CN216127285U - Mechanical grabbing device of different angles - Google Patents
Mechanical grabbing device of different angles Download PDFInfo
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- CN216127285U CN216127285U CN202122826418.6U CN202122826418U CN216127285U CN 216127285 U CN216127285 U CN 216127285U CN 202122826418 U CN202122826418 U CN 202122826418U CN 216127285 U CN216127285 U CN 216127285U
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Abstract
The utility model discloses a mechanical grabbing device with different angles, which comprises a bottom plate, a clamping mechanism, a pushing cylinder positioning mechanism and an orientation identification mechanism, wherein the bottom plate is provided with a positioning hole; the clamping mechanism comprises a first clamping mechanism and a second clamping mechanism, the first clamping mechanism is fixed at one end of the bottom plate in parallel, and the second clamping mechanism is vertically fixed at the other end of the bottom plate; the cylinder pushing positioning mechanism is arranged on the first clamping mechanism; the orientation recognition mechanism is disposed on the base plate. The utility model identifies the angle and the position of the workpiece through the position identification mechanism, and selects the clamping mechanisms in different positions to clamp the workpiece, thereby realizing the effect of automatic grabbing. The workpiece can be fixed in different modes at the next station conveniently, and the clamping mode of the clamping device can not hinder the fixing at the next station. Meanwhile, the pushing cylinder positioning mechanism has the function of auxiliary positioning, and the accuracy and the working efficiency of clamping are improved.
Description
Technical Field
The utility model belongs to the field of automation, and particularly relates to a mechanical grabbing device with different angles.
Background
The intelligent manufacturing occupies a high proportion in the current production process, the automatic production greatly improves the production efficiency and the production quality level, and the automatic production needs to go deep into each link of the production.
In the production and processing, the positions of the workpieces to be processed on different stations are different, the fixing modes of the workpieces on different stations are different, and the workpieces need to be grabbed by the mechanical grabbing device to be transferred on different stations, so that the workpieces need to be grabbed and positioned from different angles.
SUMMERY OF THE UTILITY MODEL
In order to solve the technical problems, the utility model provides a mechanical grabbing device with different angles, which adopts the following technical scheme:
a mechanical gripping device with different angles comprises a bottom plate, a clamping mechanism, a pushing cylinder positioning mechanism and an orientation identification mechanism; the clamping mechanism comprises a first clamping mechanism and a second clamping mechanism, the first clamping mechanism is fixed at one end of the bottom plate in parallel, and the second clamping mechanism is vertically fixed at the other end of the bottom plate; the cylinder pushing positioning mechanism is arranged on the first clamping mechanism; the orientation recognition mechanism is disposed on the base plate.
The technical characteristics are adopted, and the following technical effects are achieved:
according to the mechanical grabbing device with different angles, the angle and the position of the workpiece are recognized through the position recognition mechanism, the clamping mechanisms with different positions are selected to clamp the workpiece, and the workpiece is clamped horizontally or vertically, so that the effect of automatic grabbing is achieved. When the last workpiece is installed, workpieces in different directions are identified through the direction identification mechanism, and positioning and grabbing are carried out, so that the workpieces can be fixed in different modes on the next station conveniently, and the situation that the workpieces are fixed on the next station is prevented due to the clamping mode of the clamping device. Meanwhile, the pushing cylinder positioning mechanism has the function of assisting clamping, the stability of clamping is improved, and the working efficiency is improved.
The technical scheme can be further improved as follows:
furthermore, the clamping mechanism comprises a driving cylinder and a position sensor, wherein two sliding blocks which move relatively are arranged on the driving cylinder, clamping fingers are fixed on the sliding blocks, and the position sensor is arranged on the sliding blocks or the clamping fingers and used for detecting whether to grab the workpiece.
The further technical characteristics have the following technical effects:
a driving cylinder of the clamping mechanism drives the sliding block to move relatively, so that the clamping fingers are driven to perform actions of contracting clamping or expanding loosening, and the workpiece is clamped or loosened; the position sensor is used for detecting the position relation between the current clamping mechanism and the workpiece, judging whether the workpiece is grabbed or not, and also used for detecting whether an obstacle exists at the current position or not to prevent the clamping mechanism from colliding.
Furthermore, the cylinder pushing positioning mechanism comprises a pushing cylinder and a push plate, the push plate is fixed on an output shaft of the pushing cylinder, the pushing cylinder is fixed on the driving cylinder, and the push plate is located in the middle of the two clamping fingers of the clamping mechanism.
The further technical characteristics have the following technical effects:
the push plate does reciprocating motion under the effect of the push cylinder and is used for pushing a workpiece to be positioned, so that the function of auxiliary positioning is achieved, and the clamping accuracy of the clamping mechanism is improved.
Furthermore, a clamping block is arranged on the inner side of the clamping finger;
furthermore, the clamping blocks are made of high-tenacity glue.
The further technical characteristics have the following technical effects:
the setting of clamp splice increases the pressure to the work piece, increases clamping-force, and the clamp splice adopts the super power to glue the preparation and form, is favorable to increasing frictional force, and flexible clamp splice is also favorable to protecting by the centre gripping work piece can not by the fish tail.
Furthermore, the clamping surface of the clamping block is made into a curved surface matched with the clamped surface of the workpiece.
The further technical characteristics have the following technical effects:
the clamping surface of the clamping block is made into a curved surface matched with the clamped surface of the workpiece, so that the contact area of the clamping block to the workpiece can be increased, the clamping force is improved, and the clamping is more stable.
Further, the position sensor is a photoelectric sensor.
The further technical characteristics have the following technical effects:
furthermore, the clamping fingers of the second clamping mechanism perpendicular to the bottom plate are provided with anti-disengaging hook parts, the anti-disengaging hook parts are fixed at the end parts of the clamping fingers, and the edges of the anti-disengaging hook parts in the opposite directions extend out of the end parts of the clamping fingers.
The further technical characteristics have the following technical effects:
when the surface of the workpiece is provided with structures such as ribs, the anti-disengaging part can be clamped at the ribs of the workpiece by the anti-disengaging part, so that the workpiece is prevented from falling off when being vertically clamped.
Further, the orientation recognition mechanism comprises a camera and a camera light source, and the camera light source is arranged in front of the camera.
The further technical characteristics have the following technical effects:
the camera can be used for observing different positions of the workpiece, the position and the angle of the workpiece are captured after photographing, the workpiece is clamped by a parallel or vertical clamping mechanism, and automatic grabbing of the device is achieved. The camera light source is arranged to be beneficial to the definition and accuracy of camera shooting.
The technical problem to be solved by the utility model is to overcome the defects of the prior art, and provide a mechanical gripping device with different angles. Therefore, the workpiece can be fixed in different modes on the next station conveniently, and the clamping mode of the clamping device can not hinder the fixing on the next station. Meanwhile, the pushing cylinder positioning mechanism has the function of assisting clamping, the stability of clamping is improved, and the working efficiency is improved.
Drawings
FIG. 1 is a schematic view of a different angle mechanical gripping apparatus of the present invention;
FIG. 2 is a schematic structural view of a first clamping mechanism of the parallel base plate according to the present invention;
FIG. 3 is a schematic structural view of a second clamping mechanism of the vertical base plate of the present invention;
FIG. 4 is a schematic view of the first clamping mechanism of the parallel base plate of the present invention gripping a workpiece;
fig. 5 is a schematic view of the second clamping mechanism of the vertical base plate of the utility model clamping a workpiece.
The notation in the figure is:
1, a bottom plate;
2, a clamping mechanism; 2-1 driving the cylinder; 2-2 photoelectric sensors; 2-3 sliding blocks; 2-4 clamping fingers; 2-5 clamp blocks; 2-6 hook component for preventing falling off;
3, a cylinder pushing and positioning mechanism; 3-1 pushing cylinder; 3-2 pushing the bracket; 3-3, pushing the plate;
4 an orientation recognition mechanism; 4-1 camera support; 4-2 camera; 4-3, a light source bracket; 4-4 camera light sources;
5 fixing the plate; 6, workpieces.
Detailed Description
For a better understanding of the objects, structure and function of the present invention, a different angle mechanical gripping device of the present invention will be described in further detail with reference to the accompanying drawings.
As shown in fig. 1-5, a mechanical gripping device with different angles comprises a bottom plate 1, a clamping mechanism 2, a pushing cylinder positioning mechanism 3 and an orientation recognition mechanism 4; the clamping mechanism 2 comprises a first clamping mechanism and a second clamping mechanism, the first clamping mechanism is horizontally fixed at one end of the bottom plate 1, the second clamping mechanism is vertically fixed at the other end of the bottom plate 1, and the clamping mechanism 2 is used for clamping a workpiece 6; the cylinder pushing positioning mechanism 3 is arranged on the first clamping mechanism 2 and has the function of auxiliary positioning; the orientation recognition mechanism 4 is provided at one end of the base plate 1 and recognizes the orientation of the workpiece 6.
The position recognition mechanism 4 is arranged at the feeding position of the workpiece 6 and comprises a camera 4-2 and a camera light source 4-4, the camera 4-2 is fixed on the fixing plate 5 through a camera support 4-1, and the camera light source 4-4 is arranged in front of the camera 4-2 through a light source support 4-3. The camera 4-2 can be used for observing different directions of the workpiece 6, and the position and the angle of the workpiece 6 are captured after photographing, so that the workpiece 6 is clamped by the parallel or vertical clamping mechanism 2, and automatic grabbing of the device is realized. The arrangement of the camera light source 4-4 is beneficial to the definition and accuracy of the shooting of the camera 4-2.
The clamping mechanism 2 comprises a driving cylinder 2-1 and a position sensor, two sliding blocks 2-3 which move relatively are arranged on the driving cylinder 2-1, clamping fingers 2-4 are fixed on the sliding blocks 2-3, and the driving cylinder 2-1 of the clamping mechanism 2 drives the sliding blocks 2-3 to move relatively, so that the clamping fingers 2-4 are driven to perform actions of contraction clamping or expansion loosening to clamp or loosen a workpiece 6; the first clamping mechanism is fixed at one end of the bottom plate 1 through a fixing plate 5, and a driving cylinder 2-1 of the second clamping mechanism is directly fixed at the other end of the bottom plate 1. The position sensor on the clamping mechanism 2 is a photoelectric sensor 2-2, is arranged on a slide block or a clamping finger of the clamping mechanism 2, and is used for detecting the position relation between the current clamping mechanism 2 and the workpiece 6, judging whether the workpiece 6 is grabbed or not, and also detecting whether an obstacle exists at the current position or not, so that the clamping mechanism 2 is prevented from colliding. The inner sides of the clamping fingers 2-4 are provided with clamping blocks 2-5, the clamping blocks 2-5 are made of high-tenacity glue, and the clamping surfaces of the clamping blocks 2-5 are made into curved surfaces matched with the clamped surfaces of the workpieces 6. The arrangement of the clamping blocks 2-5 increases the pressure on the workpiece 6 and increases the clamping force, meanwhile, the clamping blocks 2-5 are made of high-strength glue, so that the friction force is increased, the flexible clamping blocks 2-5 are also beneficial to protecting the clamped workpiece 6 from being scratched, the clamping surfaces of the clamping blocks 2-5 are made into curved surfaces matched with the clamped surfaces of the workpiece 6, the contact area of the clamping blocks 2-5 on the workpiece 6 can be increased, the clamping force is improved, and the clamping is firmer. The clamping fingers 2-4 of the second clamping mechanism are provided with anti-falling hook parts 2-6 for clamping the convex edges of the workpiece 6 to prevent the workpiece 6 from falling off during vertical clamping.
The cylinder pushing positioning mechanism 3 comprises a pushing cylinder 3-1 and a push plate 3-3, the pushing cylinder 3-1 is fixed on the driving cylinder 2-1 through a pushing support 3-2, and the push plate 3-3 is positioned in the middle of two clamping fingers 2-4 of the clamping mechanism 2. The push plate 3-3 reciprocates under the action of the push cylinder 3-1 and is used for pushing the workpiece 6 to be positioned and playing a role in assisting clamping, when the workpiece 6 comes from the first clamping mechanism, because the weight of the workpiece 6 is larger, when the workpiece is clamped by only the clamping jaw of the second clamping mechanism, the workpiece 6 is influenced by gravity and easily rotates around a clamping point to cause unstable clamping, the push cylinder positioning mechanism 3 is started at the moment, the push cylinder 3-1 pushes the push plate 3-3 forwards, and the push plate 3-3 extrudes the workpiece 6, so that the position of the workpiece 6 is limited, the workpiece 6 is prevented from rotating around the clamping point, and the clamping stability of the clamping mechanism 2 is improved.
When the device is used, the camera 4-2 can be used for observing the direction of a supplied workpiece 6, photographing is carried out to capture the position and the angle of the workpiece 6, and the workpiece 6 is judged to be clamped by the parallel or vertical clamping mechanism 2; the corresponding photoelectric sensor 2-2 on the clamping mechanism 2 detects the position relation between the current clamping mechanism 2 and the workpiece 6, detects whether an obstacle exists at the current position, judges whether the workpiece 6 is grabbed, and prevents the clamping mechanism 2 from colliding. When the photoelectric sensor 2-2 detects that the workpiece can be grabbed, the driving cylinder 2-1 of the clamping mechanism 2 drives the sliding block 2-3 to move inwards relatively, so that the clamping finger 2-4 is driven to contract and clamp the workpiece 6, and after the workpiece 6 is delivered to a position to be delivered, the driving cylinder 2-1 of the clamping mechanism 2 drives the sliding block 2-3 to move outwards relatively, so that the clamping finger 2-4 is driven to expand and release, and the workpiece 6 is released. When the previous workpiece 6 is installed, the camera 4-2 can be used for photographing and capturing the workpieces 6 in different directions, the positions of the workpieces are judged, the next workpiece 6 in different directions is grabbed, and the next workpiece 6 in the next direction is installed. As shown in the schematic view of the apparatus gripping a workpiece 6.
The technical problem to be solved by the utility model is to overcome the defects of the prior art, and provide a mechanical gripping device with different angles, wherein the angle and the position of a workpiece 6 are identified by an orientation identification mechanism 4, and the workpiece 6 is gripped, transversely gripped or vertically gripped by a gripping mechanism 2 with different orientations, so that the automatic gripping effect is realized; when the previous workpiece 6 is installed, the workpiece 6 in different directions is identified through the direction identification mechanism 4 for positioning and grabbing, so that the workpiece 6 can be fixed in different modes on the next station conveniently, and the situation that the fixing on the next station is hindered due to the clamping mode of the clamping device is avoided; meanwhile, the cylinder pushing positioning mechanism 3 has the function of assisting in positioning and clamping, the stability of clamping is improved, and the working efficiency is improved.
It is to be understood that the present invention has been described with reference to certain embodiments, and that various changes in the features and embodiments, or equivalent substitutions may be made therein by those skilled in the art without departing from the spirit and scope of the utility model. In addition, many modifications may be made to adapt a particular situation or material to the teachings of the utility model without departing from the essential scope thereof. Therefore, it is intended that the utility model not be limited to the particular embodiment disclosed, but that the utility model will include all embodiments falling within the scope of the appended claims.
Claims (9)
1. A mechanical grabbing device with different angles is characterized by comprising a bottom plate, a clamping mechanism, a pushing cylinder positioning mechanism and an orientation identification mechanism; the clamping mechanism comprises a first clamping mechanism and a second clamping mechanism, the first clamping mechanism is fixed at one end of the bottom plate in parallel, and the second clamping mechanism is vertically fixed at the other end of the bottom plate; the cylinder pushing positioning mechanism is arranged on the first clamping mechanism; the orientation recognition mechanism is disposed on the base plate.
2. The mechanical grabbing device of different angles of claim 1, wherein the clamping mechanism includes a driving cylinder and a position sensor, two relatively moving sliding blocks are arranged on the driving cylinder, clamping fingers are fixed on the sliding blocks, and the position sensor is arranged on the sliding blocks or the clamping fingers.
3. The mechanical grabbing device with different angles according to claim 2, wherein the cylinder pushing positioning mechanism comprises a pushing cylinder and a pushing plate, the pushing plate is fixed on an output shaft of the pushing cylinder, the pushing cylinder is fixed on the driving cylinder, and the pushing plate is located in the middle of two clamping fingers of the clamping mechanism.
4. Mechanical gripping device according to claim 2, characterized in that the inside of the gripping fingers is provided with a gripping block.
5. The mechanical grabbing device of different angles of claim 4, wherein, the clamp splice is made of super glue.
6. The mechanical grabbing device of different angles of claim 4 or 5, characterized in that, the clamping face of the clamp block is made into a curved face matched with the clamped face of the workpiece.
7. The mechanical grabber of claim 2, wherein the position sensor is a photoelectric sensor.
8. The mechanical grabbing device with different angles according to claim 2, wherein the clamping fingers of the second clamping mechanism are provided with anti-disengaging hook members, the anti-disengaging hook members are fixed at the ends of the clamping fingers, and the opposite edges of the anti-disengaging hook members protrude out of the ends of the clamping fingers.
9. The different angle mechanical grab device of claim 1, wherein the orientation recognition mechanism includes a camera and a camera light source, the camera light source being disposed in front of the camera.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122826418.6U CN216127285U (en) | 2021-11-18 | 2021-11-18 | Mechanical grabbing device of different angles |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122826418.6U CN216127285U (en) | 2021-11-18 | 2021-11-18 | Mechanical grabbing device of different angles |
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| Publication Number | Publication Date |
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| CN216127285U true CN216127285U (en) | 2022-03-25 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202122826418.6U Active CN216127285U (en) | 2021-11-18 | 2021-11-18 | Mechanical grabbing device of different angles |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115194469A (en) * | 2022-08-22 | 2022-10-18 | 烟台艾迪精密机械股份有限公司 | Jump ring automatic installation device |
-
2021
- 2021-11-18 CN CN202122826418.6U patent/CN216127285U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115194469A (en) * | 2022-08-22 | 2022-10-18 | 烟台艾迪精密机械股份有限公司 | Jump ring automatic installation device |
| CN115194469B (en) * | 2022-08-22 | 2024-03-12 | 烟台艾迪精密机械股份有限公司 | Automatic clamping spring mounting device |
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