CN216710874U - Grabbing and moving device - Google Patents

Abstract

The application provides a snatch mobile device, including snatching portion, mechanical arm portion, first response portion and drive division. The grabbing part comprises a telescopic unit and an adsorption unit, and the telescopic unit stretches out or retracts relative to the adsorption unit. The first sensing part is used for detecting the position of the object to be grabbed, and the driving part is used for driving the mechanical arm part to drive the grabbing part to move and driving the grabbing part to move so as to grab the object to be grabbed. Through the grabbing mobile device that this application provided, adsorb the unit through the adjustment flexible unit relatively and stretch out or withdraw, can accomplish the mechanized of grabbing the thing of waiting of different shapes and grab the removal, improved the transportation of waiting to grab the thing and the efficiency of pile up neatly, it is wider to grab mobile device's application scope, and the cost of labor has been saved to mechanized degree height.

Description

Grabbing and moving device

Technical Field

The application relates to the technical field of glass fiber product packaging and carrying, in particular to a grabbing and moving device.

Background

The chopped strand fiber felt is a glass fiber textile product which is formed by cutting glass fiber strands into a certain length, uniformly distributing the chopped strand fiber felt in an unoriented way and bonding the chopped strand fiber felt with polyester powder and a polyester emulsion binder, and is a reinforcing material. The chopped strand mat product packaging process comprises the following steps: winding, enveloping, labeling, boxing and sealing, packing, stacking and the like, and moving transportation along with the processes.

Handling of chopped strand mat rolls typically requires manual placement of the roll-laden pallet on a conveyor belt for handling, requiring a significant amount of labor and effort. Meanwhile, manual stacking is adopted for stacking the boxed chopped strand mat products at present, and the efficiency is low and the labor intensity is high.

Disclosure of Invention

In order to solve the problems, a grabbing and moving device is provided.

The application provides a snatch mobile device includes:

the grabbing part comprises a telescopic unit and an adsorption unit, and the telescopic unit extends out or retracts relative to the adsorption unit;

the mechanical arm part is rotationally connected with the grabbing part and is used for driving the grabbing part to move;

the first sensing part is arranged on the grabbing part and used for detecting the position of an object to be grabbed;

and the driving part is respectively connected with the mechanical arm part and the grabbing part.

The grabbing part further comprises clamping units, the clamping units are located on two sides of the adsorption unit, and the clamping units are used for clamping the object to be grabbed.

The telescopic unit comprises a pair of telescopic arms, and the pair of telescopic arms are symmetrically arranged by taking the center line of the adsorption unit as a symmetry axis;

when the telescopic arm extends out, the telescopic arm is perpendicular to the adsorption unit;

when the telescopic arm is retracted, the telescopic arm is positioned at the side edge of the adsorption unit.

The adsorption unit is provided with a plurality of air holes, the driving part comprises an air pump, and the air holes are communicated with the air pump;

the air pump is connected with the telescopic arm.

The adsorption unit comprises a protective layer, and the protective layer is positioned on one side of the air hole, which is far away from the air pump.

Wherein the protective layer comprises a sponge layer.

The grabbing and moving device further comprises a base, and the mechanical arm is fixedly arranged on the base.

Wherein the mechanical arm portion comprises a front arm, a middle arm and a rear arm;

one end of the front arm is rotatably connected with the grabbing part, and the other end of the front arm is rotatably connected with the middle arm;

one end of the rear arm is rotatably connected with the middle arm, and the other end of the rear arm is fixedly connected with the base.

Wherein, the snatch mobile device still includes:

and the second sensing part is arranged on the grabbing part and used for detecting the distance between the adsorption unit and the object to be grabbed.

Wherein, the snatch mobile device still includes:

a control portion electrically connected to the mechanical arm portion, the driving portion, the first sensing portion, and the second sensing portion.

Compared with the prior art, the method has the following beneficial effects: the application provides a snatch mobile device detects the position of waiting to grab the thing through first response portion, utilizes stretching out and withdrawing of the flexible unit of portion of grabbing, and the cooperation adsorbs the unit and treats the absorption of grabbing the thing, and the removal of grabbing the thing is treated under drive division driven mechanical arm portion drives jointly to the completion. Use the grabbing mobile device that this application provided, improved the efficiency of waiting to snatch thing transportation and pile up neatly, the application scope of grabbing mobile device is wider, and degree of mechanization is high, has saved the cost of labor.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained from the drawings without inventive effort.

Fig. 1 is a schematic diagram illustrating a grasping and moving device according to an exemplary embodiment.

FIG. 2 is a schematic illustration of a grasping portion shown according to an exemplary embodiment.

FIG. 3 is a schematic diagram of an adsorption unit shown according to an exemplary embodiment.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application. It should be noted that the embodiments and features of the embodiments in the present application may be arbitrarily combined with each other without conflict.

In the description of the present application, it is further noted that, unless expressly stated or limited otherwise, the terms "disposed," "mounted," and "connected" are to be construed broadly, e.g., as meaning fixedly connected, detachably connected, or integrally connected; may be directly connected or indirectly connected through an intermediate. The specific meaning of the above terms in the present application can be understood in a specific case by those of ordinary skill in the art.

The application provides a snatch mobile device, including portion of snatching, mechanical arm portion, first response portion and drive division. The grabbing part comprises a telescopic unit and an adsorption unit, and the telescopic unit can extend out of or retract into the adsorption unit. The application provides a snatch mobile device detects the position of waiting to grab the thing through first response portion, utilizes stretching out and withdrawing of the flexible unit of portion of grabbing, and the cooperation adsorbs the unit and treats the absorption of grabbing the thing, and the removal of grabbing the thing is treated under drive division driven mechanical arm portion drives jointly to the completion. Use the grabbing mobile device that this application provided, improved the efficiency of waiting to snatch thing transportation and pile up neatly, the application scope of grabbing mobile device is wider, and degree of mechanization is high, has saved the cost of labor.

According to an exemplary embodiment, as shown in fig. 1, a grip moving apparatus includes a grip portion 100, a robot arm portion 200, a driving portion 300, a base 400, a first sensing portion (not shown), and a second sensing portion 500. The base 400 is fixed on the ground or on the work bench, and the grasping unit 100, the robot arm unit 200, the driving unit 300, the first sensing unit (not shown), and the second sensing unit 500 are all fixed on the base 400. The base 400 is made of cast iron or steel materials and is fixedly connected with the ground through foundation screws, so that the fixing reliability is improved.

The mechanical arm 200 is fixedly disposed on the base 400, and is fixedly connected to the base 400 by a fastener such as a screw. In one example, as shown in fig. 1-2, the robot arm 200 is provided as a three-piece, rotatable structure, the robot arm 200 including a front arm 210, a middle arm 220, and a rear arm 230. One end of the front arm 210 is rotatably connected to the grasping portion 100, the other end of the front arm 210 is rotatably connected to the middle arm 220, and the grasping portion 100 can be driven to move in the vertical direction by the connection of the front arm 210 and the middle arm 220. One end of the rear arm 230 is rotatably connected to the middle arm 220, the other end of the rear arm 230 is fixedly connected to the base 400, and the middle arm 220 and the rear arm 230 are connected to drive the grasping portion 100 to move in the horizontal direction. The rear arm 230 is fixedly connected with the base 400, so that the stability of the mechanical arm part 200 in the rotation process is ensured. The mechanical arm 200 is a three-section rotatable structure, so that the grabbing part 100 is driven to grab the object to be grabbed at different positions and place the object at different placing positions.

In another example, the mechanical arm 200 may be a two-piece rotatable structure. In some scenes where the production operation is simple and the requirement on the movement range of the robot arm 200 is not high, the two-stage rotatable structure can reduce the manufacturing cost of the robot arm 200.

As shown in fig. 1, the grasping and moving device in this embodiment further includes a grasping portion 100, and the grasping portion 100 is used to directly contact and grasp and move the object to be grasped. The gripper 100 is rotatably connected to the robot arm 200, and the robot arm 200 moves the gripper 100. As shown in fig. 2, a rotation bearing 211 is disposed at an end of the front arm 210 of the mechanical arm 200 connected to the grasping unit 100, and the rotation bearing 211 enables the front arm 210 and the grasping unit 100 to flexibly rotate in all directions, so that the grasping unit 100 can flexibly grasp an object to be grasped.

In one example, as shown with reference to fig. 1 and 2, the grasping portion 100 includes a telescopic unit 110, an adsorption unit 120, a clamping unit 130, and a fixing unit 140. The fixing unit 140 may be fixed to the front arm 210 by a fastening member such as a screw, and the suction unit 120 may be fixedly coupled to the fixing unit 140. Clamping units 130 are arranged on two sides of the adsorption unit 120, the clamping units 130 can move relative to the adsorption unit 120 under the driving of external force, and the clamping units 130 are used for clamping or loosening the object to be grabbed. The telescopic unit 110 is extendable or retractable with respect to the adsorption unit 120. Through set up clamping unit 130 and flexible unit 110 on grabbing portion 100, according to waiting to grab the structure difference of getting the thing, can adopt clamping unit 130 or flexible unit 110 to realize snatching and removing, make what the grabbing mobile device of this application can snatch grab wait to snatch the thing and have more the variety, through setting up adsorption unit 120 simultaneously, further promoted the stability that grabbing portion 100 snatched the operation.

In one example, as shown in fig. 2, the telescopic unit 110 includes a pair of telescopic arms 111, and the pair of telescopic arms 111 are symmetrically disposed with a central line of the suction unit 120 as a symmetry axis. When the telescopic arm 111 extends out, the telescopic arm 111 is perpendicular to the adsorption unit 120; when the telescopic arm 111 is retracted, the telescopic arm 111 is located at a side of the adsorption unit 120.

When the object to be grabbed is a whole roll of the chopped strand mat, the chopped strand mat roll is grabbed using the telescoping unit 110. At this time, the pair of telescopic arms 111 of the telescopic unit 110 is controlled to extend relative to the suction unit 120. The distance between the pair of telescopic arms 111 is set according to the length or the width of the chopped strand mat felt roll, the chopped strand mat felt roll is stably grabbed and clamped through the pair of telescopic arms 111, and when grabbing, the telescopic arms 111 are respectively located on two sides of the chopped strand mat felt roll in the axial direction, so that the clamping stability is improved. In addition, in order to further improve the clamping stability, the chopped strand mat roll may be clamped by the expansion unit 110 and auxiliary clamping may be performed by the clamping unit 130.

When the object to be grasped is a box structure with a regular shape, the box structure is no longer clamped by the telescopic unit 110, and only the clamping unit 130 is used for clamping. At this time, the control unit controls the pair of telescopic arms 111 of the telescopic unit 110 to retract with respect to the suction unit 120, and only the opposite two clamp arm structures of the clamp unit 130 may be used to press the opposite two side wall surfaces of the box structure.

As shown in fig. 2, in the present embodiment, the telescopic unit 110 includes a telescopic driving mechanism 112, and the telescopic driving mechanism 112 can drive the telescopic arm 111 to extend and retract. The telescopic driving mechanism 112 is provided at one end of the fixing unit 140 away from the suction unit 120, and the telescopic driving mechanism 112 is connected to the driving unit 300. The telescopic driving mechanism 112 may be a pneumatic driving mechanism or a hydraulic driving mechanism.

Wherein, as shown in fig. 3, the adsorption unit 120 is provided with a plurality of air holes 121, and the plurality of air holes 121 can be uniformly distributed on the contact surface of the adsorption unit 120 and the object to be grabbed. The air holes 121 may be connected to a gas generating device such as a vacuum generating device, so that a negative pressure is generated at the air holes 121 to adsorb the object to be grabbed.

The adsorption unit 120 includes a protection layer 122, and the protection layer 122 is located on a side of the air hole 121 far from the driving part 300. The protective layer 122 is preferably a sponge layer. The sponge layer is arranged above the adsorption unit 120 (namely, outside the adsorption unit), so that protection can be provided for the adsorption unit 120, the adsorption unit 120 is prevented from contacting with an object to be grabbed, relative displacement is generated between the adsorption unit 120 and the object to be grabbed, the adsorption unit 120 is protected from being worn, and meanwhile, the adsorption unit 120 can be combined with the object to be grabbed more tightly and can be adsorbed more easily.

In one example, as shown in fig. 1, the driving part 300 of the grip moving device is connected to the grip part 100 and the robot arm part 200, respectively. The driving unit 300 may preferably be driven by an air pump, and the suction unit 120 may be simply and effectively driven by the air pump to perform suction operation on the object to be grabbed. The driving unit 300 communicates with the plurality of air holes 121, and the driving unit 300 is also connected to the telescopic arm 111. When the air pump is used as the driving part 300, the air pump can directly drive the plurality of air holes 121 to perform the suction operation, and the air pump can also drive the telescopic driving mechanism 112 to drive the telescopic arm 111 to extend and retract.

The grabbing and moving device further includes a first sensing part (not shown in the figure) disposed on the grabbing part 100 for detecting the position of the object to be grabbed. The first sensing part can adopt a photoelectric sensing sensor to further enhance the accuracy of the position detection of the first sensing part.

The grabbing and moving device further comprises a second sensing part 500, wherein the second sensing part 500 is arranged on the grabbing part 100 and is used for detecting the distance between the adsorption unit 120 and the object to be grabbed. As shown in fig. 1-2, the second sensing part 500 may be disposed at an end of the fixing unit 140 away from the suction unit 120, so that the second sensing part 500 does not interfere with the suction unit 120 during the grabbing process.

Under the condition that does not set up second response portion 500 and carry out the distance response, portion 100 of grabbing when snatching, wait to grab thing and preset highly probably have the deviation, portion 100 of grabbing can only move to preset position, adsorb unit 120 and wait to grab and probably have the clearance between the thing, easily drop when snatching. Through setting up second sensing part 500, adsorption unit 120 can be pressed close gradually and wait to snatch the thing, until reaching the default, make adsorption unit 120 with wait to snatch that the thing laminating is inseparabler.

The grabbing and moving device in the present application further includes a control portion (not shown in the figure), and the control portion is electrically connected to the mechanical arm portion 200, the driving portion 300, the first sensing portion, and the second sensing portion 500. The control unit is preferably a PLC controller, and is capable of performing electric signal control corresponding to the movement of the robot arm 200, the driving of the driving unit 300, the position detection of the first sensing unit, and the distance detection of the second sensing unit 500. Through the control of the control part on the whole grabbing and moving device, the operation process of the grabbing and moving device is more automatic, the labor cost is saved, and the grabbing and moving efficiency is improved.

In one exemplary embodiment, when the grasping and moving device of the present application is used to grasp a chopped strand mat roll, the process flow is as follows:

s101, the control part outputs a control signal, and the grabbing part 100 is driven by the mechanical arm part 200 to gradually approach to a tray bearing the chopped strand mat roll.

S102, the driving portion 300 provides driving suction for the adsorption unit 120, the protective layer 122 clings to the tray, the close adsorption unit 120 adsorbs the tray through the air holes 121, meanwhile, the clamping unit 130 clamps the tray, and the tray is conveyed to the conveying belt under the driving of the mechanical arm portion 200.

And S103, conveying the tray along with the conveying belt, and sending a control signal to the grabbing part 100 by the control part to grab after the first sensing part detects that the chopped strand mat roll on the tray reaches a specified position.

S104, the grabbing part 100 moves to the upper side of the chopped strand mat felt roll, the second sensing part 500 senses the distance between the chopped strand mat felt roll and the adsorption unit 120, after the preset distance is reached, the protective layer 122 is tightly attached to the chopped strand mat felt roll, the driving part 300 provides driving suction for the adsorption unit 120, the adsorption unit 120 adsorbs the chopped strand mat felt roll through the air holes 121, meanwhile, the telescopic unit 110 stretches out under the driving of the telescopic driving mechanism 112 to clamp two ends of the chopped strand mat felt roll, grabbing force for two ends of the chopped strand mat roll is provided, and the mechanical arm part 200 drives the grabbing part 100 to be conveyed to a specified position.

And S105, after the preset position is reached, the telescopic unit 110 retracts into the side edge of the adsorption unit 120, the drive part 300 cancels adsorption drive, and the chopped strand mat roll is placed at the preset position to finish one-time grabbing operation of the chopped strand mat roll.

S106, the grabbing and placing operation of other chopped strand mat rolls is continued until the whole support is completed, and the conveyor belt conveys the whole support chopped strand mat roll to the next procedure for operation.

The same grabbing and moving device is used, the tray and the chopped strand mat rolls can be grabbed respectively, the diversity of grabbing operation is met, and the investment cost of equipment is reduced.

In another exemplary embodiment, the palletized chopped strand mat products may be palletized using the grasping and moving device of the present application, and the work flow is as follows:

s201, the control part outputs a control signal, and the grabbing part 100 is driven by the mechanical arm part 200 to gradually approach to a tray for bearing the chopped strand mat product box body.

S202, the second sensing part 500 senses the distance between the chopped strand mat product box body and the adsorption unit 120, the retraction state of the telescopic unit 110 is kept, the driving part 300 provides driving suction for the adsorption unit 120, the protection layer 122 is tightly attached to the chopped strand mat product box body, the adsorption unit 120 adsorbs the chopped strand mat product box body through the air holes 121, meanwhile, the clamping unit 130 clamps the chopped strand mat product box body, and the chopped strand mat product box body is conveyed to a stacking area to be stacked according to a preset stacking mode under the driving of the mechanical arm part 200.

And S203, after single stacking is completed, the driving part 300 cancels adsorption driving, the grabbing and moving device continues grabbing and stacking operations of other chopped strand mat boxes until the whole support is completed, and the conveyer belt conveys the whole support chopped strand mat boxes which are stacked to the next procedure for operation.

Use the mobile device that snatchs of this application, can realize the mechanized pile up neatly of the chopped strand mat box after the vanning, reduced the cost of labor, improved production efficiency.

Finally, it should be noted that: the above embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same. Although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present disclosure.

Claims (10)

1. A grip movement apparatus, comprising:

the grabbing part comprises a telescopic unit and an adsorption unit, and the telescopic unit extends out or retracts relative to the adsorption unit;

the mechanical arm part is rotationally connected with the grabbing part and is used for driving the grabbing part to move;

the first sensing part is arranged on the grabbing part and used for detecting the position of an object to be grabbed;

and the driving part is respectively connected with the mechanical arm part and the grabbing part.

2. The grip movement apparatus of claim 1,

the grabbing part further comprises clamping units, the clamping units are located on two sides of the adsorption unit, and the clamping units are used for clamping the object to be grabbed.

3. The grip movement apparatus of claim 1,

the telescopic unit comprises a pair of telescopic arms, and the pair of telescopic arms are symmetrically arranged by taking the center line of the adsorption unit as a symmetry axis;

when the telescopic arm extends out, the telescopic arm is perpendicular to the adsorption unit;

when the telescopic arm is retracted, the telescopic arm is positioned at the side edge of the adsorption unit.

4. The grip movement apparatus of claim 3,

the adsorption unit is provided with a plurality of air holes, the driving part comprises an air pump, and the air holes are communicated with the air pump;

the air pump is connected with the telescopic arm.

5. The grip movement apparatus of claim 4,

the adsorption unit comprises a protective layer, and the protective layer is positioned on one side of the air hole, which is far away from the air pump.

6. The grip movement apparatus of claim 5,

the protective layer comprises a sponge layer.

7. The grip movement apparatus of claim 1,

the grabbing and moving device further comprises a base, and the mechanical arm is fixedly arranged on the base.

8. The grip movement apparatus of claim 7,

the mechanical arm part comprises a front arm, a middle arm and a rear arm;

one end of the front arm is rotatably connected with the grabbing part, and the other end of the front arm is rotatably connected with the middle arm;

one end of the rear arm is rotatably connected with the middle arm, and the other end of the rear arm is fixedly connected with the base.

9. The grip movement apparatus of claim 1, further comprising:

and the second sensing part is arranged on the grabbing part and used for detecting the distance between the adsorption unit and the object to be grabbed.

10. The grip motion apparatus of claim 9, further comprising:

a control portion electrically connected to the mechanical arm portion, the driving portion, the first sensing portion, and the second sensing portion.

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