CN214724311U

CN214724311U - Automatic grabbing and laminating device for soft materials

Info

Publication number: CN214724311U
Application number: CN202022742061.9U
Authority: CN
Inventors: 孙彪; 范少杰; 张奎; 徐斌; 付勇
Original assignee: Hefei Heda Jingrui Technology Co ltd
Current assignee: Hefei Heda Jingrui Technology Co ltd
Priority date: 2020-11-24
Filing date: 2020-11-24
Publication date: 2021-11-16
Anticipated expiration: 2030-11-24

Abstract

The utility model relates to an automatic laminating device that snatchs of softwood material, including support, connect actuating mechanism on the support, connect slider on actuating mechanism, connect electric putter on the slider, connect the connecting rod at the electric putter output and connect the laminating of connecting rod lower extreme and snatch the mechanism, the laminating snatchs the mechanism including connecting at the connecting plate of connecting rod lower extreme, connecting at the driven track of connecting plate one end, connecting at the initiative track of the connecting plate other end, locating the spacing groove on the driven track, locating the shifting chute on the initiative track, locating the driven spacing of a plurality of spacing inslot, locating the initiative spacing on the shifting chute, connecting and snatching the board, connecting at the trachea of adsorbing and snatching board middle part position of initiative spacing and driven spacing lower extreme. This automatic laminating device that snatchs of softwood material can adjust the distribution position of each absorption grabbing board according to the soft material's that actually snatchs volume, and the controllability is stronger.

Description

Automatic grabbing and laminating device for soft materials

Technical Field

The utility model belongs to the industrial robot field, concretely relates to automatic laminating device that snatchs of softwood material.

Background

With the continuous maturity of the application technology of industrial robots and the gradual reduction of application cost, industrial robots are beginning to be applied to the printing industry. However, most of the objects operated by the printing industry are materials with certain flexibility, such as leather, textiles, paper, etc., and the automatic printing equipment requires the workpiece to be flat and placed on a rigid supporting surface. The traditional robot end effector mostly adopts structures such as clamping jaws, suckers and electromagnets to realize grabbing rigid materials, but cannot grab soft materials. The vacuum chuck can grab the soft material, but the grabbing back is extremely easy to be curled and deformed, and the requirement of automatic printing equipment on the flatness of the material cannot be met. At present, most of automatic printing production lines in the printing industry adopt a manual feeding mode, namely, a robot end effector cannot grab a soft material or cannot meet the requirement of automatic printing equipment on flatness after grabbing.

And what have some equipment that snatch soft material at present adopted sets up more little gas pocket on an adsorption disc, can effectually prevent that soft material from taking place comparatively serious deformation when reaching adsorption effect, but the shape size of the sucking disc on this kind of equipment at present all is fixed, can't be applicable to the soft material of different shape sizes, and the controllability is relatively poor.

SUMMERY OF THE UTILITY MODEL

The utility model aims at providing an automatic laminating device that snatchs of softwood material simple structure, reasonable in design just for solving above-mentioned problem.

The utility model discloses a following technical scheme realizes above-mentioned purpose:

the utility model provides an automatic laminating device that snatchs of softwood material, includes the support, connect actuating mechanism on the support, connect slider on actuating mechanism, connect the electric putter on the slider, connect the connecting rod at the electric putter output and connect the mechanism is snatched in the laminating of connecting rod lower extreme, the laminating snatchs the mechanism and includes the connecting plate of connecting the connecting rod lower extreme, connect the driven track in connecting plate one end, connect the initiative track at the connecting plate other end, locate the spacing groove on the driven track, locate the shifting chute on the initiative track, locate a plurality of driven spacing frame in the spacing groove, locate the initiative spacing frame on the shifting chute, connect the absorption grabbing board at initiative spacing frame and driven spacing frame lower extreme, connect the trachea of connecting the absorption grabbing board middle part position, connect the rack on the shifting chute inner wall, connect the driving motor on the initiative spacing frame, connect the mechanism is snatched in the frame, The connecting shaft is connected to the output shaft of the driving motor, the gear is connected to one end of the connecting shaft, the gear is meshed with the rack, and the adsorption grabbing plate is provided with a plurality of air holes.

As a further optimization scheme of the utility model, the connecting axle runs through the spacing of initiative, be equipped with the cooperation groove on the orbital lateral wall of initiative, cooperation groove and shifting chute intercommunication.

As a further optimization scheme of the utility model, the connecting axle is located the cooperation inslot, is equipped with the clearance between connecting axle and the cooperation inslot wall.

As a further optimization scheme of the utility model, be equipped with the clearance between the one end outer wall of the spacing frame of initiative and the rack, be equipped with the clearance between the one end outer wall of gear and the spacing frame of initiative.

As the utility model discloses a further optimization scheme, actuating mechanism is including connecting the drive track on the support, connecting at the control motor of drive track one end and connecting the lead screw at the control motor output epaxial, be equipped with on the slider with lead screw matched with screw.

The beneficial effects of the utility model reside in that:

1) the utility model discloses when being applicable to the material of different shapes and sizes, can be through controlling driving motor work, driving motor drives connecting shaft drive gear rotation, move on the rack during gear rotation, the gear drives the initiative spacing frame removal rather than matched with when moving for the rack, drive corresponding absorption grabbing board and move when the initiative spacing frame removes, can make this absorption grabbing board carry out convenient removal on the initiative track, can effectually adjust distance and position relation between each absorption grabbing board, make things convenient for each absorption grabbing board even distribution on soft material, can the stability of grabbing soft material of effectual improvement;

2) the utility model discloses simple structure, stability is high, reasonable in design, the realization of being convenient for.

Drawings

Fig. 1 is a schematic view of the overall structure of the present invention;

fig. 2 is a partial sectional view of the fitting grasping mechanism of the present invention;

fig. 3 is a top view of the utility model discloses mechanism is snatched in laminating.

In the figure: 1. a support; 2. a drive mechanism; 201. a slider; 3. an electric push rod; 301. a connecting rod; 4. a fitting and grabbing mechanism; 401. a connecting plate; 402. a driven rail; 403. an active track; 404. adsorbing the grabbing plate; 405. a driven limit bracket; 406. an active limiting frame; 407. a moving groove; 408. a rack; 409. a drive motor; 410. a connecting shaft; 411. a gear; 412. an air tube; 413. a limiting groove.

Detailed Description

The present application will now be described in further detail with reference to the drawings, it should be noted that the following detailed description is given for illustrative purposes only and is not to be construed as limiting the scope of the present application, as those skilled in the art will be able to make numerous insubstantial modifications and adaptations to the present application based on the above disclosure.

In the description of the present invention, it is to be understood that the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "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, and 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 therefore, should not be construed as limiting the present invention; in the description of the present invention, "a plurality" or "a plurality" means two or more unless otherwise specified.

Example 1

As shown in FIGS. 1-3, an automatic soft material grabbing and attaching device comprises a support 1, a driving mechanism 2 connected to the support 1, a slider 201 connected to the driving mechanism 2, an electric push rod 3 connected to the slider 201, a connecting rod 301 connected to the output end of the electric push rod 3, and an attaching and grabbing mechanism 4 connected to the lower end of the connecting rod 301, wherein the attaching and grabbing mechanism 4 comprises a connecting plate 401 connected to the lower end of the connecting rod 301, a driven rail 402 connected to one end of the connecting plate 401, a driving rail 403 connected to the other end of the connecting plate 401, a limiting groove 413 arranged on the driven rail 402, a moving groove 407 arranged on the driving rail 403, a plurality of driven limiting frames 405 arranged in the limiting groove 413, a driving limiting frame 406 arranged on the moving groove 407, an adsorption and grabbing plate 404 connected to the lower ends of the driving limiting frame 406 and the driven limiting frame 405, an air pipe 412 connected to the middle position of the adsorption and grabbing plate 404, The adsorption grabbing plate 404 is provided with a rack 408 connected to the inner wall of the moving groove 407, a driving motor 409 connected to the driving limiting frame 406, a connecting shaft 410 connected to the output shaft of the driving motor 409, and a gear 411 connected to one end of the connecting shaft 410, wherein the gear 411 is meshed with the rack 408, and the adsorption grabbing plate 404 is provided with a plurality of air holes. The gas circulation pipeline communicated with the gas pipe 412 is arranged in the adsorption grabbing plate 404 and communicated with the gas hole, the diameter of the gas hole is small, large deformation of the soft material at the gas hole can be prevented while suction is generated, and the material can be effectively prevented from being damaged by large suction.

The connecting shaft 410 penetrates the active limiting frame 406, a matching groove is formed in the side wall of the active rail 403, and the matching groove is communicated with the moving groove 407. The connecting shaft 410 moves in the fitting groove.

The connecting shaft 410 is located in the matching groove, and a gap is formed between the connecting shaft 410 and the inner wall of the matching groove. The gap between the connecting shaft 410 and the matching groove can effectively reduce the resistance of the connecting shaft 410 in the moving process.

A gap is arranged between the outer wall of one end of the active limiting frame 406 and the rack 408, and a gap is arranged between the gear 411 and the outer wall of one end of the active limiting frame 406. The gear 411 moves on the rack 408 while rotating, the gear 411 does not contact with the active limiting frame 406 in the rotating and moving processes, the influence of external force on the gear 411 can be effectively reduced, friction between the active limiting frame 406 and the rack 408 can be reduced in the moving process, and loss is reduced.

The driving mechanism 2 comprises a driving track connected to the support 1, a control motor connected to one end of the driving track, and a screw rod connected to an output shaft of the control motor, and a screw hole matched with the screw rod is formed in the sliding block 201. The driving mechanism 2 can drive the attaching and grabbing mechanism 4 to move on the driving track, and adjustment is convenient.

When a soft material is attached and grabbed, the attachment grabbing mechanism 4 is driven to move to an appointed position through the driving mechanism 2, then the attachment grabbing mechanism 4 is adjusted according to the shape and size of the soft material, the driving motor 409 is controlled to work during adjustment, the driving motor 409 drives the connecting shaft 410 to drive the gear 411 to rotate, the gear 411 moves on the rack 408 during rotation, the gear 411 moves relative to the rack 408 and drives the active limiting frame 406 matched with the gear to move, the active limiting frame 406 moves and drives the corresponding adsorption grabbing plate 404 to move, the adsorption grabbing plate 404 can conveniently move on the active track 403, the distance and the position relation among the adsorption grabbing plates 404 can be effectively adjusted, the adsorption grabbing plates 404 are conveniently and uniformly distributed on the soft material, and the stability of grabbing the soft material can be effectively improved, after the laminating grabbing mechanism 4 is adjusted, the soft material can be laminated, grabbed and subjected to the next step of working procedure, and the whole device is high in adjustability and wide in application range.

The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention.

Claims

1. The utility model provides an automatic laminating device that snatchs of yielding material, includes support (1), connects actuating mechanism (2) on support (1), connects slider (201) on actuating mechanism (2), connects electric putter (3) on slider (201), connects connecting rod (301) at electric putter (3) output and connects to snatch mechanism (4) in the laminating of connecting rod (301) lower extreme, its characterized in that: the attaching and grabbing mechanism (4) comprises a connecting plate (401) connected to the lower end of the connecting rod (301), a driven rail (402) connected to one end of the connecting plate (401), a driving rail (403) connected to the other end of the connecting plate (401), a limiting groove (413) arranged on the driven rail (402), a moving groove (407) arranged on the driving rail (403), a plurality of driven limiting frames (405) arranged in the limiting groove (413), a driving limiting frame (406) arranged on the moving groove (407), an adsorption grabbing plate (404) connected to the lower ends of the driving limiting frame (406) and the driven limiting frame (405), an air pipe (412) connected to the middle position of the adsorption grabbing plate (404), a rack (408) connected to the inner wall of the moving groove (407), a driving motor (409) connected to the driving limiting frame (406), a connecting shaft (410) connected to an output shaft of the driving motor (409) and a gear (411) connected to one end of the driving motor (410), the gear (411) is meshed with the rack (408), and a plurality of air holes are formed in the adsorption grabbing plate (404).

2. The automatic soft material grabbing and attaching device according to claim 1, wherein: the connecting shaft (410) penetrates through the active limiting frame (406), a matching groove is formed in the side wall of the active track (403), and the matching groove is communicated with the moving groove (407).

3. The automatic soft material grabbing and attaching device according to claim 2, wherein: the connecting shaft (410) is positioned in the matching groove, and a gap is formed between the connecting shaft (410) and the inner wall of the matching groove.

4. The automatic soft material grabbing and attaching device according to claim 1, wherein: a gap is arranged between the outer wall of one end of the driving limiting frame (406) and the rack (408), and a gap is arranged between the gear (411) and the outer wall of one end of the driving limiting frame (406).

5. The automatic soft material grabbing and attaching device according to claim 1, wherein: the driving mechanism (2) comprises a driving track connected to the support (1), a control motor connected to one end of the driving track and a screw rod connected to an output shaft of the control motor, and screw holes matched with the screw rod are formed in the sliding block (201).