CN220055481U

CN220055481U - Self-adaptive grabbing device for special-shaped pieces

Info

Publication number: CN220055481U
Application number: CN202321712015.1U
Authority: CN
Inventors: 周骄力; 朱聪; 周昂
Original assignee: Zhejiang Ruifu Aerospace Technology Equipment Co ltd
Current assignee: Zhejiang Ruifu Aerospace Technology Equipment Co ltd
Priority date: 2023-06-30
Filing date: 2023-06-30
Publication date: 2023-11-21
Anticipated expiration: 2033-06-30

Abstract

The utility model provides a self-adaptive grabbing device for a special-shaped piece, which comprises a frame, wherein a plurality of installation seats are arranged at the bottom of the frame, the bottoms of the installation seats are in sliding penetration into guide pipes, a telescopic mechanism is arranged between the installation seats and the guide pipes, the bottom openings of the guide pipes are connected with suckers, the suckers are communicated with a vacuum generator one by one through suction pipelines, each suction pipeline is connected with a check valve in series, a self-locking assembly for holding the guide pipes tightly is arranged in the installation seats, and the check valves are connected with the self-locking assemblies one by one. The sucker is enabled to automatically adjust the length according to different height positions of products, adaptability to different products is improved, utilization rate of processing resources is improved, and processing cost is reduced. Adopt check valve cooperation self-locking mechanism, play isolation protection effect and locking fixed action for a plurality of sucking discs can form effective negative pressure alone, and the at utmost guarantees that more sucking discs act on the product, promotes snatchs the fastness, further at snatch the back fixed sucking disc height, ensures stability and the adaptation degree of moving the material.

Description

Self-adaptive grabbing device for special-shaped pieces

Technical Field

The utility model belongs to the technical field of machinery, and relates to a flexible gripper, in particular to a self-adaptive gripping device for a special-shaped piece.

Background

In the assembly line processing operation of parts, the mechanical arm is required to be used for grabbing and transferring products, so that the transfer efficiency is improved, and the damage to the products caused by manual contact is avoided. However, due to the different structures of different parts, the manipulator with a specific structure can only be manufactured for different parts at present, so that the processing cost is increased, the limitation is enhanced, and the waste of mass production resources is caused.

For example, the existing vacuum gripper is used for installing a vacuum chuck to an aluminum profile frame or a welding frame, and grabbing a planar sheet metal part is achieved through a vacuum system, but the large-size sheet metal part with a large height difference cannot be grabbed, mainly because the chuck automatically floats less, the sheet metal part with the height difference cannot be automatically adapted to be grabbed, the suction force is insufficient, the sheet metal part cannot be carried, and different kinds of grabbing settings are required to be designed for different sheet metal parts. In addition, the existing vacuum gripper lacks an automatic air-break structure, when a local sucker does not firmly suck a product to form negative pressure, the whole sucker is caused to lose the negative pressure adsorption capacity, so that accidents such as the fact that the manipulator cannot grasp or the product is half-empty and blanking occur.

Disclosure of Invention

The utility model aims at solving the problems in the prior art, and provides a self-adaptive grabbing device for a special-shaped piece, which is capable of adapting to height difference through elastic expansion and locking a sucker through automatic gas interruption and guaranteeing firm grabbing of a product.

The aim of the utility model can be achieved by the following technical scheme: the utility model provides a dysmorphism spare self-adaptation grabbing device, includes the frame, a plurality of mount pads are arranged to the frame bottom, by the mount pad bottom is the slip penetrates the stand pipe, the mount pad with set up telescopic machanism between the stand pipe, the sucking disc is connected to the bottom mouth of stand pipe, a plurality of the sucking disc one-to-one through suction pipeline intercommunication vacuum generator, every suction pipeline all concatenates the check valve, hold in the mount pad tightly the auto-lock subassembly of stand pipe, a plurality of the check valve one-to-one connects a plurality of auto-lock subassembly.

In the self-adaptive grabbing device for the special-shaped piece, the telescopic mechanism comprises at least two compression springs sleeved on the periphery of the guide tube, gaskets are arranged at intervals of adjacent compression springs, annular check rings are convexly arranged at the bottom ends of the guide tube, the top ends of the compression springs are positioned at the top positions and are abutted to the bottom surfaces of the mounting seats, and the bottom ends of the compression springs are positioned at the bottom positions and are abutted to the annular check rings.

In the self-adaptive grabbing device for the special-shaped piece, the self-locking assembly comprises a shell with an air inlet at one end, the inner side of the air inlet is provided with a piston, a self-locking spring and clamping jaws in sequence, the piston and the inner wall of the shell form a sealing sliding connection, the self-locking spring is pressed between the piston and the clamping jaws, the clamping jaws are provided with clamping holes, the shell is correspondingly provided with through holes, and the guide tube is connected with the through holes and the clamping holes in a penetrating mode.

In the self-adaptive grabbing device for the special-shaped piece, the clamping jaw comprises a folding clamp body, one end of the folding clamp body is a connecting end, the other end of the folding clamp body is a mouth opening end, a mouth opening spring is clamped in the mouth opening end, the middle of the folding clamp body is provided with the clamping hole, and the inner periphery of the clamping hole is convexly provided with the clamping head.

In the self-adaptive grabbing device for the special-shaped piece, the inner side of the piston is concavely provided with the conical hole, the opening end of the folding clamp body is a conical end, and the large-diameter opening of the conical hole faces the conical end.

In the self-adaptive grabbing device for the special-shaped piece, the check valve comprises a valve body with an air interface, a one-way passage is arranged in the valve body, a one-way valve core is arranged on the one-way passage, and the air interface regulates and controls the on-off of the one-way valve core through a pilot signal.

In the self-adaptive grabbing device for the special-shaped piece, the mounting hole is formed in the bottom of the mounting seat, the linear bearing is fixedly arranged in the mounting hole, the guide tube is connected with the linear bearing in a penetrating mode through the top end to form an axis sliding mode, the top end of the guide tube is provided with the limiting table in a protruding mode, and the diameter of the limiting table is larger than that of the inner hole of the linear bearing.

In the self-adaptive grabbing device for the special-shaped pieces, the frame comprises a supporting frame, two sides of the supporting frame are symmetrically fixedly provided with profile frames, and a plurality of mounting seats are arranged at the bottom of the supporting frame.

In the self-adaptive grabbing device for the special-shaped piece, the calibration plate extends from one side of the supporting frame, and the visual detector is fixedly arranged on the bottom surface of the calibration plate.

In the self-adaptive grabbing device for the special-shaped pieces, the mounting plate is fixedly arranged on the top surface of the supporting frame, and the flange is fixedly arranged on the mounting plate.

Compared with the prior art, the self-adaptive grabbing device for the special-shaped piece has the following beneficial effects:

1. through the cooperation of the guide sliding and the elastic expansion, the sucker can automatically adjust the length of the sucker aiming at different height positions of the product, thereby ensuring the embedded adsorption with the product, improving the adaptability and the flexibility of different products, expanding the application range, improving the utilization ratio of processing resources and reducing the processing cost.

2. To the problem that local sucking disc does not form the absorption, adopt check valve cooperation self-locking mechanism, play isolation protection effect and locking fixed action for a plurality of sucking discs can form effective negative pressure alone, and the at utmost guarantees that more sucking discs act on the product, promotes snatchs the fastness, and further fixed sucking disc height after snatching ensures the stability and the adaptation degree of moving the material.

Drawings

Fig. 1 is an overall perspective view of the self-adaptive grabbing device for the special-shaped piece.

Fig. 2 is a plan view structure diagram of a telescopic grasping structure in the self-adaptive grasping device for the special-shaped piece.

Fig. 3 is an internal structural view of the self-locking assembly in the self-adaptive gripping device for the special-shaped piece.

Fig. 4 is a schematic structural diagram of a check valve in the self-adaptive grabbing device for the special-shaped piece.

In the figure, 1, a supporting frame; 2. a profile frame; 3. a calibration plate; 4. a flange; 5. a mounting base; 6. a guide tube; 7. a compression spring; 8. a gasket; 9. a suction cup; 10. a vacuum generator; 11. a check valve; 11a, a gas interface; 11b, a one-way valve core; 12. a self-locking assembly; 12a, a housing; 12b, a piston; 12c, a self-locking spring; 12d, folding the clamp body; 12e, opening spring.

Detailed Description

The following are specific embodiments of the present utility model and the technical solutions of the present utility model will be further described with reference to the accompanying drawings, but the present utility model is not limited to these embodiments.

As shown in fig. 1 to 2, the self-adaptive grabbing device for the special-shaped piece comprises a frame, a plurality of installation seats 5 are arranged at the bottom of the frame, the bottoms of the installation seats 5 are in sliding penetration with a guide pipe 6, a telescopic mechanism is arranged between the installation seats 5 and the guide pipe 6, the bottom opening of the guide pipe 6 is connected with sucking discs 9, the sucking discs 9 are communicated with a vacuum generator 10 one by one through suction pipelines, each suction pipeline is connected with a check valve 11 in series, a self-locking assembly 12 holding the guide pipe 6 tightly is arranged in the installation seat 5, and the check valves 11 are connected with the self-locking assemblies 12 one by one.

The frame comprises a supporting frame 1, section bar frames 2 are symmetrically and fixedly arranged on two sides of the supporting frame 1, and a plurality of mounting seats 5 are arranged at the bottom of the supporting frame 1.

One side of the supporting frame 1 extends to a calibration plate 3, and a visual detector is fixedly arranged on the bottom surface of the calibration plate 3. The accurate position and angle of product are shot through visual detector to improve grabbing device's accurate efficiency of snatching.

A mounting plate is fixedly arranged on the top surface of the supporting frame 1, and a flange 4 is fixedly arranged on the mounting plate. The matching and assembly of the grabbing device and equipment such as the mechanical arm and the like are realized through the flange 4, so that the movement flexibility of the grabbing device is improved.

The telescopic mechanism comprises at least two compression springs 7 sleeved on the periphery of the guide tube 6, gaskets 8 are arranged at intervals of adjacent compression springs 7, annular check rings are convexly arranged at the bottom ends of the guide tube 6, the top ends of the top compression springs 7 are abutted to the bottom surface of the mounting seat 5, and the bottom ends of the bottom compression springs 7 are abutted to the annular check rings. When the guide pipe 6 stretches and slides, the stretching length of the compression spring 7 is pressed and adjusted, the compression ratio is regulated and controlled through the gasket 8, and the limit stretching amount in the embodiment is 100mm.

As shown in fig. 3, the self-locking assembly 12 includes a housing 12a with an air inlet at one end, the housing 12a is provided with a piston 12b, a self-locking spring 12c and clamping jaws in sequence at the inner side of the air inlet, the piston 12b and the inner wall of the housing 12a form a sealing sliding connection, the self-locking spring 12c is pressed between the piston 12b and the clamping jaws, the clamping jaws are provided with clamping holes, the housing 12a is correspondingly provided with through holes, and the guide tube 6 is connected with the through holes and the clamping holes in a penetrating manner.

The clamping jaw comprises a folding clamp body 12d, one end of the folding clamp body 12d is a connecting end, the other end is a opening end, an opening spring 12e is clamped in the opening end, a clamping hole is formed in the middle of the folding clamp body 12d, and a clamping head is convexly arranged on the inner periphery of the clamping hole. The inner side of the piston 12b is concavely provided with a conical hole, the open end of the folding clamp body 12d is a conical end, and the large diameter opening of the conical hole faces the conical end.

When no gas enters the gas inlet of the shell 12a, the piston 12b and the clamping jaw are pressed by the self-locking spring 12c to be separated, namely, the conical end of the folding clamp body 12d is positioned outside the conical hole of the piston 12b, and the opening spacing of the opening end of the folding clamp body 12d is kept by the opening spring 12e, so that the folding clamp body 12d has an acute angle, the clamping head in the clamping hole is contacted with and clamps the outer wall of the guide tube 6, and the locking and fixing of the guide tube 6 are realized. When gas enters the air inlet of the shell 12a, the piston 12b is pushed to move inwards to compress the self-locking spring 12c, so that the piston 12b is close to the clamping jaw, the conical hole is sleeved on the conical end, and as the diameter of the conical end is gradually reduced, the compression opening spring 12e gradually closes the opening end of the folding clamp body 12d, so that the folding clamp body 12d is folded and attached, the aperture of the clamping hole is increased, the clamping head leaves and releases the outer wall of the guide tube 6, and free sliding of the guide tube 6 is realized. When the gas disappears, the self-locking spring 12c and the opening spring 12e return by the elastic force.

As shown in fig. 4, the check valve 11 includes a valve body having an air port 11a, a unidirectional passage is provided in the valve body, a unidirectional valve core 11b is provided on the unidirectional passage, and the air port 11a regulates and controls the on-off of the unidirectional valve core 11b by a pilot signal.

As long as the pilot signal is provided in the air port 11a, the unidirectional valve core 11b is controlled to be opened, and compressed air flows into the sucker 9 through the unidirectional passage. If the pilot signal is not present in the air port 11a, the check valve 11b cuts off the check passage. The check valve 11 serves as an isolating protection, and if the check valve 11 is not installed, part of the suction cups 9 will cause all suction cups 9 to lose negative pressure when no product is sucked. And thus the product cannot be sucked up or falls from the air. The check valve 11 isolates the function of each sucking disc 9 through the signal effect of the air interface 11a, so that a plurality of sucking discs 9 can independently form effective negative pressure, more sucking discs 9 are ensured to act on products to the greatest extent, and the grabbing fastness is improved.

The mounting hole is offered to mount pad 5 bottom, installs the linear bearing admittedly in the mounting hole, and stand pipe 6 forms the axis by top cross-under linear bearing and slides and connect, and the protruding limit platform that establishes in top of stand pipe 6, and the diameter of limit platform is greater than the linear bearing hole. Through setting up spacing platform and linear bearing formation spacing joint, can accomplish the installation of stand pipe 6 in order to avoid droing, can realize the flexible function of stand pipe 6 along vertical slip again.

The function mode of the self-adaptive grabbing device for the special-shaped piece is as follows:

this dysmorphism spare self-adaptation grabbing device is connected through robot or triaxial truss, remove grabbing device to plate transport position, grabbing device places on the sheet metal component, a plurality of stand pipes 6 float the difference in height of automatic adaptation sheet metal component through upper and lower elasticity, vacuum system work forms the negative pressure and attracts the sheet metal component, local sucking disc 9 does not contact the sheet metal component, through check valve 11 automatic closure, self-locking assembly 12 outage automatic locking stand pipe 6, robot or triaxial truss place the sheet metal component in transfer chain or the tray.

The specific embodiments described herein are offered by way of example only to illustrate the spirit of the utility model. Those skilled in the art may make various modifications or additions to the described embodiments or substitutions thereof without departing from the spirit of the utility model or exceeding the scope of the utility model as defined in the accompanying claims.

Although the support frame 1 is used more herein; a profile frame 2; a calibration plate 3; a flange 4; a mounting base 5; a guide tube 6; a compression spring 7; a gasket 8; a suction cup 9; a vacuum generator 10; a check valve 11; a gas interface 11a; a one-way valve element 11b; a self-locking assembly 12; a housing 12a; a piston 12b; a self-locking spring 12c; folding the clip body 12d; the term opening spring 12e and the like, but the possibility of using other terms is not excluded. These terms are used merely for convenience in describing and explaining the nature of the utility model; they are to be interpreted as any additional limitation that is not inconsistent with the spirit of the present utility model.

In the description of the present utility model, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present utility model will be understood in specific cases by those of ordinary skill in the art.

Claims

1. The utility model provides a dysmorphism spare self-adaptation grabbing device, includes the frame, its characterized in that, a plurality of mount pads are arranged to the frame bottom, by the mount pad bottom is the slip penetrates the stand pipe, the mount pad with set up telescopic machanism between the stand pipe, the sucking disc is connected to the bottom mouth of stand pipe, a plurality of the sucking disc passes through suction pipeline intercommunication vacuum generator one by one, every suction pipeline all concatenates the check valve, hold tightly in the mount pad the auto-lock subassembly of stand pipe, a plurality of the check valve one by one is connected a plurality of auto-lock subassembly.

2. The self-adaptive grabbing device for special-shaped pieces according to claim 1, wherein the telescopic mechanism comprises at least two compression springs sleeved on the periphery of the guide tube, gaskets are arranged at intervals between adjacent compression springs, annular check rings are convexly arranged at the bottom ends of the guide tube, the top ends of the compression springs are positioned at the top positions to be abutted against the bottom surfaces of the mounting seats, and the bottom ends of the compression springs are positioned at the bottom positions to be abutted against the annular check rings.

3. The self-adaptive grabbing device for special-shaped pieces according to claim 1, wherein the self-locking assembly comprises a shell with an air inlet at one end, a piston, a self-locking spring and clamping jaws are sequentially arranged on the inner side of the air inlet, the piston and the inner wall of the shell form a sealed sliding connection, the self-locking spring is pressed between the piston and the clamping jaws, clamping holes are formed in the clamping jaws, through holes are correspondingly formed in the shell, and the guide tube penetrates through the through holes and the clamping holes.

4. The self-adaptive grabbing device for special-shaped pieces according to claim 3, wherein the clamping jaw comprises a folding clamp body, one end of the folding clamp body is a connecting end, the other end of the folding clamp body is a mouth opening end, a mouth opening spring is clamped in the mouth opening end, the middle part of the folding clamp body is provided with the clamping hole, and the inner periphery of the clamping hole is convexly provided with a clamping head.

5. The adaptive grabbing device of claim 4, wherein the inner side of the piston is concavely provided with a conical hole, the open end of the folding clamp body is a conical end, and the large diameter opening of the conical hole faces to the conical end.

6. The profile self-adaptive grabbing device of claim 1, wherein the check valve comprises a valve body with an air interface, a one-way passage is arranged in the valve body, a one-way valve core is arranged on the one-way passage, and the air interface regulates and controls the on-off of the one-way valve core through a pilot signal.

7. The self-adaptive grabbing device for irregular parts according to claim 1, wherein a mounting hole is formed in the bottom of the mounting seat, a linear bearing is fixedly arranged in the mounting hole, the guide tube is connected with the linear bearing in a penetrating mode through the top end to form an axis sliding mode, a limiting table is arranged on the top end of the guide tube in a protruding mode, and the diameter of the limiting table is larger than that of an inner hole of the linear bearing.

8. The self-adaptive grabbing device for special-shaped pieces according to claim 1, wherein the rack comprises a supporting frame, two sides of the supporting frame are symmetrically provided with profile frames, and a plurality of mounting seats are arranged at the bottom of the supporting frame.

9. The form-fitting gripping device of claim 8, wherein one side of the support frame extends over a calibration plate, and wherein a visual detector is fixedly mounted to a bottom surface of the calibration plate.

10. The adaptive grabbing device of claim 8, wherein the top surface of the supporting frame is fixedly provided with a mounting plate, and the mounting plate is fixedly provided with a flange.