the electric circuit of the electromagnet 70, and when the cylinder 1 is in the maximum extension state, the travel switch 72 is in the open state to disconnect the electric circuit of the electromagnet 70, that is, when the fingers 3 of the device grab an object, the electromagnets 70 of the two sets of anti-loose assemblies 7 attract each other to increase the attraction between the fingers 3, and thus the grip of the fingers 3 is increased.

In the present embodiment, it is preferable that the travel switch 72 is installed between the driving frame 5 and the base plate 2, and does not occupy space and interfere with the grasping of the object by the finger 3.

In the embodiment, it is preferable that the device further comprises a battery 9, and the battery 9 is connected with the electromagnet 70 through a travel switch 72, so that the device can be moved conveniently without an external power supply.

The above, only be the concrete implementation of the preferred embodiment of the present invention, but the protection scope of the present invention is not limited thereto, and any person skilled in the art is in the technical scope of the present invention, according to the technical solution of the present invention and the utility model, the concept of which is equivalent to replace or change, should be covered within the protection scope of the present invention.

Claims

1. The utility model provides a locking pneumatic tongs device of inorganic heavy material of robot letter sorting, its characterized in that includes cylinder (1), bed plate (2), finger mounting bracket (4), finger (3), actuating lever (6) and locking subassembly (7), wherein:

the two sides of the base plate (2) are connected with the finger mounting rack (4) through shaft pins, the fingers (3) are arranged in two numbers, the two fingers (3) are fixed at the two ends of the finger mounting rack (4), the cylinder (1) is fixed on the base plate (2), the driving rack (5) is fixedly arranged at the telescopic end of the cylinder (1), the driving rods (6) are arranged at the two sides of the driving rack (5), one end of each driving rod (6) is connected with the driving rack (5) through the shaft pins, and the other end of each driving rod (6) is connected with the finger mounting rack (4) through the shaft pins;

the anti-loosening assemblies (7) comprise electromagnets (70), wires (71) and travel switches (72), the electromagnets (70) of the two anti-loosening assemblies (7) are mutually attracted when being electrified, the electromagnets (70) of the two anti-loosening assemblies (7) are respectively installed on the inner side faces, opposite to the two fingers (3), the wires (71) are connected with the electromagnets (70) through the travel switches (72), and the travel switches (72) control the connection and disconnection of circuits of the electromagnets (70) according to the contraction degree of the air cylinder (1).

2. The robot-sorting inorganic heavy matter anti-loose pneumatic gripper device according to claim 1, characterized in that when the cylinder (1) is contracted, the travel switch (72) is closed to connect the electromagnet (70) in a circuit, and when the cylinder (1) is in a maximum extension state, the travel switch (72) is in an open state to disconnect the electromagnet (70) in a circuit.

3. Robot sorting anti-loose pneumatic gripper device for inorganic heavy objects according to claim 1, characterized in that a travel switch (72) is mounted between the drive frame (5) and the bedplate (2).

4. The robot-sorting inorganic heavy object anti-loose pneumatic gripper device according to claim 3, wherein the travel switch (72) comprises an insulating rod (724), a sleeve (725), a conducting ring (726) and a conducting block (727), the sleeve (725) is fixed on the base plate (2), the conducting ring (726) is connected with a power supply, the conducting block (727) is connected with the electromagnet (70) through a lead (71), the conducting ring (726) is fixed in the sleeve (725), one end of the insulating rod (724) is fixed on the driving frame (5), the insulating rod (724) slides in the sleeve (725) along with the expansion and contraction of the cylinder (1), the conducting block (727) is slidably mounted on the insulating rod (724), and the conducting block (727) moves in the sleeve (725) along with the contraction of the cylinder (1) and extrudes the conducting ring (726) to enable the electromagnet (70) to be in circuit communication.

5. Robot sorting inorganic heavy matter anti-loose pneumatic gripper device according to claim 4, characterized in that the sleeve (725) is made of insulating material.

6. The robot-sorting inorganic heavy-matter anti-loose pneumatic gripper device according to claim 1, characterized by further comprising a battery (9), wherein the battery (9) is connected with the electromagnet (70) through a travel switch (72).