WO2022022012A1 - 一种基于小型工件自动化生产用多维度自限位式抓取装置 - Google Patents
一种基于小型工件自动化生产用多维度自限位式抓取装置 Download PDFInfo
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- WO2022022012A1 WO2022022012A1 PCT/CN2021/094118 CN2021094118W WO2022022012A1 WO 2022022012 A1 WO2022022012 A1 WO 2022022012A1 CN 2021094118 W CN2021094118 W CN 2021094118W WO 2022022012 A1 WO2022022012 A1 WO 2022022012A1
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- movable
- block
- limit
- fixedly connected
- limiting
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/902—Devices for picking-up and depositing articles or materials provided with drive systems incorporating rotary and rectilinear movements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2207/00—Indexing codes relating to constructional details, configuration and additional features of a handling device, e.g. Conveyors
- B65G2207/08—Adjustable and/or adaptable to the article size
Definitions
- the invention relates to the technical field of automated instruments, in particular to a multi-dimensional self-limiting grabbing device for automated production based on small workpieces.
- Production automation refers to the production process in which all or part of the processing of products is completed by mechanical equipment, instruments and automation devices without the need for direct participation of humans in the operation.
- the extensive use of various robots in the production process has improved the automation, intelligence and industrialization of industrial production, and promoted the process of industrialization.
- the manipulator can only target the single transfer of the workpiece, and cannot transfer the workpiece in batches.
- the single transfer through the manipulator will affect the To the processing efficiency, it will affect the processing process.
- fixtures for batch transfer of workpieces most of them can only be used for workpieces of a single shape, and cannot adapt to small workpieces of different shapes. The change of workpiece shape will cause the fixture to be unusable. , In addition, the workpiece is prone to fall during the transfer process, which affects the success rate of the workpiece processing.
- the purpose of the present invention is to provide a multi-dimensional self-limiting gripping device for automatic production of small workpieces, so as to solve the above-mentioned problems in the background art.
- a multi-dimensional self-limiting grabbing device for automated production of small workpieces comprising a support plate, two sides of the support plate are connected to the mounting plate through mounting blocks, so The bottom of the support plate is fixedly connected with a plurality of hydraulic telescopic rods one, the movable end of the hydraulic telescopic rod one is fixedly connected with the connecting sleeve one through connecting bolts, the bottom of the connecting sleeve one is fixedly connected with a threaded cover, the thread The cover is threadedly connected with the connecting sleeve 2, the bottom end of the threaded cover is fixedly connected with a telescopic cylinder, the movable end of the telescopic cylinder is fixedly connected with a movable block 1, and the bottom of the movable block 1 is fixedly connected with a movable block 2, A plurality of openings are opened at the bottom of the side wall of the connecting sleeve 2, and
- the port is located in the opening, the second movable block is located on the side of the limit rod away from the opening, the top of the support plate is fixedly connected with the second hydraulic telescopic rod, and the movable end of the second hydraulic telescopic rod is fixed
- a connection box is fixedly connected, a rotating shaft is movably connected to the middle of the connecting box, a rotating bump is fixedly connected to the outer surface of the rotating shaft, and two sides of the rotating bump are provided with movable plates, and the movable plates pass through
- the first spring is connected with the inner wall of the connecting box, one end of the rotating shaft is located outside the connecting box and is connected with the rotating mechanism, and the two ends of one side of the connecting box away from the second hydraulic telescopic rod are fixedly connected with fixed splints
- the movable plate is connected with the movable splint through a connecting mechanism, the movable splint is located between the fixed splints, and the bottom of the fixed splint and
- the anti-falling mechanism includes a cavity 1, a cavity 2, a spring 2, a tooth plate, a gear 1, a movable shaft, a push block, a movable block 3, a concave-convex surface and an inclined surface, and the fixed splint and
- a cavity 1 is opened at the bottom of the movable splint
- a cavity 2 is opened at the top of one end of the cavity 1.
- the top of the cavity 2 is connected to the toothed plate through the second spring, and the toothed plate is connected to the fixed plate.
- a second limiting mechanism is connected between the splint and the movable splint.
- the toothed plate meshes with the first gear.
- the center of the gear is connected to the inner wall of the cavity through a movable shaft.
- One side of the tooth plate is fixedly connected with a push block, the cavity one is connected with the movable block 3 through the limiting mechanism 3, and the movable block 3 is provided with a matching with the push block on the side close to the push block.
- the concave-convex surface of the movable block 3 is provided with a slope on the side away from the concave-convex surface, and a reset mechanism is connected between the top of the movable block 3 and the cavity 1, and the fixed splint can be realized by the anti-fall mechanism.
- the reset mechanism includes a connecting block 1, a connecting block 2 and a spring 3, a connecting block 1 is fixedly connected to the top of the side of the cavity 1 away from the cavity 2, and the movable block 3 A connecting block 2 is fixedly connected to the top of the connecting block, and the connecting block 2 and the connecting block 1 are connected by a spring 3, which can realize the reset of the movable block 3 through the reset mechanism.
- the movable block 3 is not pushed by the pushing block Reset the active block three.
- the second limit mechanism includes a second limit block and a second limit slot
- the side of the toothed plate away from the first gear is fixedly connected to the second limit block
- the fixed splint is connected to the second limit block.
- the movable splint opens a second limit slot close to the second limit block, and the second limit block is located in the second limit slot and matches with the second limit slot, and the second limit mechanism can adjust the tooth plate Limit the position so that the toothed plate can only move up and down in the second cavity.
- the limit mechanism 3 includes a limit block 3 and a limit slot 3, the two sides of the movable block 3 are fixedly connected to the limit block 3, and the cavity has a side wall and is close to the limit block 3.
- Limiting slot 3 is opened at three positions of the limiting block.
- the limiting block 3 is located in the limiting slot 3 and is matched with the three-phase limit slot.
- the limiting mechanism 3 can not only limit the movable block 3 position, and at the same time can prevent the movable block 3 from being separated from the cavity 1.
- the first limiting mechanism includes a limiting block 1, a limiting groove 1 and a spring 4, a limiting groove 1 is opened at the bottom of the limiting rod, and the top of the limiting ring is close to all the One of the limiting grooves is fixedly connected to a limiting block 1.
- the first limiting block is located in the first limiting groove and is fixedly connected to the first limiting groove through a spring 4.
- the limiting mechanism 1 can not only limit the The limit rod is limited, and the automatic reset of the limit rod can be realized at the same time.
- the rotating mechanism includes a motor, a rotating shaft, a second gear and a third gear
- the rotating shaft is located outside the connection box and is fixedly connected with a second gear
- the second gear meshes with the three-phase gear
- the The middle part of the third gear is connected with the output end of the motor through the rotating shaft
- the motor is fixed on the outside of the connecting box, and the rotating mechanism can realize the rotation of the rotating shaft, so as to realize the operation of pushing the movable plate.
- the connecting mechanism includes a movable opening and a third connecting block
- the bottom of the connecting box is provided with a movable opening
- the interior of the movable opening is provided with a third connecting block
- the top of the third connecting block is fixed
- the movable plate is connected
- the bottom of the third connection block is fixedly connected with the movable splint, and the movable splint can be moved with the movable plate through the connecting mechanism.
- the mounting plate is connected to the movable end of the linear slide module, and the back and forth movement on the horizontal plane of the support plate can be realized through the linear slide module.
- a movable rod is movably connected to the bottom of the installation block, wherein the bottom of the movable rod is connected to the output end of the driving motor, and the bottom end of the other movable rod is movably connected with a roller,
- the cooperation of the rod, the driving motor and the roller can realize the rotation operation of the support plate with the driving motor as the center of the circle.
- the grasping device can not only realize the batch grasping of small workpieces, but also can avoid the workpiece falling during the grasping process and improve the success rate of grasping. At the same time, it can be connected with the linear slide module or with the drive motor according to actual needs, so as to realize linear transfer or rotational transfer, and the installation operation is simple.
- the assembly can adapt to different shapes of workpieces, thereby improving the flexibility of the device.
- Fig. 1 is the structural representation according to the present invention.
- Fig. 2 is the structural representation of the linear slide module according to the present invention.
- FIG. 3 is a schematic structural diagram of a drive motor according to the present invention.
- FIG. 4 is a schematic structural diagram of a connecting sleeve one and a connecting sleeve two according to the present invention
- FIG. 5 is a schematic diagram of the internal structure of the connecting sleeve two according to the present invention.
- Figure 6 is an internal top view of a connection box according to the present invention.
- FIG. 7 is a schematic structural diagram of a connecting mechanism according to the present invention.
- Fig. 8 is the structural schematic diagram of the retracted state of the tooth plate according to the present invention.
- Fig. 9 is the structural schematic diagram of the extended state of the tooth plate according to the present invention.
- FIG. 10 is a schematic structural diagram of the second limiting mechanism according to the present invention.
- a multi-dimensional self-limiting grabbing device for automatic production of small workpieces includes a support plate 1 .
- the plate 3 is connected, the mounting block 2 is provided with a hole for connecting the movable rod 50, the mounting plate 3 is provided with a hole for the bolt to pass through, and the bottom of the support plate 1 is fixedly connected with a plurality of hydraulic telescopic rods-4,
- the movable end of the hydraulic telescopic rod one 4 is fixedly connected with the connecting sleeve one 6 through the connecting bolt 5, the movable end of the hydraulic telescopic rod one 4 is provided with a hole through which the connecting bolt 5 can pass, and the connecting sleeve one 6 is provided with a hole.
- the bottom of the connecting sleeve 6 is fixedly connected with a threaded cover 7, the threaded cover 7 is threadedly connected with the connecting sleeve 2 8, and the outer surface of the connecting sleeve 2 is provided with a threaded path that can be threadedly connected with the threaded cover 7.
- a telescopic cylinder 9 is fixedly connected to the middle of the bottom end of the cover 7, and a movable block 10 is fixedly connected to the movable end of the telescopic cylinder 9.
- the bottom end of the movable block 10 is in the shape of a cone, and the bottom of the movable block 10 is fixed.
- a second movable block 11 is connected, the second movable block 11 is cylindrical, the bottom of the side wall of the second connecting sleeve 8 is opened with a plurality of openings 12, the openings 12 are evenly distributed on the side wall of the second connecting sleeve 8, and the second connecting sleeve 8 is opened.
- the bottom of 8 is fixedly connected with a limit ring 13, the limit ring 13 is connected with the limit rod 14 through a limit mechanism, and the two ends of the limit rod 14 are arc surfaces, which reduces the sharpness of the port of the limit rod 14 on the one hand.
- it is convenient to cooperate with the movable block 10 the port of the limit rod 14 is located in the opening 12, and the movable block 2 11 is located on the side of the limit rod 14 away from the opening 12. ;
- the top of the support plate 1 is fixedly connected with a second hydraulic telescopic rod 15, the movable end of the second hydraulic telescopic rod 15 is fixedly connected with a connecting box 16, and the middle of the connecting box 16 is movably connected with a rotating shaft 17, and the rotating shaft 17
- the bearing is movably connected with the connection box 16, and the outer surface of the rotating shaft 17 is fixedly connected with a rotating bump 18.
- the rotating bump 18 is designed with sharp ends at both ends and gentle at both ends.
- the two sides of the rotating bump 18 are provided with A movable plate 19, the movable plate 19 is connected with the inner wall of the connecting box 16 through a spring 1 20, and one end of the rotating shaft 17 is located outside the connecting box 16 and is connected with the rotating mechanism;
- a fixed splint 21 is fixedly connected to both ends of one side of the connection box 16 away from the second hydraulic telescopic rod 15 , the movable plate 19 is connected to the movable splint 22 through a connecting mechanism, and the movable splint 22 is located on the fixed splint 21 In between, the connecting mechanism includes a movable opening 47 and a third connecting block 48, and a movable opening 47 is opened at the bottom of the connection box 16.
- the number of the movable openings 47 is multiple and distributed at intervals, so
- the interior of the movable opening 47 is provided with a connecting block 348, the top of the connecting block 3 48 is fixedly connected with the movable plate 19, and the bottom of the connecting block 3 48 is fixedly connected with the movable splint 22 through the connecting mechanism.
- the movable splint 22 can be moved with the movable splint 19 , and both the fixed splint 21 and the bottom of the movable splint 22 are provided with an anti-fall mechanism.
- Embodiment 2 is a diagrammatic representation of Embodiment 1:
- the anti-fall mechanism includes cavity one 23 , cavity two 24 , spring two 25 , tooth plate 26 , gear one 27 , movable shaft 28 , push block 29 , movable block three 30 , concave-convex surface 31 and the inclined plane 32, the bottom of the fixed splint 21 and the movable splint 22 are provided with a cavity 23, one end of the cavity 23 is opened with a cavity 24, and the top of the cavity 2 24 is opened
- the second spring 25 is connected to the toothed plate 26, the second limiting mechanism is connected between the toothed plate 26, the fixed splint 21 and the movable splint 22, the toothed plate 26 is engaged with the first gear 27, the gear
- the center of the circle 27 is movably connected to the inner wall of the cavity 1 23 through the movable shaft 28.
- the side of the gear 1 27 away from the tooth plate 26 is fixedly connected with a push block 29, and the cavity 1 23 passes the limiter
- the mechanism 3 is connected with the movable block 30, the side of the movable block 30 close to the push block 29 is provided with a concave-convex surface 31 that matches the push block 29, and the movable block 30 is away from the concave-convex surface.
- One side of 31 is provided with an inclined surface 32, and the inclined surface 32 is provided with a design of upper and narrow lower sections.
- a reset mechanism is connected between the top of the movable block 30 and the cavity 1 23, which can be realized by the anti-fall mechanism.
- the fixed splint 21 and the movable splint 22 reduce the purpose of the workpiece being separated from the fixed splint 21 and the movable splint 22 when clamping the workpiece, so as to improve the success rate of the grasping operation
- the reset mechanism includes a connecting block 1 33 , a connecting block 2 34 and a spring 3 35 , and a connecting block 1 33 is fixedly connected to the top of the side of the cavity 1 23 away from the cavity 2 24 .
- the top of the third movable block 30 is fixedly connected with a connecting block two 34
- the top of the connecting block two 34 is in contact with the top of the cavity one
- the connecting block two 34 and the connecting block one 33 are connected by a spring three 35
- the reset mechanism of the movable block 30 can be realized, and the movable block 30 can be reset when the movable block 30 is not pushed by the push block 29 .
- Embodiment 4 is a diagrammatic representation of Embodiment 4:
- the second limit mechanism includes a second limit block 36 and a second limit slot 37 , and the side of the toothed plate 26 away from the first gear 27 is fixedly connected to the second limit block 36 , the fixed splint 21 and the movable splint 22 open a second limit slot 37 near the second limit block 36, and the second limit block 36 is located in the second limit slot 37 and is connected with the limit
- the second slot 37 is matched, and the tooth plate 26 can be limited by the second limit mechanism, so that the tooth plate 26 can only move up and down in the cavity two 24.
- the limit mechanism three includes a limit block three 38 and a limit Slot three 39, the two sides of the movable block three 30 are fixedly connected to the limit block three 38, the side wall of the cavity one 23 and close to the limit block three 38 are opened with a limit slot three 39, the limit The third block 38 is located in the third limit slot 39 and is matched with the third limit slot 39.
- the limit mechanism 3 can not only realize the limit of the movable block 30, but also prevent the movable block 30 from leaving the empty space.
- the limit mechanism one includes a limit block one 40, a limit groove one 41 and a spring four 42, the bottom of the limit rod 14 has a limit groove one 41, and the limit ring 13
- a limit block one 40 is fixedly connected to the top and close to the limit slot one 41
- the limit block one 40 is located in the limit slot one 41 and is fixedly connected to the limit slot one 41 through a spring four 42
- the first limiting mechanism can not only limit the limit rod 14 , but also can realize the automatic reset of the limit rod 14 .
- Embodiment 5 is a diagrammatic representation of Embodiment 5:
- the rotating mechanism includes a motor 43 , a rotating shaft 44 , a second gear 45 and a third gear 46 .
- the rotating shaft 17 is located outside the connection box 16 and is fixedly connected with a second gear 45 , and the second gear 45 is connected to the gear 2 45 .
- the third gear 46 is meshed with each other, and the diameter of the third gear 46 is much smaller than that of the second gear 45.
- the middle of the third gear 46 is connected to the output end of the motor 43 through the rotating shaft 44. Outside the connecting box 16 , the rotating mechanism can realize the rotation of the rotating shaft 17 , so as to realize the operation of pushing the movable plate 19 .
- Embodiment 6 is a diagrammatic representation of Embodiment 6
- the mounting plate 3 is connected to the movable end of the linear slide module 49, and the linear slide module 49 can realize the back and forth movement on the horizontal plane of the support plate 1. It should be noted that when linear movement is required When the linear slide module 49 can be used.
- Embodiment 7 is a diagrammatic representation of Embodiment 7:
- a movable rod 50 is movably connected to the bottom of the mounting block 2 , wherein the bottom of the movable rod 50 is connected to the output end of the driving motor 51 , and the bottom end of the other movable rod 50 is movably connected to a roller 52.
- the driving motor 51 and the roller 52 Through the cooperation of the movable rod 50, the driving motor 51 and the roller 52, the rotation operation of the support plate 1 with the driving motor 51 as the center of the circle can be realized.
- the driving motor 51, the movable rod 50 and the roller 52 can be connected.
- the drive motor 51 is then fixed on the worktable, and the rollers 52 are in contact with the worktable, so that the support plate 1 rotates around the drive motor.
- the mounting plate 3 on the support plate 1 can be connected to the linear slide module 49, and the linear slide module 49 can be supported and fixed in a suitable position by the support assembly.
- the movable rod 50 is connected with the mounting block 2, one of the movable rods 50 is connected with the drive motor 51, the drive motor 51 is fixed on a suitable worktable, and the support plate 1 rotates with the drive motor 51 as the center of the circle,
- the bottom roller 52 of the other movable rod 50 is in contact with the worktable, so as to cooperate with the rotation of the support plate 1 to connect the corresponding electronic devices on the support plate 1 with the industrial computer in the automation system, so as to facilitate the control of the electronic devices on the support plate 1 ;
- the support plate 1 is installed above the corresponding conveyor belt. If the workpiece in the shape of a cone is processed, the end of the support plate 1 with the hydraulic telescopic rod-4 is located above the workpiece. When the workpiece is transported to the hydraulic telescopic rod-4 When going down, the hydraulic telescopic rod 1 4 is extended, the connecting sleeve 1 6 drives the connecting sleeve 2 8 to move downward, the bottom end of the connecting sleeve 2 8 enters the inside of the cone-shaped workpiece, and then the telescopic cylinder 9 is activated, and the telescopic cylinder 9 extends The movable block 1 10 is driven to descend, the movable block 2 11 descends with the movable block 1 10, the movable block 2 11 passes through the limit ring 13, the movable block 1 10 moves with the limit rod 14, and the limit rod 14 is affected by the movable block 10.
- the spring 42 is in a compressed state.
- the port of the limit rod 14 is in contact with the inner wall of the cone-shaped workpiece through the opening 12.
- the connecting sleeve 2 8 cannot be separated from the cone-shaped cylinder.
- the hydraulic pressure When the telescopic rod 1 4 shrinks, the connecting sleeve 2 8 can drive the workpiece to move together, and the linear slide module 49 drives the support plate 1 to move.
- the hydraulic telescopic rod 1 4 expands, and then the telescopic cylinder 9 shrinks.
- the limit rod enters the second connecting sleeve 8, and the workpiece can be separated from the second connecting sleeve 8 and drop to the corresponding position, and the above operation is repeated to transfer the workpiece;
- the workpiece When the workpiece is in the shape of a circular ring or a rectangular frame, adjust the position of the support plate 1 so that the connection box 16 of the support plate 1 is located above the conveyor belt.
- the hydraulic telescopic rod 2 15 The extension drives the connecting box 16 to move downward.
- the toothed plate 26 is located outside the fixed splint 21 and the movable splint 22.
- the toothed plate 26 moves upward, and the spring II 25 is moved upward.
- the tooth plate 26 drives the gear one 27 to rotate, the gear one 27 drives the push block 29 to rotate, and the push block 29 moves to the position where the concave-convex surface 31 is recessed.
- the movable block three 30 enters the cavity In one 23, then start the motor 43, the motor 43 drives the gear three 46 to rotate through the rotating shaft 44, the gear three 46 drives the gear two 45 to rotate, so that the rotating shaft 17 rotates, and the rotating shaft 17 drives the rotating bump 18 to rotate, so that the movable plate 19 rotates.
- the movable block 30 can push the workpiece upward, so as to prevent the workpiece from falling.
- the motor 43 reverses so The movable splint 22 is separated from the workpiece, so that the workpiece can be separated from the fixed splint 21 and the movable splint 22;
- the grasping device can not only realize the batch grasping of small workpieces, but also can avoid the workpiece falling during the grasping process and improve the success rate of grasping. At the same time, it can be connected with the linear slide module 49 or the drive motor 51 according to actual needs, so as to realize linear transfer or rotational transfer, and the installation operation is simple.
- the clamping components on the upper can adapt to different shapes of workpieces, so as to improve the strainability of the device.
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Abstract
一种基于小型工件自动化生产用多维度自限位式抓取装置,包括支撑板(1),支撑板(1)的底部固定连接有多个液压伸缩杆一(4),液压伸缩杆一(4)的活动端与连接套一(6)固定连接,连接套一(6)的底部固定连接有螺纹盖(7),螺纹盖(7)与连接套二(8)螺纹连接,螺纹盖(7)的底端中部固定连接有伸缩气缸(9),伸缩气缸(9)的活动端固定连接有活动块一(10),活动块一(10)的底部固定连接有活动块二(11),连接套二(8)的侧壁底部开有多个开口(12),连接套二(8)的底部固定连接有限位圈(13),限位圈(13)上通过限位机构一与限位杆(14)连接,支撑板(1)的顶部通过液压伸缩杆二(15)与连接箱连接。该抓取装置不仅能够实现对小型工件的批量抓取,同时能够在抓取的过程中避免工件掉落。
Description
本发明涉及自动化器械技术领域,具体来说,涉及一种基于小型工件自动化生产用多维度自限位式抓取装置。
生产自动化是指不需要人直接参与操作,而由机械设备、仪表和自动化装置来完成产品的全部或部分加工的生产过程。各类机器人在生产过程中的广泛运用,提高了工业生产的自动化、智能化、工业化,推进了工业化进程.
在进行工件自动化生产操作时,对于工件的转移是自动化生产不可或缺的一部分,通常采用传送带进行工件的转移,但是传送带只能够实现同一平面上的转移,而且不方便改变工件的角度,因而在实际操作时需要传送带与抓取器械的配合来实现工件的转移。
现有技术大多采用机械手与传动带的配合实现工件的移动转移从而实现自动化流程,但是机械手只能够针对于工件的单一转移,无法对工件进行批量转移,对于小型工件而言,通过机械手进行单一转移影响到加工效率,从而会影响到加工进程,虽然也有针对于工件批量转移的夹具,但是较多只能够针对于单一形状的工件,无法适应不同形状的小型工件,工件形状的变化会导致夹具无法使用,此外,在转移的过程中容易出现工件掉落的情况,影响到工件的加工成功率。
针对相关技术中的问题,目前尚未提出有效的解决方案。
本发明的目的在于提供一种基于小型工件自动化生产用多维度自限位式抓取装置,以解决上述背景技术中提出的问题。
为实现上述目的,本发明提供如下技术方案:一种基于小型工件自动化生产用多维度自限位式抓取装置,包括支撑板,所述支撑板的两侧通过安装块与安装板连接,所述支撑板的底部固定连接有多个液压伸缩杆一,所述液压伸缩杆一的活动端通过连接螺栓与连接套一固定连接,所述连接套一的底部固定连接有螺纹盖,所述螺纹盖与连接套二螺纹连接,所述螺纹盖的底端中部固定连接有伸缩气缸,所述伸缩气缸的活动端固定连接有活动块一,所述活动块一的底部固定连接有活动块二,所述连接套二的侧壁底部开有多个开口,所述连接套二的底部固定连接有限位圈,所述限位圈上通过限位机构一与限位杆连接,所述限位杆的端口位于所述开口内,所述活动块二位于所述限位杆远离所述开口的一侧,所述支撑板的顶部固定连接有液压伸缩杆二,所述液压伸缩杆二的活动端固定连接有连接箱,所述连接箱的中部活动连接有转动轴,所述转动轴的外表面固定连接有旋转凸块,所述旋转凸块的两侧设有活动板,所述活动板通过弹簧一与所述连接箱的内壁连接,所述转动轴的一端位于所述连接箱外侧且与转动机构连接,所述连接箱远离所述液压伸缩杆二的一侧两端固定连接有固定夹板,所述活动板通过连接机构与活动夹板连接,所述活动夹板位于所述固定夹板之间,所述固定夹板和所述活动夹板的底部均设置有防坠机构。
在进一步的实施例中,所述防坠机构包括空腔一、空腔二、弹簧二、齿板、齿轮一、活动轴、推动块、活动块三、凹凸面和斜面,所述固定夹板和所述活动夹板的底部均开有空腔一,所述空腔一的一端顶部开有空腔二,所述空腔二的顶部通过弹簧二与齿板连接,所述齿板与所述固定夹板和所述活动夹板之间连接有限位机构二,所述齿板与齿轮一相啮合,所述齿轮一圆心处通过活动轴与所述空腔一内壁活动连接,所述齿轮一远离所述齿板的一侧固定连接有推动块,所述空腔一内通过限位机构三与活动块三连接,所述活动块三靠近所述推动块的一侧设置有与所述推动块相匹配的凹凸面,所述活动块三远离所述凹凸面的一侧设置有斜面,所述活动块三的顶部与所述空腔一之间连接有复位机构,能够通过防坠机构能够实现固定夹板和活动夹板在对工件进行夹持的时候降低工件脱离固定夹板和活动夹板的目的,从而能够提高抓取操作的成功率。
在进一步的实施例中,所述复位机构包括连接块一、连接块二和弹簧三,所述空腔一远离所述空腔二的一侧顶部固定连接有连接块一,所述活动块三的顶部固定连接有连接块二,所述连接块二与所述连接块一之间通过弹簧三连接,能够通过复位机构实现活动块三的复位,能够在活动块三不受推动块推动的时候令活动块三复位。
在进一步的实施例中,所述限位机构二包括限位块二和限位槽二,所述齿板远离所述齿轮一的一侧固定连接有限位块二,所述固定夹板和所述活动夹板靠近所述限位块二处开有限位槽二,所述限位块二位于所述限位槽二内且与所述限位槽二相匹配,通过限位机构二能够对齿板进行限位,使得齿板只能够在空腔二内上下移动。
在进一步的实施例中,所述限位机构三包括限位块三和限位槽三,所述活动块三的两侧固定连接有限位块三,所述空腔一侧壁且靠近所述限位块三处开有限位槽三,所述限位块三位于所述限位槽三内且与所述限位槽三相匹配,通过限位机构三不仅能够实现对活动块三的限位,同时能够避免活动块三脱离空腔一内。
在进一步的实施例中,所述限位机构一包括限位块一、限位槽一和弹簧四,所述限位杆的底部开有限位槽一,所述限位圈的顶部且靠近所述限位槽一处固定连接有限位块一,所述限位块一位于所述限位槽一内且通过弹簧四与所述限位槽一固定连接,通过限位机构一不仅能够对限位杆进行限位,同时能够实现限位杆的自动复位。
在进一步的实施例中,所述转动机构包括电机、转轴、齿轮二和齿轮三,所述转动轴位于所述连接箱外侧固定连接有齿轮二,所述齿轮二与齿轮三相啮合,所述齿轮三的中部通过转轴与电机的输出端连接,所述电机固定于所述连接箱外侧,转动机构能够实现对转动轴的旋转,从而实现推动活动板的操作。
在进一步的实施例中,所述连接机构包括活动开口和连接块三,所述连接箱的底部开有活动开口,所述活动开口的内部设有连接块三,所述连接块三的顶部固定连接有所述活动板,所述连接块三的底部与所述活动夹板固定连接,通过连接机构能够使活动夹板随活动板移动。
在进一步的实施例中,所述安装板与直线滑台模组的活动端连接,通过直线滑台模组能够实现支撑板水平面上的前后移动。
在进一步的实施例中,所述安装块的底部活动连接有活动杆,其中所述活动杆的底部与驱动电机的输出端连接,另一个所述活动杆的底端活动连接有滚轮,通过活动杆、驱动电机和滚轮的配合,能够实现以驱动电机为圆心的支撑板的旋转操作。
该抓取装置不仅能够实现对小型工件的批量抓取,同时能够在抓取的过程中避免工件掉落,提高抓取的成功率,同时批量抓取工件能够提高加工效率,保障加工加工进程,同时能够根据实际需求与直线滑台模组或者与驱动电机等连接,从而实现直线转移或者旋转转移,且安装操作简单,同时能够根据实际需求对支撑板进行调整,从而使支撑板上的夹持组件能够适应不同形状的工件,从而使提高装置的应变性。
为了更清楚地说明本发明实施例或现有技术中的技术方案,下面将对实施例中所需要使用的附图作简单地介绍,显而易见地,下面描述中的附图仅仅是本发明的一些实施例,对于本领域普通技术人员来讲,在不付出创造性劳动的前提下,还可以根据这些附图获得其他的附图。
图1是根据本发明的结构示意图;
图2是根据本发明中直线滑台模组的结构示意图;
图3是根据本发明中驱动电机的结构示意图;
图4是根据本发明中连接套一和连接套二的结构示意图;
图5是根据本发明中连接套二的内部结构示意图;
图6是根据本发明中连接箱的内部俯视图;
图7是根据本发明中连接机构的结构示意图;
图8是根据本发明中齿板收缩状态的结构示意图;
图9是根据本发明中齿板伸展状态的结构示意图;
图10是根据本发明中限位机构二的结构示意图。
附图标记:
1、支撑板;2、安装块;3、安装板;4、液压伸缩杆一;5、连接螺栓;6、连接套一;7、螺纹盖;8、连接套二;9、伸缩气缸;10、活动块一;11、活动块二;12、开口;13、限位圈;14、限位杆;15、液压伸缩杆二;16、连接箱;17、转动轴;18、旋转凸块;19、活动板;20、弹簧一;21、固定夹板;22、活动夹板;23、空腔一;24、空腔二;25、弹簧二;26、齿板;27、齿轮一;28、活动轴;29、推动块;30、活动块三;31、凹凸面;32、斜面;33、连接块一;34、连接块二;35、弹簧三;36、限位块二;37、限位槽二;38、限位块三;39、限位槽三;40、限位块一;41、限位槽一;42、弹簧四;43、电机;44、转轴;45、齿轮二;46、齿轮三;47、活动开口;48、连接块三;49、直线滑台模组;50、活动杆;51、驱动电机;52、滚轮。
下面,结合附图以及具体实施方式,对发明做出进一步的描述:
实施例一:
请参阅图1-10,根据本发明实施例的一种基于小型工件自动化生产用多维度自限位式抓取装置,包括支撑板1,所述支撑板1的两侧通过安装块2与安装板3连接,安装块2上开有能够使活动杆50连接的孔,安装板3上开有能够使螺栓穿过孔,所述支撑板1的底部固定连接有多个液压伸缩杆一4,所述液压伸缩杆一4的活动端通过连接螺栓5与连接套一6固定连接,液压伸缩杆一4的活动端开有能够使连接螺栓5穿过的孔,且连接套一6上设置有能够与连接螺栓5螺纹连接的螺孔;
所述连接套一6的底部固定连接有螺纹盖7,所述螺纹盖7与连接套二8螺纹连接,连接套二的外表面设置有能够与螺纹盖7螺纹连接的螺纹路,所述螺纹盖7的底端中部固定连接有伸缩气缸9,所述伸缩气缸9的活动端固定连接有活动块一10,活动块一10的底端为锥筒状,所述活动块一10的底部固定连接有活动块二11,活动块二11为圆柱状,所述连接套二8的侧壁底部开有多个开口12,开口12均匀分布在连接套二8的侧壁,所述连接套二8的底部固定连接有限位圈13,所述限位圈13上通过限位机构一与限位杆14连接,限位杆14的两端为弧面,一方面减少限位杆14端口的尖锐性,另一方面方便与活动块一10相配合,所述限位杆14的端口位于所述开口12内,所述活动块二11位于所述限位杆14远离所述开口12的一侧;
所述支撑板1的顶部固定连接有液压伸缩杆二15,所述液压伸缩杆二15的活动端固定连接有连接箱16,所述连接箱16的中部活动连接有转动轴17,转动轴17通过轴承与连接箱16活动连接,所述转动轴17的外表面固定连接有旋转凸块18,旋转凸块18为两端尖锐两端平缓的设计,所述旋转凸块18的两侧设有活动板19,所述活动板19通过弹簧一20与所述连接箱16的内壁连接,所述转动轴17的一端位于所述连接箱16外侧且与转动机构连接;
所述连接箱16远离所述液压伸缩杆二15的一侧两端固定连接有固定夹板21,所述活动板19通过连接机构与活动夹板22连接,所述活动夹板22位于所述固定夹板21之间,所述连接机构包括活动开口47和连接块三48,所述连接箱16的底部开有活动开口47,需要说明的是,活动开口47的数量为多个且为间隔分布的,所述活动开口47的内部设有连接块三48,所述连接块三48的顶部固定连接有所述活动板19,所述连接块三48的底部与所述活动夹板22固定连接,通过连接机构能够使活动夹板22随活动板19移动,所述固定夹板21和所述活动夹板22的底部均设置有防坠机构。
实施例二:
请参阅图7-9,所述防坠机构包括空腔一23、空腔二24、弹簧二25、齿板26、齿轮一27、活动轴28、推动块29、活动块三30、凹凸面31和斜面32,所述固定夹板21和所述活动夹板22的底部均开有空腔一23,所述空腔一23的一端顶部开有空腔二24,所述空腔二24的顶部通过弹簧二25与齿板26连接,所述齿板26与所述固定夹板21和所述活动夹板22之间连接有限位机构二,所述齿板26与齿轮一27相啮合,所述齿轮一27圆心处通过活动轴28与所述空腔一23内壁活动连接,所述齿轮一27远离所述齿板26的一侧固定连接有推动块29,所述空腔一23内通过限位机构三与活动块三30连接,所述活动块三30靠近所述推动块29的一侧设置有与所述推动块29相匹配的凹凸面31,所述活动块三30远离所述凹凸面31的一侧设置有斜面32,斜面32的设置为上窄下款的设计,所述活动块三30的顶部与所述空腔一23之间连接有复位机构,能够通过防坠机构能够实现固定夹板21和活动夹板22在对工件进行夹持的时候降低工件脱离固定夹板21和活动夹板22的目的,从而能够提高抓取操作的成功率
实施例三:
请参阅图8-9,所述复位机构包括连接块一33、连接块二34和弹簧三35,所述空腔一23远离所述空腔二24的一侧顶部固定连接有连接块一33,所述活动块三30的顶部固定连接有连接块二34,连接块二34的顶部与空腔一顶部接触,所述连接块二34与所述连接块一33之间通过弹簧三35连接,能够通过复位机构实现活动块三30的复位,能够在活动块三30不受推动块29推动的时候令活动块三30复位。
实施例四:
请参阅图5和图8-10,所述限位机构二包括限位块二36和限位槽二37,所述齿板26远离所述齿轮一27的一侧固定连接有限位块二36,所述固定夹板21和所述活动夹板22靠近所述限位块二36处开有限位槽二37,所述限位块二36位于所述限位槽二37内且与所述限位槽二37相匹配,通过限位机构二能够对齿板26进行限位,使得齿板26只能够在空腔二24内上下移动,所述限位机构三包括限位块三38和限位槽三39,所述活动块三30的两侧固定连接有限位块三38,所述空腔一23侧壁且靠近所述限位块三38处开有限位槽三39,所述限位块三38位于所述限位槽三39内且与所述限位槽三39相匹配,通过限位机构三不仅能够实现对活动块三30的限位,同时能够避免活动块三30脱离空腔一23内,所述限位机构一包括限位块一40、限位槽一41和弹簧四42,所述限位杆14的底部开有限位槽一41,所述限位圈13的顶部且靠近所述限位槽一41处固定连接有限位块一40,所述限位块一40位于所述限位槽一41内且通过弹簧四42与所述限位槽一41固定连接,通过限位机构一不仅能够对限位杆14进行限位,同时能够实现限位杆14的自动复位。
实施例五:
请参阅图6,所述转动机构包括电机43、转轴44、齿轮二45和齿轮三46,所述转动轴17位于所述连接箱16外侧固定连接有齿轮二45,所述齿轮二45与齿轮三46相啮合,齿轮三46的直径远远小于齿轮二45,所述齿轮三46的中部通过转轴44与电机43的输出端连接,电机43采用的正反电机,所述电机43固定于所述连接箱16外侧,转动机构能够实现对转动轴17的旋转,从而实现推动活动板19的操作。
实施例六:
请参阅图2,所述安装板3与直线滑台模组49的活动端连接,通过直线滑台模组49能够实现支撑板1水平面上的前后移动,需要说明的是,当需要进行直线移动的时候可以采用直线滑台模组49。
实施例七:
请参阅图3,所述安装块2的底部活动连接有活动杆50,其中所述活动杆50的底部与驱动电机51的输出端连接,另一个所述活动杆50的底端活动连接有滚轮52,通过活动杆50、驱动电机51和滚轮52的配合,能够实现以驱动电机51为圆心的支撑板1的旋转操作,当需要进行旋转,可以将驱动电机51、活动杆50和滚轮52连接在支撑板1上,随后将驱动电机51固定在工作台上,滚轮52与工作台接触,实现支撑板1以驱动电机为中心旋转。
为了方便理解本发明的上述技术方案,以下就本发明在实际过程中的工作原理或者操作方式进行详细说明。
在实际应用时,若需要进行直线转移,可以将支撑板1上的安装板3与直线滑台模组49连接,直线滑台模组49通过支撑组件支撑固定于合适位置即可,若需进行转动转移,则将活动杆50与安装块2连接在一起,其中一个活动杆50与驱动电机51连接,将驱动电机51固定于合适工作台上,支撑板1以驱动电机51为圆心进行旋转,另一活动杆50底部滚轮52与工作台接触,从而配合支撑板1的旋转,将支撑板1上的相应电子器件与自动化系统中的工控机连接,方便对支撑板1上的电子器件进行控制;
通常将支撑板1安装在相应的输送带的上方,若是对锥筒状的工件进行加工,则将支撑板1有液压伸缩杆一4的一端位于工件上方,当工件输送到液压伸缩杆一4下方的时候,令液压伸缩杆一4伸展,连接套一6带动连接套二8向下移动,连接套二8的底端进入到锥筒工件的内部,随后启动伸缩气缸9,伸缩气缸9伸展带动活动块一10下降,活动块二11随活动块一10下降,活动块二11穿过限位圈13,活动块一10随限位杆14移动,限位杆14受到活动块一10的挤压向外移动,弹簧四42处于压缩的状态,此时限位杆14的端口穿过开口12与锥筒状的工件内壁接触,此时连接套二8无法脱离锥筒状,此时随后液压伸缩杆一4收缩,连接套二8能够带动工件一起移动,直线滑台模组49带动支撑板1移动,当移动到放料位置的时候,液压伸缩杆一4伸展,随后伸缩气缸9收缩,在弹簧二25的作用下限位杆进入到连接套二8内,工件能够脱离连接套二8掉落到相应位置,重复上述操作从而进行工件的转移;
当工件为圆环状或者是矩形框架状时,调整支撑板1的位置,将支撑板1的连接箱16位于输送带上的上方,当工件位于支撑板1下方的时候,液压伸缩杆二15伸展带动连接箱16向下移动,一开始齿板26位于固定夹板21和活动夹板22的外侧,当固定夹板21和活动夹板22与输送带接触的时候,齿板26向上移动,弹簧二25被压缩,齿板26带动齿轮一27旋转,齿轮一27带动推动块29旋转,推动块29移动到凹凸面31凹进去的位置,此时在弹簧三35的作用下活动块三30进入到空腔一23内,随后启动电机43,电机43通过转轴44带动齿轮三46旋转,齿轮三46带动齿轮二45旋转,从而使转动轴17旋转,转动轴17带动旋转凸块18旋转,使活动板19移动,使弹簧一20被压缩,活动夹板22通过连接块三48随活动板19移动,从而使活动夹板22向固定夹板21靠拢,将工件夹住,夹住工件后液压伸缩杆二15收缩带动连接箱16向上移动,当固定夹板21和活动夹板22脱离输送带后,齿板26在弹簧二25和重力的作用下向下移动,带动齿轮一27旋转,推动块29移动到凹凸面31的凸出处,推动活动块三30向外移动,因斜面的设计活动块三30能够将工件向上推动,从而对工件进行防坠操作,当支撑板1移动到放料位置后,电机43反转从而使活动夹板22脱离工件,便可实现工件脱离固定夹板21和活动夹板22之间;
该抓取装置不仅能够实现对小型工件的批量抓取,同时能够在抓取的过程中避免工件掉落,提高抓取的成功率,同时批量抓取工件能够提高加工效率,保障加工加工进程,同时能够根据实际需求与直线滑台模组49或者与驱动电机51等连接,从而实现直线转移或者旋转转移,且安装操作简单,同时能够根据实际需求对支撑板1进行调整,从而使支撑板1上的夹持组件能够适应不同形状的工件,从而使提高装置的应变性。
尽管已经示出和描述了本发明的实施例,对于本领域的普通技术人员而言,可以理解在不脱离本发明的原理和精神的情况下可以对这些实施例进行多种变化、修改、替换和变型,本发明的范围由所附权利要求及其等同物限定。
Claims (10)
- 一种基于小型工件自动化生产用多维度自限位式抓取装置,其特征在于,包括支撑板(1),所述支撑板(1)的两侧通过安装块(2)与安装板(3)连接,所述支撑板(1)的底部固定连接有多个液压伸缩杆一(4),所述液压伸缩杆一(4)的活动端通过连接螺栓(5)与连接套一(6)固定连接,所述连接套一(6)的底部固定连接有螺纹盖(7),所述螺纹盖(7)与连接套二(8)螺纹连接,所述螺纹盖(7)的底端中部固定连接有伸缩气缸(9),所述伸缩气缸(9)的活动端固定连接有活动块一(10),所述活动块一(10)的底部固定连接有活动块二(11),所述连接套二(8)的侧壁底部开有多个开口(12),所述连接套二(8)的底部固定连接有限位圈(13),所述限位圈(13)上通过限位机构一与限位杆(14)连接,所述限位杆(14)的端口位于所述开口(12)内,所述活动块二(11)位于所述限位杆(14)远离所述开口(12)的一侧,所述支撑板(1)的顶部固定连接有液压伸缩杆二(15),所述液压伸缩杆二(15)的活动端固定连接有连接箱(16),所述连接箱(16)的中部活动连接有转动轴(17),所述转动轴(17)的外表面固定连接有旋转凸块(18),所述旋转凸块(18)的两侧设有活动板(19),所述活动板(19)通过弹簧一(20)与所述连接箱(16)的内壁连接,所述转动轴(17)的一端位于所述连接箱(16)外侧且与转动机构连接,所述连接箱(16)远离所述液压伸缩杆二(15)的一侧两端固定连接有固定夹板(21),所述活动板(19)通过连接机构与活动夹板(22)连接,所述活动夹板(22)位于所述固定夹板(21)之间,所述固定夹板(21)和所述活动夹板(22)的底部均设置有防坠机构。
- 根据权利要求1所述的一种基于小型工件自动化生产用多维度自限位式抓取装置,其特征在于,所述防坠机构包括空腔一(23)、空腔二(24)、弹簧二(25)、齿板(26)、齿轮一(27)、活动轴(28)、推动块(29)、活动块三(30)、凹凸面(31)和斜面(32),所述固定夹板(21)和所述活动夹板(22)的底部均开有空腔一(23),所述空腔一(23)的一端顶部开有空腔二(24),所述空腔二(24)的顶部通过弹簧二(25)与齿板(26)连接,所述齿板(26)与所述固定夹板(21)和所述活动夹板(22)之间连接有限位机构二,所述齿板(26)与齿轮一(27)相啮合,所述齿轮一(27)圆心处通过活动轴(28)与所述空腔一(23)内壁活动连接,所述齿轮一(27)远离所述齿板(26)的一侧固定连接有推动块(29),所述空腔一(23)内通过限位机构三与活动块三(30)连接,所述活动块三(30)靠近所述推动块(29)的一侧设置有与所述推动块(29)相匹配的凹凸面(31),所述活动块三(30)远离所述凹凸面(31)的一侧设置有斜面(32),所述活动块三(30)的顶部与所述空腔一(23)之间连接有复位机构。
- 根据权利要求2所述的一种基于小型工件自动化生产用多维度自限位式抓取装置,其特征在于,所述复位机构包括连接块一(33)、连接块二(34)和弹簧三(35),所述空腔一(23)远离所述空腔二(24)的一侧顶部固定连接有连接块一(33),所述活动块三(30)的顶部固定连接有连接块二(34),所述连接块二(34)与所述连接块一(33)之间通过弹簧三(35)连接。
- 根据权利要求3所述的一种基于小型工件自动化生产用多维度自限位式抓取装置,其特征在于,所述限位机构二包括限位块二(36)和限位槽二(37),所述齿板(26)远离所述齿轮一(27)的一侧固定连接有限位块二(36),所述固定夹板(21)和所述活动夹板(22)靠近所述限位块二(36)处开有限位槽二(37),所述限位块二(36)位于所述限位槽二(37)内且与所述限位槽二(37)相匹配。
- 根据权利要求4所述的一种基于小型工件自动化生产用多维度自限位式抓取装置,其特征在于,所述限位机构三包括限位块三(38)和限位槽三(39),所述活动块三(30)的两侧固定连接有限位块三(38),所述空腔一(23)侧壁且靠近所述限位块三(38)处开有限位槽三(39),所述限位块三(38)位于所述限位槽三(39)内且与所述限位槽三(39)相匹配。
- 根据权利要求1所述的一种基于小型工件自动化生产用多维度自限位式抓取装置,其特征在于,所述限位机构一包括限位块一(40)、限位槽一(41)和弹簧四(42),所述限位杆(14)的底部开有限位槽一(41),所述限位圈(13)的顶部且靠近所述限位槽一(41)处固定连接有限位块一(40),所述限位块一(40)位于所述限位槽一(41)内且通过弹簧四(42)与所述限位槽一(41)固定连接。
- 根据权利要求1所述的一种基于小型工件自动化生产用多维度自限位式抓取装置,其特征在于,所述转动机构包括电机(43)、转轴(44)、齿轮二(45)和齿轮三(46),所述转动轴(17)位于所述连接箱(16)外侧固定连接有齿轮二(45),所述齿轮二(45)与齿轮三(46)相啮合,所述齿轮三(46)的中部通过转轴(44)与电机(43)的输出端连接,所述电机(43)固定于所述连接箱(16)外侧。
- 根据权利要求1所述的一种基于小型工件自动化生产用多维度自限位式抓取装置,其特征在于,所述连接机构包括活动开口(47)和连接块三(48),所述连接箱(16)的底部开有活动开口(47),所述活动开口(47)的内部设有连接块三(48),所述连接块三(48)的顶部固定连接有所述活动板(19),所述连接块三(48)的底部与所述活动夹板(22)固定连接。
- 根据权利要求1所述的一种基于小型工件自动化生产用多维度自限位式抓取装置,其特征在于,所述安装板(3)与直线滑台模组(49)的活动端连接。
- 根据权利要求1所述的一种基于小型工件自动化生产用多维度自限位式抓取装置,其特征在于,所述安装块(2)的底部活动连接有活动杆(50),其中所述活动杆(50)的底部与驱动电机(51)的输出端连接,另一个所述活动杆(50)的底端活动连接有滚轮(52)。
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