CN105564982B - Grabbing device - Google Patents
Grabbing device Download PDFInfo
- Publication number
- CN105564982B CN105564982B CN201511028744.5A CN201511028744A CN105564982B CN 105564982 B CN105564982 B CN 105564982B CN 201511028744 A CN201511028744 A CN 201511028744A CN 105564982 B CN105564982 B CN 105564982B
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- CN
- China
- Prior art keywords
- installing plate
- mounting blocks
- regulating block
- grabbing device
- fixed
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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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
- B65G47/905—Control arrangements
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention is a kind of grabbing device, it includes attachment means, press device below the attachment means, a pair of clamp devices below the press device and the adjusting means between this pair of clamp device, the press device includes installing plate, some connecting poles for being installed on the lower surface of the installing plate and extending downwardly, it is individually fixed in the briquetting of the connecting pole lower end, this pair of clamp device has mounting blocks respectively, stopper positioned at the side of the mounting blocks and the remote adjusting means side, spring between stopper and installing plate and the clamping jaw being installed on below the mounting blocks, the stopper is fixed on the installing plate, the adjusting means has the regulation cylinder of the regulating block for being used for preventing mounting blocks from departing from spring and the driving regulating block operation, the regulating block has two different sizes of thickness.The clamping of the product to different dimensions can be completed.
Description
Technical field
It is used to capture different size the present invention relates to a kind of automation equipment field for streamline, more particularly to one kind
The grabbing device of product.
Background technology
With economic and science and technology development, the utilization of automation equipment is more and more extensive in the industrial production, by automatic
Change equipment to replace the problem of man efficiency is low, cost is high.When particularly being shifted to the crawl of weight, automation equipment can be
Largely solve the low problem of man efficiency.In the prior art, automation grabbing device has a lot, for different classes of
The product design grabbing device of different structure, grabbing device includes drive device, control device machine different from grabbing device etc.
Structure, for different products, there is provided corresponding grabbing device captures product.
Core and without filter core, is needed on same air-conditioning while installing with filter core and without two kinds of screen packs of filter core.For
The product of different size, it is the subject matter that existing automation enterprise faces that crawl is realized using same grabbing device, it is necessary to
The accurate crawl of the crawl of products of different specifications is realized on the basis of guarantee the simple in construction of grabbing device, low production cost.
Especially such as the crawl to air-conditioning filter net, two kinds of different size sizes are generally required on an air-conditioning production line
Screen pack, different size of screen pack its buckle distance is also different, in addition, every kind of screen pack is divided to band filter core and without filter core two again
Person.Furthermore, in addition it is also necessary to monitoring filtering net is the problems such as whether whether positive and negative puts back, whether lacks material on streamline.
Therefore, it is necessary to provide a kind of grabbing device to realize above mentioned problem.
The content of the invention
Present invention aims at provide a kind of carry to realize the grabbing device for capturing products of different specifications.
To achieve the above object, the present invention by following technical solution：
A kind of grabbing device, it includes attachment means, the press device below the attachment means, pressed positioned at described
A pair of clamp devices below pressure device and the adjusting means between this pair of clamp device, the press device include installing
Plate, the lower surface for being installed on the installing plate and some connecting poles extended downwardly, it is individually fixed in the connecting pole lower end
Briquetting, this pair of clamp device respectively has mounting blocks, positioned at the side of the mounting blocks and away from the adjusting means side
Stopper, the spring between stopper and installing plate and the clamping jaw being installed on below the mounting blocks, the stopper are consolidated
Due to the installing plate, the adjusting means has the regulating block for being used for preventing mounting blocks from departing from spring and drives the regulating block
The regulation cylinder of operation, the regulating block has two different sizes of thickness, when the regulation cylinder promotes the regulating block
When, the mounting blocks position is changed on the regulating block at different-thickness size respectively, and the mounting blocks are adjusted against described
Locking nub.
The regulating block has big end and from the small end of the big smooth extension in end, when the regulation cylinder promotes described adjust
During locking nub, the mounting blocks bear against the big end of different-thickness size or the small end.
The stopper has the host cavity for housing the spring respectively with the installing plate, and the spring is contained in this pair
In host cavity, the stopper remains the state for compressing the spring with the mounting blocks.
Gripper cylinder is installed, the gripper cylinder, which connects a pair, is used for the folder of product clamping on the mounting blocks
Pawl, the gripper cylinder is located at the lower surface of the installing plate with the stopper respectively.
It is additionally provided with the outside of the clamping jaw for the paw by die pressing product, the paw is installed on the clamping gas
On cylinder.
The attachment means include fixed plate and are installed on the fixed plate top and the connection for connecting mechanical arm
Block, the fixed plate has the limited post for being installed on its lower surface, and the limited post is extended downwardly.
The installing plate and the spaced and parallel arrangement of fixed plate, pass through some guide pillars between the installing plate and the fixed plate
Have to be respectively arranged with guide pin bushing, the guide pin bushing in some accepting grooves, the accepting groove on connection, the installing plate and house respectively
Bearing, the guide pillar lower end is contained in the bearing respectively, and the guide pillar upper end is individually fixed in the fixed plate.
The grabbing device also has the detection means for being arranged at and being fixed on the installing plate, and the detection means includes
It is fixed on the connecting plate of the installing plate, the detection being fixed on below connecting plate seat, the detection seat and is provided with first
Photoelectric sensor, first that is engaged and can slide up and down with first photoelectric sensor detection slide bar, the second photoelectric sensing
Device and the second detection slide bar that is engaged and can slide up and down with second photoelectric sensor, the first detection slide bar and the
The terminal position height of two detection slide bars is different.
The detection means also has the color sensor being installed on the installing plate.
Compared with prior art, grabbing device of the present invention has following technology effect：Regulating block is promoted by adjusting cylinder,
The distance between clamping jaw below change mounting blocks, you can complete the clamping to the product of different dimensions.According to gripping position
Put without using spring and mounting blocks, the cooperation profile of regulating block, using adjusting cylinder driving so that this pair of clamping jaw spacing it
Between quickly change, so as to reach the purpose quickly remodeled.
The position entirely captured is led into some guide pillars and bearing makes floating, the required precision of a position is reduced, both rose
Cushioning effect, and the gravity-pressing product of clamping jaw itself can be relied on.
Can also in real time monitoring filtering net whether whether positive and negative puts back, material whether is lacked on streamline, filter core etc. whether is needed
Problem.
Brief description of the drawings
Fig. 1 is the three-dimensional assembly diagram of grabbing device of the present invention.
Fig. 2 is the clamp device of grabbing device shown in Fig. 1 and the structural representation of adjusting means.
Fig. 3 is the structural representation of another angle of the clamp device of grabbing device shown in Fig. 1 and adjusting means.
Fig. 4 is the view that detection means shown in Fig. 1 detects screen pack.
Embodiment
Refer to shown in Fig. 1 to Fig. 4, the invention discloses a kind of grabbing device 100, for capturing product, it has connection
Device 1, the press device 2 positioned at the lower section of attachment means 1, a pair of clamp devices 3 positioned at the lower section of press device 1 and positioned at gripping
Adjusting means 4 between device 3.
As shown in figure 1, attachment means 1 include fixed plate 12 and are installed on the contiguous block 13 of the top of fixed plate 12, contiguous block
13 are used to connect mechanical arm (not shown).Fixed plate 12 has the limited post 14 for being installed on its lower surface, and limited post 14 is downward
Extension.
As shown in Figure 2 and Figure 3, press device 2 includes installing plate 21, installing plate 21 and the spaced and parallel arrangement of fixed plate 12, peace
Connected between dress plate 21 and fixed plate 12 by some guide pillars 22, there are some accepting grooves (not indicating) on installing plate 21, housed
It is respectively arranged with groove in guide pin bushing 23, guide pin bushing 23 and houses bearing (not shown) respectively, the lower end of guide pillar 22 is contained in bearing respectively,
The upper end of guide pillar 22 is individually fixed in fixed plate 12.Press device 2 also have be sheathed on the surface of guide pillar 22 and abut installing plate 21 with
The elastic component 26 of fixed plate 12.The lower surface of self installation plate 21 extends downwardly some connecting poles 24, the connecting pole positioned at the same side
24 are fixed for the briquetting 25 by die pressing product jointly respectively.Limited post 14 has certain distance away from installing plate 21, is suspended on installation
The top of plate 21.
This pair of clamp device 3 is respectively arranged in the lower surface of installing plate 21, relative to the both sides of adjusting means 4.Gripping dress
3 are put to be located between this pair of briquetting 25.Clamp device 3 includes the mounting blocks 31 for being fixed on the lower surface of installing plate 21, positioned at mounting blocks
31 side and there is stopper 32 away from the side of adjusting means 4, stopper 32 is compressed with installing plate 21 by spring 33, stop
Block 32 has respectively with installing plate 21 houses spring host cavity 34, and spring 33 is contained in this pair of host cavity 34, stopper 32 and peace
The compression spring 33 of block 31 is filled, the other end of stopper 32 prevents stopper 32 from moving forward against adjusting means 4, adjusting means 4.Peace
Dress block 31 is provided with gripper cylinder 35, and gripper cylinder 35, which connects a pair, is used for the clamping jaw 36 of product clamping, by starting clamping gas
Cylinder 35, gripper cylinder 35 drives clamping jaw 36 to open or close, so as to capture product or place product.Positioned at the outside of clamping jaw 36 also
It is provided with for the paw 37 by die pressing product, paw 37 is installed on gripper cylinder 35.The bottom of paw 37 is slightly below clamping jaw 35
Bottom.Be additionally provided with a pair of transverse guidance blocks 38 positioned at the both sides of mounting blocks 31, mounting blocks 31 with transverse guidance block 38 to cooperation,
When mounting blocks 31 are by external force, transversely the bearing of trend of bootstrap block 38 is slided mounting blocks 31.
When actual motion is to clamping air-conditioning filter net, the reason for screen pack is because of material has the situation of deformation, therefore, first
Screen pack is pressed by briquetting 25, paw 37, the grab that clamping jaw 35 is pointed on screen pack is clamped.By what is entirely captured
Position leads to some guide pillars 22 and bearing makes floating, reduces the required precision of a position, both plays cushioning effect, and can be by folder
The gravity-pressing product of pawl 35 itself.
Because having adjusting means 4 between the mounting blocks 31 of this pair of clamp device 3.This pair can be adjusted by adjusting means 4
The distance between clamp device 3.
As shown in figure 3, adjusting means 4 has the regulating block 41 for being used to prevent mounting blocks 31 from departing from spring 33, regulating block 41
Between this pair of mounting blocks 31.Longitudinal guide block 42 is additionally provided with positioned at the both sides of regulating block 41, when regulating block 41 is by external force,
Regulating block 41 is slided along the bearing of trend of longitudinal guide block 38.The top of regulating block 41 is provided with contiguous block 43, and the lower end of contiguous block 43 is hung down
Straight is installed on regulating block 41, the end of the output shaft 441 for being installed on a regulation cylinder 44 of the upper end of contiguous block 43 vertically, regulation
Cylinder 44 is direct or indirect to be installed on installing plate 21.Regulation cylinder 44, mounting blocks 31 are respectively arranged in the upper of installing plate 21
Lower surface.Regulating block 41 has big end 411 and the small end 412 with the 411 smooth extensions of big end.When regulation cylinder 44 promotes regulating block
When 41, mounting blocks 31 abut big end 411 and the small end 412 of different-thickness size respectively.By actual measurement, when mounting blocks 31 are supported
When connecing big end 411, clamping jaw 35 can clamp grab product in larger distance.When adjusting the promotion regulating block 41 of cylinder 44, regulation
Block 41 is moved forward, mounting blocks 31 by the spring 33 of opposite side resist force, with regulating block 41 lower end 412 gradually with peace
Dress block 31 is contacted, and the slid inward of mounting blocks 31 positioned at the both sides of regulating block 41, mounting blocks 31 abut small end 412 completely.Mounting blocks
The distance between clamping jaw 35 of 31 lower sections shortens, and clamping jaw 35 can clamp grab product in small distance.
Therefore, regulating block 41 is promoted by adjusting cylinder 44, changes the distance between the clamping jaw 35 of the lower section of mounting blocks 31, i.e.,
The clamping of the product to different dimensions can be completed.According to gripping position without using spring 33 and mounting blocks 31, regulating block
41 cooperation profile, is driven using cylinder 44 is adjusted so that quickly changed between this pair of spacing of clamping jaw 35, so as to reach fast quick change
The purpose of type.
When clamping jaw 35 is in screen pack reclaiming process, it may appear that screen pack is manually put back, and (reverse side does not have hasp, is flat
Face), lack material, and have situations such as filter core is with batch mixing without filter core.
As shown in figure 1, grabbing device 100 of the present invention also has the detection means 5 for being arranged at and being fixed on installing plate 21, inspection
Surveying device 5 includes being fixed on the connecting plate 51 of installing plate 21, is fixed on the detection seat 52 of the lower section of connecting plate 51, detection seat 52 and pacifies
The first detection slide bar 532, the second photoelectric sensing being engaged equipped with the first photoelectric sensor 531, with the first photoelectric sensor 531
Device 541 and the second detection slide bar 542 being engaged with the second photoelectric sensor 541.When needing detection, the first detection slide bar
The 532nd, if the second detection slide bar 542 lower end touches some part of product, the first detection detection slide bar 542 of slide bar 532, second
Resistance is received, slowly upward sliding, the first detection slide bar 532, second detects the photoelectric sensor of upper end shield first of slide bar 542
531st, the second photoelectric sensor 541, then illustrate that product to be checked has the parts, if the first detection slide bar 532, second is detected
The lower end of slide bar 542 does not touch anything, then first detection slide bar 532, second detection slide bar 542 will not upward sliding, no
The first photoelectric sensor 531, the second photoelectric sensor 541 can be covered, then illustrate that product to be checked does not have the parts.First
Detect lower end of the lower end higher than the second detection slide bar 542 of slide bar 532.First detection slide bar 532 is used to detect screen pack front
Whether snap fit is had, if being not detected by snap fit, product is put back, the second detection slide bar 542, which is used for the lower section of detection seat 52, is
It is no to have screen pack, if being not detected by screen pack, terminal is fed back to by signal, the streamline does not have screen pack.In addition, in sky
Adjust in screen pack, in addition it is also necessary to detect whether to carry filter core.As shown in figure 1, it is different from the color of filter screen according to the color of filter core,
This grabbing device 100 also provides a kind of color sensor 55 being installed on installing plate 21, when color sensor 55 sense with
During the color of filter screen different colours, confirm that there is filter core lower section.Each sensor is prior art, is not described one by one herein.Filter
Core is softer material, with general fashion it is bad judge, the present invention using color sensor 55 judge can accurately judge be
It is no to have filter core.
Above-described is only some embodiments of the present invention.For the person of ordinary skill of the art, not
On the premise of departing from the invention design, various modifications and improvements can be made, these belong to the protection model of the present invention
Enclose.
Claims (9)
1. a kind of grabbing device, it includes attachment means, the press device below the attachment means, positioned at the pressing
A pair of clamp devices below device and the adjusting means between this pair of clamp device, it is characterised in that：It is described by press-fiting
Some connecting poles for put including installing plate, being installed on the lower surface of the installing plate and extend downwardly, it is individually fixed in the company
The briquetting of post lower end is connect, this pair of clamp device has mounting blocks, positioned at the side of the mounting blocks and away from the regulation respectively
The stopper of device side, the spring between stopper and installing plate and the clamping jaw being installed on below the mounting blocks, institute
State stopper and be fixed on the installing plate, the adjusting means has the regulating block for being used for preventing mounting blocks from departing from spring and driving
The regulation cylinder of the regulating block operation, the regulating block has two different sizes of thickness, when the regulation cylinder is promoted
During the regulating block, the mounting blocks position is changed on the regulating block at different-thickness size respectively, the mounting blocks
Against the regulating block.
2. grabbing device as claimed in claim 1, it is characterised in that：The regulating block has big end and smooth from the big end
The small end of extension, when the regulation cylinder promotes the regulating block, the mounting blocks bear against the institute of different-thickness size
State big end or the small end.
3. grabbing device as claimed in claim 1, it is characterised in that：The stopper has respectively with the installing plate to be housed
The host cavity of the spring, the spring is contained in this pair of host cavity, and the stopper remains compression with the mounting blocks
The state of the spring.
4. grabbing device as claimed in claim 1, it is characterised in that：Gripper cylinder, the folder are installed on the mounting blocks
Hold cylinder and connect a pair of clamping jaws for product clamping, the gripper cylinder is located at described install with the stopper respectively
The lower surface of plate.
5. grabbing device as claimed in claim 4, it is characterised in that：It is additionally provided with the outside of the clamping jaw for pressing
The paw of product, the paw is installed on the gripper cylinder.
6. grabbing device as claimed in claim 1, it is characterised in that：The attachment means include fixed plate and are installed on described
Fixed plate top and the contiguous block for connecting mechanical arm, the fixed plate have the limited post for being installed on its lower surface, institute
Limited post is stated to extend downwardly.
7. grabbing device as claimed in claim 6, it is characterised in that：The installing plate and the spaced and parallel arrangement of fixed plate, institute
State between installing plate and the fixed plate and to be connected by some guide pillars, there are some accepting grooves, the collecting on the installing plate
It is respectively arranged with groove in guide pin bushing, the guide pin bushing and houses bearing respectively, the guide pillar lower end is contained in the bearing respectively, institute
State guide pillar upper end and be individually fixed in the fixed plate.
8. grabbing device as claimed in claim 1, it is characterised in that：The grabbing device also have be arranged at be fixed on it is described
Detection means on installing plate, the detection means includes being fixed on the connecting plate of the installing plate, is fixed on the connecting plate
The first photoelectric sensor is installed on the detection seat of lower section, the detection seat, is engaged and energy with first photoelectric sensor
First slided up and down detects slide bar, the second photoelectric sensor and is engaged and can slide up and down with second photoelectric sensor
Second detection slide bar, it is described first detection slide bar with second detection slide bar terminal position highly it is different.
9. grabbing device as claimed in claim 8, it is characterised in that：The detection means, which also has, is installed on the installing plate
On color sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201511028744.5A CN105564982B (en) | 2015-12-31 | 2015-12-31 | Grabbing device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201511028744.5A CN105564982B (en) | 2015-12-31 | 2015-12-31 | Grabbing device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105564982A CN105564982A (en) | 2016-05-11 |
| CN105564982B true CN105564982B (en) | 2017-10-24 |
Family
ID=55875719
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201511028744.5A Active CN105564982B (en) | 2015-12-31 | 2015-12-31 | Grabbing device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105564982B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107917802B (en) * | 2017-12-20 | 2024-03-26 | 苏州隆士丹自动化技术有限公司 | Detection equipment for automobile seat regulator |
| CN109573611B (en) * | 2019-01-22 | 2023-08-22 | 辽宁科技大学 | Transfer robot tongs with adjustable |
| CN111618889B (en) * | 2020-05-19 | 2022-07-29 | 磐安县奇冠家居用品有限公司 | Mechanical arm for assembly line |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102011119659A1 (en) * | 2011-11-29 | 2013-05-29 | Multivac Sepp Haggenmüller Gmbh & Co. Kg | gripper device |
| CN203497720U (en) * | 2013-09-05 | 2014-03-26 | 富鼎电子科技(嘉善)有限公司 | Picking and placing device |
| CN104290099A (en) * | 2013-07-15 | 2015-01-21 | 富泰华工业（深圳）有限公司 | Clamping device |
| CN104548719A (en) * | 2013-10-11 | 2015-04-29 | 天津市远大阀门有限公司 | Filter clamping device |
| CN105173721A (en) * | 2015-09-10 | 2015-12-23 | 华中科技大学 | Pneumatic tongs for feeding and discharging of crankshafts |
-
2015
- 2015-12-31 CN CN201511028744.5A patent/CN105564982B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102011119659A1 (en) * | 2011-11-29 | 2013-05-29 | Multivac Sepp Haggenmüller Gmbh & Co. Kg | gripper device |
| CN104290099A (en) * | 2013-07-15 | 2015-01-21 | 富泰华工业（深圳）有限公司 | Clamping device |
| CN203497720U (en) * | 2013-09-05 | 2014-03-26 | 富鼎电子科技(嘉善)有限公司 | Picking and placing device |
| CN104548719A (en) * | 2013-10-11 | 2015-04-29 | 天津市远大阀门有限公司 | Filter clamping device |
| CN105173721A (en) * | 2015-09-10 | 2015-12-23 | 华中科技大学 | Pneumatic tongs for feeding and discharging of crankshafts |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105564982A (en) | 2016-05-11 |
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Address after: The 215200 West Jiangsu city of Suzhou province Wujiang economic and Technological Development Zone No. 666 Patentee after: Bo Seiko Polytron Technologies Inc Address before: The 215200 West Jiangsu city of Suzhou province Wujiang economic and Technological Development Zone No. 666 Patentee before: Suzhou Bozhong Precision Industry Technology Co., Ltd. |