CN215967262U - Positioning and grabbing mechanism - Google Patents
Positioning and grabbing mechanism Download PDFInfo
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- CN215967262U CN215967262U CN202122760775.7U CN202122760775U CN215967262U CN 215967262 U CN215967262 U CN 215967262U CN 202122760775 U CN202122760775 U CN 202122760775U CN 215967262 U CN215967262 U CN 215967262U
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Abstract
The application relates to a mechanism is snatched in location includes: the device comprises a fixed frame, a first adsorption frame and a first adsorption head; the first adsorption frame is fixedly arranged on one side of the fixed frame, one end of the first adsorption frame, which is far away from the fixed frame, is a first contact surface, and the first contact surface is suitable for being matched with an object to be grabbed; a first placing hole is formed in one side of the first contact surface of the first adsorption frame and penetrates through the first adsorption frame; the first adsorption head is arranged at the first placing hole, the suction head end of the first adsorption head is arranged on one side of the first contact surface, and the other end of the first adsorption head is fixed on the fixing frame. It makes grabbing that the diaphragm can not the damage for the diaphragm can carry out mechanical grabbing, has avoided artificial assembly of grabbing, the effectual efficiency that has promoted the output.
Description
Technical Field
The application relates to the field of assembling equipment, in particular to a positioning and grabbing mechanism.
Background
In industrial production, the assembly process of products is to assemble various parts to a main body to be assembled, for example, a finished pump body needs to assemble a bolt and other parts to a shell. When the diaphragm is assembled (for example, the diaphragm is assembled on the diaphragm pump), because the material of the diaphragm is soft, the mechanical hard positioning assembly cannot be carried out, and therefore manual assembly is adopted at the present stage. However, the efficiency of manual assembly product output is low, and the production requirement cannot be met.
Disclosure of Invention
In view of this, this application has provided a location and has snatched mechanism, and it makes the snatching that the diaphragm can not be damaged for the diaphragm can carry out mechanical snatching, has avoided artificial snatching assembly, the effectual efficiency that has promoted the output.
According to an aspect of the present application, there is provided a positioning and gripping mechanism, including:
the device comprises a fixed frame, a first adsorption frame and a first adsorption head;
the first adsorption frame is fixedly arranged on one side of the fixed frame, one end of the first adsorption frame, which is far away from the fixed frame, is a first contact surface, and the first contact surface is suitable for being matched with an object to be grabbed;
a first placing hole is formed in one side of the first contact surface of the first adsorption frame and penetrates through the first adsorption frame;
the first adsorption head is arranged at the first placing hole, the suction head end of the first adsorption head is arranged on one side of the first contact surface, and the other end of the first adsorption head is fixed on the fixing frame.
In one possible implementation manner, the method further includes:
an adsorption part;
the adsorption part is fixedly arranged on the fixing frame, the adsorption part and the first adsorption frame are positioned on different sides, and the adsorption part is suitable for adsorbing another object to be grabbed.
In one possible implementation, the suction part includes a second suction frame and a second suction head;
the second adsorption frame is fixedly arranged on the fixed frame, and the second adsorption frame and the first adsorption frame are positioned on different sides;
one end of the second adsorption frame, which is far away from the fixed frame, is a second contact surface, and the second contact surface is suitable for being matched with another object to be grabbed;
a second placing hole is formed in one side of a second contact surface of the second adsorption frame and penetrates through the second adsorption frame;
the second adsorption head is arranged at the second placing hole, the suction head end of the second adsorption head is arranged on one side of the second contact surface, and the other end of the second adsorption head is fixed on the fixing frame.
In one possible implementation manner, the method further includes:
a gripping mechanism;
the clamping mechanism is arranged on the fixed frame;
the clamping mechanism, the adsorption part and the first adsorption frame are arranged on different sides;
the clamping end of the clamping mechanism deviates from the fixed frame and is used for clamping a to-be-clamped piece.
In one possible implementation, the fixing frame comprises a first bracket and a second bracket;
the first bracket and the second bracket are arranged in a T shape;
the first adsorption frame and the clamping mechanism are arranged on two opposite sides of the first support, and the adsorption part is fixedly arranged on one side, deviating from the first support, of the second support.
In one possible implementation, the gripping mechanism is an electric gripper.
In a possible implementation manner, the device further comprises a fixed seat;
the fixing seat is arranged in an L-shaped plate shape, the fixing seat is fixedly arranged on the fixing frame, and the clamping mechanism is fixedly arranged on the fixing seat.
In one possible implementation manner, the method further includes:
the clamping device comprises a clamping device, a first clamping plate and a second clamping plate;
the clamping device is fixedly arranged on the fixing frame and provided with two chucks which move relatively, and the first clamping plate and the second clamping plate are respectively and fixedly arranged on the two chucks.
In a possible implementation manner, the first adsorption frame is in a circular truncated cone shape, a table surface on one side of the first adsorption frame is fixed with the fixed frame, and a table surface on the other side of the first adsorption frame is the first contact surface;
the first placing hole is arranged coaxially with the first adsorption frame.
In one possible implementation, the first clamping plate and the second clamping plate are both in an L-shaped plate structure;
the bent side of the first clamping plate and the bent side of the second clamping plate are oppositely arranged.
The positioning and grabbing mechanism is provided with a fixed frame, a first adsorption frame and a first adsorption head, wherein the fixed frame is fixed on an external object as a whole support, for example, on an external assisting robot (namely, a conveying robot for transporting objects in a production line), and the first adsorption frame and the first adsorption head are arranged on the fixed frame as a real adsorption device. The mechanism is snatched in location in this application embodiment is after the position with the vision positioning diaphragm, assists the robot cooperation to snatch the mechanism and transfers this location, and first adsorption head is connected with external air supply, lets in the negative pressure air supply when the external world after, and first adsorption head will wait to snatch the object (promptly, can be for the diaphragm of diaphragm pump) and adsorb until diaphragm and first contact surface butt, from this, accomplishes the absorption of diaphragm. The embodiment of the application has avoided because the membrane material is soft thereby the problem of the hard location assembly of unable machinery owing to having adopted absorbent mode, carries out vacuum adsorption with the membrane by first adsorption head, and the setting of first adsorption frame provides supporting platform for the membrane can not be damaged snatch, makes the membrane can carry out machinery and snatch, has avoided artificial assembly of snatching, the effectual efficiency that promotes the output.
Other features and aspects of the present application will become apparent from the following detailed description of exemplary embodiments, which proceeds with reference to the accompanying drawings.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate exemplary embodiments, features, and aspects of the application and, together with the description, serve to explain the principles of the application.
Fig. 1 is a main body structure diagram of a positioning and gripping mechanism according to an embodiment of the present application;
FIG. 2 illustrates a front view of a positioning and grasping mechanism of an embodiment of the present application;
FIG. 3 shows a left side view of a positioning and grasping mechanism of an embodiment of the present application;
fig. 4 shows a top view of a positioning and gripping mechanism of an embodiment of the present application.
Detailed Description
Various exemplary embodiments, features and aspects of the present application will be described in detail below with reference to the accompanying drawings. In the drawings, like reference numbers can indicate functionally identical or similar elements. While the various aspects of the embodiments are presented in drawings, the drawings are not necessarily drawn to scale unless specifically indicated.
It will be understood, however, that the terms "central," "longitudinal," "lateral," "length," "width," "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 in describing or simplifying the description, 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 utility model.
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 one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
The word "exemplary" is used exclusively herein to mean "serving as an example, embodiment, or illustration. Any embodiment described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other embodiments.
Furthermore, in the following detailed description, numerous specific details are set forth in order to provide a better understanding of the present application. It will be understood by those skilled in the art that the present application may be practiced without some of these specific details. In some instances, methods, means, elements and circuits that are well known to those skilled in the art have not been described in detail so as not to obscure the present application.
First, it should be noted that the positioning and grabbing mechanism in the embodiment of the present application is mainly used for positioning and grabbing a diaphragm of a diaphragm pump in an assembling process of the diaphragm pump, so as to realize automatic assembling of the diaphragm in the diaphragm pump. It should be noted that the positioning and gripping mechanism of the embodiment of the present application can also be used for positioning and gripping other workpieces, and is not limited to the diaphragm of the diaphragm pump described above.
Fig. 1 is a main body structure diagram of a positioning and gripping mechanism according to an embodiment of the present application. Fig. 2 shows a front view of the positioning and gripping mechanism of the embodiment of the present application. Fig. 3 shows a left side view of the positioning and gripping mechanism of the embodiment of the present application. Fig. 4 shows a top view of a positioning and gripping mechanism of an embodiment of the present application. As shown in fig. 1, fig. 2, fig. 3, or fig. 4, the positioning and gripping mechanism includes: a fixed frame 100, a first adsorption frame 200 and a first adsorption head 300, wherein the fixed frame 100 is used for being fixed on the assisting robot. The first adsorption frame 200 is fixedly installed at one side of the fixing frame 100, one end of the first adsorption frame 200 departing from the fixing frame 100 is a first contact surface, and the first contact surface is matched with an object to be grabbed. A first placing hole is formed in one side of the first contact surface of the first adsorption frame 200, and the first placing hole penetrates through the first adsorption frame 200. The first adsorption head 300 is disposed at the first placement hole, the suction head end of the first adsorption head 300 is disposed at one side of the first contact surface, and the other end of the first adsorption head 300 is fixed on the fixing frame 100.
The positioning and grabbing mechanism of the embodiment of the present application is provided with a fixing frame 100, a first adsorption frame 200 and a first adsorption head 300, wherein the fixing frame 100 is fixed on an external object, such as an external assisting robot (i.e. a conveying robot for transporting objects in a production line), as a whole, and the first adsorption frame 200 and the first adsorption head 300 are arranged on the fixing frame 100 as a real adsorption device. The mechanism is snatched in location in this application embodiment is after the position with the vision positioning diaphragm, assists the robot cooperation to snatch the mechanism and transfers this location, and first adsorption head 300 is connected with external air supply, lets in the negative pressure air supply when the external world after, and first adsorption head 300 will wait to snatch the object (promptly, can be for the diaphragm of diaphragm pump) and adsorb until diaphragm and first contact surface butt, from this, accomplishes the absorption of diaphragm. The embodiment of the application has avoided because the membrane material is soft thereby the problem of the hard location assembly of unable machinery owing to having adopted absorbent mode, carries out vacuum adsorption with the membrane by first adsorption head 300, and the setting of first adsorption frame 200 provides supporting platform for the membrane can not be damaged snatch, makes the membrane can carry out machinery and snatch, has avoided artificial assembly of snatching, the effectual efficiency that has promoted the output.
Here, it should be noted that the first suction head 300 may be a vacuum suction head.
It should also be noted here that mount 100 may be secured to a support stand or mount 100 may be secured to a cart without assistance from a robot.
In a possible implementation manner, the suction device further comprises a suction part 400, the suction part 400 is fixedly installed on the fixing frame 100, the suction part 400 and the first suction frame 200 are located on different sides, the suction part 400 is suitable for sucking another object to be grabbed (i.e., an end cover of the diaphragm pump), and therefore, the end cover is assembled on a shell to be assembled (which can be a pump body of the diaphragm pump). Therefore, the end cover can be grabbed, so that the end cover and the diaphragm can be comprehensively grabbed, and the comprehensive output beat is synchronously carried out.
Further, in a possible implementation manner, the suction part 400 includes a second suction frame 410 and a second suction head 420, the second suction frame 410 is fixedly installed on the fixing frame 100, and the second suction frame 410 is located at a different side from the first suction frame 200. The end of the second suction frame 410 facing away from the fixing frame 100 is a second contact surface adapted to mate with an end cap. A second placing hole is formed in one side of the second contact surface of the second adsorption frame 410, and the second placing hole penetrates through the second adsorption frame 410. The second adsorption head 420 is disposed at the second placement hole, the suction head end of the second adsorption head 420 is disposed at one side of the second contact surface, and the other end of the second adsorption head 420 is fixed on the fixing frame 100. From this, adopted absorptive mode to snatch the end cover for snatching of end cover more steadily.
Here, it should be noted that in one possible implementation, the second suction head 420 may be a vacuum suction head.
Here, it should also be noted that in one possible implementation, the second adsorption shelf 410 is cylindrical and the second contact surface is a flat surface that mates with the end cap. The second placing hole is provided coaxially with the second adsorption frame 410.
In a possible implementation manner, the clamping device 500 is further included, the clamping device 500 is installed on the fixing frame 100, the clamping device 500, the adsorption part 400 and the first adsorption frame 200 are all located on different sides, and the clamping end of the clamping device 500 is arranged away from the fixing frame 100 and used for clamping a to-be-clamped piece (i.e., a spring on a diaphragm pump), so that the spring is assembled on the to-be-assembled shell. Thereby, a comprehensive assembly of the diaphragm, the end cap and the spring can be performed.
Further, in a possible implementation manner, the fixing frame 100 includes a first bracket 110 and a second bracket 120, and the first bracket 110 and the second bracket 120 are arranged in a "T" shape. The first suction frame 200 and the gripping mechanism 500 are disposed at opposite sides of the first support 110, and the suction part 400 is fixedly mounted at a side of the second support 120 away from the first support 110. Through foretell structure make snatching, the assembly of diaphragm, snatching, the assembly of end cover, snatching, the assembly mutually noninterfere of spring.
In one possible implementation, the gripper mechanism 500 is a motorized gripper.
In a possible implementation manner, the clamping device further includes a fixing seat 600, the fixing seat 600 is in an "L" shaped plate, the fixing seat 600 is fixedly installed on the fixing frame 100, and the clamping mechanism 500 is fixedly installed on the fixing seat 600. Thus, the structure of the embodiment of the present application is optimized.
Further, in a possible implementation manner, the robot further includes a clamping device 700, a first clamping plate 800 and a second clamping plate 900, the clamping device 700 is fixedly installed on the fixing frame 100, the clamping device 700 is provided with two clamping heads which move relatively, and the first clamping plate 800 and the second clamping plate 900 are respectively fixedly installed on the two clamping heads for clamping on the assisting robot. Here, it should be noted that in one possible implementation, the gripping device 700 is also an electric gripper, i.e. a servo-cylinder driven gripper.
Here, it should also be noted that in one possible implementation, the clamping device 700 is fixedly mounted at one side of the second bracket 120.
In a possible implementation manner, the first adsorption frame 200 is in a circular truncated cone shape, a table surface on one side of the first adsorption frame 200 is fixed to the fixed frame 100, a table surface on the other side of the first adsorption frame 200 is a first contact surface, and the first placing hole and the first adsorption frame 200 are coaxially arranged.
In one possible implementation, the first clamping plate 800 and the second clamping plate 900 are both in an "L" shaped plate structure, and the bent side of the first clamping plate 800 and the bent side of the second clamping plate 900 are disposed opposite to each other. Here, it should be noted that the first plate 800 includes a first plate, a second plate, and the second plate 900 includes a third plate and a fourth plate, wherein the first plate and the second plate are disposed in an "L" shape, and the third plate and the fourth plate are disposed in an "L" shape. And a plate three are equally arranged on two clamps of the clamping device 700 respectively, a plate two is arranged on one side of the plate one far away from the plate three, and a plate four is arranged on one side of the plate three far away from the plate one.
The mechanism is snatched in location can be used for the assembly of diaphragm pump to this application embodiment, places the main casing body of diaphragm pump on the mount table at first when carrying out the assembly of diaphragm pump. The positioning and grabbing mechanism of the embodiment of the application can control the distance between the first clamping plate 800 and the second clamping plate 900 through the clamping device 700, so that the embodiment of the application can be clamped on an external assisting robot. And a first support 110 and a second support 120 are provided in a "T" shape, the first support 110 may have a plate shape, and the first adsorption frame 200 and the clamping structure are fixedly mounted on opposite side walls of the first support 110, respectively. Set up on first adsorption frame 200 owing to place the first hole of placing of first adsorption head 300, and be equipped with the opening on one side that first support 110 is connected with first adsorption frame 200 to make first adsorption head 300 can stretch out first hole setting of placing, and the open-ended side on first support 110 is provided with the through-hole, and first adsorption head 300 stretches into the through-hole setting, from this, conveniently inserts the pipeline. The first adsorption head 300 can adsorb a membrane, and the adsorbed membrane is abutted to the first adsorption frame 200, so that the membrane adsorbed by the first adsorption head 300 can be moved to a corresponding position on the main casing of the diaphragm pump, and the adsorption of the membrane is stopped after the assembly is completed. The second adsorption frame 410 is fixed on one side of the second support 120 departing from the first support 110, a second placing hole for placing a second adsorption head 420 is formed in the second adsorption frame 410, and a through hole is formed in one side of the second support 120, on which the second adsorption frame 410 is arranged, for the second adsorption head 420 to pass through, so that the gas pipeline can be conveniently communicated. The second adsorption head 420 can adsorb the end cover of the diaphragm pump, and the adsorbed end cover is supported on the second adsorption frame 410, so that the end cover adsorbed by the second adsorption head 420 can be moved to the corresponding position on the main casing body of the diaphragm pump, and the adsorption of the end cover is stopped after the assembly. The clamping mechanism 500 mounted on the first bracket 110 can clamp the spring components inside the diaphragm pump and move to the corresponding mounting position on the main housing of the diaphragm pump, and the clamping of the spring is stopped after the assembly is completed. To sum up, this application embodiment can adsorb the diaphragm through first adsorption head 300, second adsorption head 420 adsorbs the end cover, presss from both sides and gets mechanism 500 clamp and get the spring, can solve the soft unable problem that realizes the hard positioner of machinery of diaphragm material from this, makes it can carry out the mechanical positioning assembly, and can synthesize synchronous output with end cover, spring machinery, has improved output efficiency.
Having described embodiments of the present application, the foregoing description is intended to be exemplary, not exhaustive, and not limited to the disclosed embodiments. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen in order to best explain the principles of the embodiments, the practical application, or improvements made to the technology in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein.
Claims (10)
1. A positioning and grabbing mechanism is characterized by comprising:
the device comprises a fixed frame, a first adsorption frame and a first adsorption head;
the first adsorption frame is fixedly arranged on one side of the fixed frame, one end of the first adsorption frame, which is far away from the fixed frame, is a first contact surface, and the first contact surface is suitable for being matched with an object to be grabbed;
a first placing hole is formed in one side of the first contact surface of the first adsorption frame and penetrates through the first adsorption frame;
the first adsorption head is arranged at the first placing hole, the suction head end of the first adsorption head is arranged on one side of the first contact surface, and the other end of the first adsorption head is fixed on the fixing frame.
2. The positioning and grasping mechanism according to claim 1, further comprising:
an adsorption part;
the adsorption part is fixedly arranged on the fixing frame, the adsorption part and the first adsorption frame are positioned on different sides, and the adsorption part is suitable for adsorbing another object to be grabbed.
3. The positioning and gripping mechanism according to claim 2, wherein the suction portion includes a second suction frame and a second suction head;
the second adsorption frame is fixedly arranged on the fixed frame, and the second adsorption frame and the first adsorption frame are positioned on different sides;
one end of the second adsorption frame, which is far away from the fixed frame, is a second contact surface, and the second contact surface is suitable for being matched with another object to be grabbed;
a second placing hole is formed in one side of a second contact surface of the second adsorption frame and penetrates through the second adsorption frame;
the second adsorption head is arranged at the second placing hole, the suction head end of the second adsorption head is arranged on one side of the second contact surface, and the other end of the second adsorption head is fixed on the fixing frame.
4. The positioning and grasping mechanism according to claim 2, further comprising:
a gripping mechanism;
the clamping mechanism is arranged on the fixed frame;
the clamping mechanism, the adsorption part and the first adsorption frame are arranged on different sides;
the clamping end of the clamping mechanism deviates from the fixed frame and is used for clamping a to-be-clamped piece.
5. The positioning and grasping mechanism according to claim 4, wherein the mount includes a first bracket and a second bracket;
the first bracket and the second bracket are arranged in a T shape;
the first adsorption frame and the clamping mechanism are arranged on two opposite sides of the first support, and the adsorption part is fixedly arranged on one side, deviating from the first support, of the second support.
6. The positional snatching mechanism of claim 4, wherein the grasping mechanism is a motorized jaw.
7. The positioning and gripping mechanism of claim 4, further comprising a fixed seat;
the fixing seat is arranged in an L-shaped plate shape, the fixing seat is fixedly arranged on the fixing frame, and the clamping mechanism is fixedly arranged on the fixing seat.
8. The positioning and gripping mechanism of any one of claims 1 to 7, further comprising:
the clamping device comprises a clamping device, a first clamping plate and a second clamping plate;
the clamping device is fixedly arranged on the fixing frame and provided with two chucks which move relatively, and the first clamping plate and the second clamping plate are respectively and fixedly arranged on the two chucks.
9. The positioning and grabbing mechanism according to any one of claims 1 to 7, wherein the first adsorption frame is in a circular truncated cone shape, a table surface on one side of the first adsorption frame is fixed with the fixed frame, and a table surface on the other side of the first adsorption frame is the first contact surface;
the first placing hole is arranged coaxially with the first adsorption frame.
10. The positioning and gripping mechanism of claim 8, wherein the first clamping plate and the second clamping plate are each in an "L" shaped plate configuration;
the bent side of the first clamping plate and the bent side of the second clamping plate are oppositely arranged.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122760775.7U CN215967262U (en) | 2021-11-11 | 2021-11-11 | Positioning and grabbing mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122760775.7U CN215967262U (en) | 2021-11-11 | 2021-11-11 | Positioning and grabbing mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN215967262U true CN215967262U (en) | 2022-03-08 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202122760775.7U Active CN215967262U (en) | 2021-11-11 | 2021-11-11 | Positioning and grabbing mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN215967262U (en) |
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2021
- 2021-11-11 CN CN202122760775.7U patent/CN215967262U/en active Active
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