Grabbing device

Abstract

The invention discloses a grabbing device, and relates to the technical field of automatic production, the device grabs containers in a mode of opening from inside to outside and grabbing in parallel, and the structure is simple and reliable; the pickup end part adopts a modular design, is convenient to replace and is compatible with various containers; a tooth-shaped matching and strip-shaped hole screw locking mode is adopted, so that the pick-up end part is convenient to replace and adjust, and is stable and reliable; and the grabbing end part has automatic centering and locking functions, so that the periphery can be locked after grabbing, and the centering can be automatically adjusted in the grabbing process.

Description

Technical Field

[0001] The invention relates to the technical field of automated production, in particular to a parallel self-locking core grabbing device. Background Art

[0002] In the prior art, materials on automated production lines are generally placed in containers, and the materials are transported between various processes by handling and conveying the containers. Grasping the containers is a very common link in this process, and the grabbing device plays a very important role in it. A grabbing device with a simple structure, safety, reliability, and strong versatility is the key to ensuring the safety, efficiency, and convenience of the automated production and handling process.

[0003] The grabbing mechanism for automated production lines in the prior art mainly adopts a clamping or hooking method from the outside to the inside to achieve the grabbing of containers such as barrels, such as a grabber for grabbing barrels recorded in application number: 202322332698.4.

[0004] However, the crawling method in the prior art has the following disadvantages:

[0005] 1. When grabbing by clamping, you must grab from the side of the barrel or other containers (holding from the outside to the inside). When the barrel is placed on a pallet or placed close to each other, the grabbing of the barrel will interfere with each other. Under certain conditions, it can only be grabbed in a certain order, which has low flexibility, affects the grabbing efficiency, and the device is large and complex in structure.

[0006] 2. When changing production in the existing method, the gripping device needs to be completely replaced.

[0007] 3. The existing method is inconvenient to adjust the fine position of the front end of the grasping mechanism and cannot be flexibly adjusted.

[0008] 4. The existing grasping method adopts two-point or clamping grasping, the grasping contact position is relatively concentrated, or it cannot be self-locking and self-centering, and the reliability is not high. Summary of the invention

[0009] In view of the above problems, the present invention provides a gripping device for overcoming the above problems or at least partially solving the above problems.

[0010] The present invention provides the following scheme:

[0011] A grabbing device, comprising:

[0012] A frame, wherein a mounting seat is disposed on the top of the frame, and the mounting seat is used to connect to the robot execution end;

[0013] Two parallel air grippers, the two parallel air grippers are connected to two ends of the lower part of the frame in a one-to-one correspondence;

[0014] Two groups of gripping assemblies, each group of the gripping assemblies includes two gripping ends, and the two gripping ends in each group are connected to two moving ends of a parallel air gripper in a one-to-one correspondence, so that the parallel air gripper drives the two gripping ends connected thereto to move closer to or away from each other;

[0015] Wherein, the grabbing end includes a conical positioning hole with an open side. When the two grabbing ends are separated and moved from each other, the grabbing nail on the barrel is inserted into the conical positioning hole through the open side of the conical positioning hole, thereby realizing a temporary connection between the grabbing assembly and the barrel.

[0016] Preferably: the gripping end comprises a transverse block and a lifting block connected by a bolt pair, the horizontal section of the transverse block is provided with a mounting hole so as to be connected to the corresponding movable end of the parallel air gripper; the conical positioning hole is provided in the horizontal section of the lifting block.

[0017] Preferably: the vertical section of the transverse block is provided with a first waist-shaped hole extending in the vertical direction, and the vertical section of the lifting block is provided with a second waist-shaped hole extending in the transverse direction, and the bolt pair connects the transverse block and the lifting block through the first waist-shaped hole and the second waist-shaped hole.

[0018] Preferably, the contact portions of the vertical section of the transverse block and the vertical section of the lifting block are respectively provided with tooth-shaped patterns.

[0019] Preferably, a V-shaped opening which gradually becomes smaller from outside to inside is formed at the side opening of the tapered positioning hole.

[0020] Preferably, the inner conical structure of the conical positioning hole is adapted to the conical structure of the nut of the grabbing nail.

[0021] Preferably: the frame comprises a mounting body, the mounting body is provided with an air gripper mounting hole; the parallel air gripper comprises an air gripper body, the air gripper body is connected to the air gripper mounting hole by screws.

[0022] According to the specific embodiments provided by the present invention, the present invention discloses the following technical effects:

[0023] A gripping device provided in an embodiment of the present application adopts a parallel gripping method of spreading from the inside to the outside to grip containers, and has a simple and reliable structure; the modular design of the picking end is easy to replace and compatible with various types of containers; the tooth-shaped matching plus bar-hole screw locking method is adopted, and the picking end is easy to replace and adjust, stable and reliable; the gripping end has automatic centering and locking functions, and can be locked on all sides after gripping, and can automatically adjust the centering during the gripping process.

[0024] Of course, any product implementing the present invention does not necessarily need to achieve all of the advantages described above at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention, and for ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0026] Figure 1 is a structural schematic diagram of a grabbing device provided by an embodiment of the present invention;

[0027] Figure 2 is a schematic diagram of the structure of a rack provided by an embodiment of the present invention;

[0028] Figure 3 is a schematic structural diagram of a parallel air gripper provided in an embodiment of the present invention;

[0029] Figure 4 is a schematic structural diagram of a grabbing end portion provided by an embodiment of the present invention;

[0030] Figure 5 is a schematic diagram of the structure of a horizontal block provided by an embodiment of the present invention;

[0031] Figure 6 is a schematic structural diagram of a lifting block provided by an embodiment of the present invention;

[0032] Figure 7 is a schematic structural diagram of a gripping end portion in a retracted state provided by an embodiment of the present invention;

[0033] Figure 8 is a schematic structural diagram of a gripping end portion in an extended state provided by an embodiment of the present invention;

[0034] Fig. 9 is a schematic diagram of the starting position during grasping provided by an embodiment of the present invention;

[0035] Fig.10 is a schematic diagram of a descending position during grabbing (the grabbing end is not extended) provided by an embodiment of the present invention;

[0036] Fig.11 It is a schematic diagram of the descending position (grasping end extending) during grasping provided by an embodiment of the present invention;

[0037] Fig.12 It is a schematic diagram of the centering and locking position after lifting during grabbing provided by an embodiment of the present invention;

[0038] Fig.13It is a schematic diagram of the states before and after adjustment of the lateral block and the lifting block provided by an embodiment of the present invention.

[0039] In the figure: frame 1, mounting seat 11, air gripper mounting hole 12, parallel air gripper 2, moving end 21, air gripper body 22, grabbing end 3, conical positioning hole 31, transverse block 32, lifting block 33, first waist-shaped hole 34, second waist-shaped hole 35, grabbing nail 4, bucket 5. DETAILED DESCRIPTION

[0040] The technical scheme in the embodiment of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiment of the present invention. Obviously, the described embodiment is only a part of the embodiment of the present invention, not all of the embodiments. Based on the embodiment of the present invention, all other embodiments obtained by ordinary technicians in this field belong to the scope of protection of the present invention.

[0041] See also Figure 1 , is a grasping device provided by an embodiment of the present invention, such as Figure 1 As shown, the device may include:

[0042] A frame 1, wherein a mounting seat 11 is disposed on the top of the frame 1, and the mounting seat 11 is used to connect to the robot execution end;

[0043] Two parallel air grippers 2, the two parallel air grippers 2 are connected to two ends of the lower part of the frame 1 in a one-to-one correspondence;

[0044] Two groups of gripping components, each group of the gripping components includes two gripping ends 3, and the two gripping ends 3 in each group are respectively connected to the two moving ends 21 of a parallel air gripper 2 in a one-to-one correspondence, so that the parallel air gripper 2 drives the two gripping ends 3 connected thereto to move closer to or separate from each other;

[0045] Among them, the grabbing end 3 includes a conical positioning hole 31 with an open side. When the two grabbing ends 3 are separated and moved from each other, the grabbing nail 4 on the barrel 5 is inserted into the conical positioning hole 31 through the open side of the conical positioning hole 31, thereby realizing a temporary connection between the grabbing assembly and the barrel 5.

[0046] Most of the existing grasping devices are complex and bulky in structure, have poor compatibility, and have no centering and self-locking functions. The device provided in the embodiment of the present application mainly adopts the parallel cylinder of the clamping claw as the main power, arranges the parallel cylinder of the clamping claw side by side, and cooperates with the picking end and the positioning grasping pin 4 to complete the grasping. It can automatically center and lock, has a simple structure, and is reliable in picking.

[0047] Most of the existing grabbing devices are in the form of fork grabbing or clamping, and adjacent containers can only be grabbed sequentially. The device provided in the embodiment of the present application adopts the method of grabbing from the top and spreading from the inside to the outside, which solves the problem that the grabbing containers may interfere with each other. The grabbing device has a simple structure and a small size, and can realize disordered and arbitrary position grabbing of containers.

[0048] In order to facilitate the installation of the gripping end 3, the embodiment of the present application can also provide that the gripping end 3 includes a transverse block 32 and a lifting block 33 connected by a bolt pair, and the horizontal section of the transverse block 32 is provided with a mounting hole so as to be connected to the corresponding movable end 21 of the parallel air gripper 2; the conical positioning hole 31 is provided in the horizontal section of the lifting block 33.

[0049] In order to adjust the grabbing end 3 vertically and horizontally, the embodiment of the present application can provide that the vertical section of the lateral block 32 is provided with a first waist-shaped hole 34 extending along the vertical direction, and the vertical section of the lifting block 33 is provided with a second waist-shaped hole 35 extending along the horizontal direction, and the bolt pair is connected to the lateral block 32 and the lifting block 33 through the first waist-shaped hole 34 and the second waist-shaped hole 35.

[0050] In order to ensure the stability of the connection between the transverse block 32 and the lifting block 33 , the embodiment of the present application may provide that the contact portions of the vertical section of the transverse block 32 and the vertical section of the lifting block 33 are respectively provided with tooth-shaped patterns.

[0051] In order to further facilitate the grabbing nail 4 to enter the positioning hole, the embodiment of the present application can also provide that the side opening position of the tapered positioning hole 31 is formed with a V-shaped opening that gradually becomes smaller from the outside to the inside.

[0052] In order to achieve automatic centering, the embodiment of the present application may further provide an inner conical structure of the conical positioning hole 31 that is adapted to the conical structure of the nut of the grabbing nail 4 .

[0053] In order to facilitate the connection between the frame 1 and the parallel air gripper 2, the embodiment of the present application can also provide that the frame 1 includes a mounting body, and the mounting body is provided with an air gripper mounting hole 12; the parallel air gripper 2 includes an air gripper body 22, and the air gripper body 22 is connected to the air gripper mounting hole 12 by screws.

[0054] The device provided in the embodiment of the present application adopts a method of expanding from the inside to the outside and grasping in parallel to grasp the container; the modular design of the picking end is easy to replace and compatible with various types of containers; the tooth-shaped matching plus bar-hole screw locking method is adopted, and the picking end is easy and reliable to replace and adjust; the grasping end 3 has automatic centering and locking functions.

[0055] The structure and usage of the device provided in this application are described in detail below.

[0056] like Figure 1 As shown, the device mainly includes a frame 1, parallel air grippers 2, a gripping end 3, etc. The frame 1 is used to install various actuators and can be fixed to the end of the robot by screws. Two parallel air grippers 2 can be provided, and each parallel air gripper 2 includes two moving ends 21 to form a total of four moving ends 21. Four gripping ends 3 can be provided, and are respectively connected to the four moving ends 21 in a one-to-one correspondence. Of course, in actual applications, the number of parallel air grippers 2 and gripping ends 3 can also be increased according to actual needs.

[0057] like Figure 2 As shown, the rack 1 provided in the embodiment of the present application mainly includes a mounting seat 11 and a mounting body. The mounting seat 11 has screw holes, which are fixed to the end of the robot by screw fixing. There are air gripper mounting holes 12 at both ends of the mounting body, and parallel air grippers 2 are fixed to both ends of the mounting body by screw fixing. The air grippers are arranged in parallel on both sides of the mounting body.

[0058] The parallel air gripper 2 provided in the embodiment of the present application is a mature product on the market, and adopts a pneumatic drive device to achieve corresponding actions. Figure 3 As shown, the parallel air gripper 2 mainly includes an air gripper body 22 and an air gripper moving end 21. The air gripper body 22 is fixed to the frame 1 by screws. The air gripper moving end 21 can move inward or outward relative to the air gripper body 22 under pneumatic drive, and a mounting hole is provided at the bottom thereof for mounting the gripping end 3.

[0059] The grabbing end portion 3 provided in the embodiment of the present application includes a transverse block 32 , a lifting block 33 and a grabbing nail 4 .

[0060] like Figure 4 , Figure 5 , Figure 6 As shown, there are mounting holes on the transverse block 32, which are fixed to the movable end 21 of the air gripper by screws. There are tooth-shaped patterns between the lifting block 33 and the transverse block 32, and the relative position of the lifting block 33 in the up-down and left-right directions can be adjusted by the cooperation of the tooth-shaped patterns. After the adjustment is completed, the screws are respectively passed through the first waist-shaped hole 34 and the second waist-shaped hole 35 to lock the transverse block 32 and the lifting block 33. A self-locking modular gripping mechanism includes 4 sets of gripping end 3 structures.

[0061] The front section of the lifting block 33 has a tapered positioning hole 31 with a V-shaped opening, and the grabbing nail 4 cooperates with the tapered positioning hole 31 to achieve the functions of center positioning and locking.

[0062] When the device is in use, take the grabbing barrel 5 as an example. The barrel 5 is a common container for transporting materials. Before use, the grabbing nails 4 are fixed to the four corners of the barrel 5.

[0063] Before grabbing the material barrel 5, the grabbing mechanism is fixed at the end of the manipulator. Through the movement and positioning of the manipulator, the grabbing mechanism moves to the top of the material barrel 5, and the grabbing end 3 moves to the inside under the action of the air claw moving end 21 to maintain the contracted state. Fig. 9 The retracted and extended states of the grabbing end 3 are shown in FIG. Figure 7 , Figure 8 shown.

[0064] The gripping mechanism moves from the starting position, such as Fig. 9 As shown, move to the lower docking position as shown Fig.10 After reaching the lowered docking position, the grabbing end 3 extends out, and under the guidance of the V-shaped opening, the grabbing nail 4 is introduced into the top of the conical positioning hole 31, as shown in FIG. Fig.11 After the grabbing end 3 is extended into place, the grabbing mechanism is slowly lifted, and the grabbing pin 4 completes the automatic centering and locking functions under the guidance of the conical positioning hole 31 of the lifting block 33, as shown in FIG. Fig.12 .

[0065] In this state, the barrel 5 can be carried. Since there are grabbing nails 4 at the four corners and they are all guided and matched with the conical positioning holes 31, under the action of the barrel 5's own weight, the movement around is restricted to achieve a locked state.

[0066] During the whole process of grabbing the barrel 5 , the projection of the grabbing mechanism is within the projection range of the barrel 5 , so the barrels 5 can be transported without interfering with each other.

[0067] Instructions for adjusting the position of the lifting block 33. Fig.13 As shown, the adjustment of the lifting block 33 is convenient for product change and local adjustment of the gripping position of the manipulator. When changing products, due to the different sizes of the containers, the ordinary picking mechanism needs to be replaced as a whole. The present invention only needs to loosen one screw between the lifting block 33 and the transverse block 32. By adjusting the relative position of the toothed pattern between the lifting block 33 and the transverse block 32, the front-end gripping position can be quickly and conveniently adjusted, and the structure is stable and reliable before and after adjustment. The front and rear adjustments are achieved by adjusting the mounting holes of the transverse block 32. The states before and after adjustment are shown in FIG. Fig.13 shown.

[0068] In summary, the grabbing device provided in the present application grabs the container by a parallel grabbing method of stretching from the inside to the outside, and has a simple and reliable structure; the modular design of the picking end is easy to replace and compatible with various containers; the tooth-shaped matching plus bar-hole screw locking method is adopted, and the picking end is easy to replace and adjust, stable and reliable; the grabbing end has automatic centering and locking functions, and can be locked on all sides after grabbing, and can automatically adjust the centering during the grabbing process.

[0069] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0070] It can be known from the description of the above implementation methods that those skilled in the art can clearly understand that the present application can be implemented by means of software plus a necessary general hardware platform. Based on such an understanding, the technical solution of the present application can be essentially or partly embodied in the form of a software product that contributes to the prior art. The computer software product can be stored in a storage medium such as ROM / RAM, a disk, an optical disk, etc., and includes several instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in the various embodiments of the present application or certain parts of the embodiments.

[0071] Each embodiment in this specification is described in a progressive manner, and the same or similar parts between the embodiments can refer to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the system or system embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can refer to the partial description of the method embodiment. The system and system embodiments described above are merely schematic, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without creative work.

[0072] The above description is only a preferred embodiment of the present invention and is not intended to limit the protection scope of the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.

Claims

1. A gripping device, characterized in that: include: A frame, wherein a mounting seat is disposed on the top of the frame, and the mounting seat is used to connect to the robot execution end; Two parallel air grippers, the two parallel air grippers are connected to two ends of the lower part of the frame in a one-to-one correspondence; Two groups of gripping assemblies, each group of the gripping assemblies includes two gripping ends, and the two gripping ends in each group are connected to two moving ends of a parallel air gripper in a one-to-one correspondence, so that the parallel air gripper drives the two gripping ends connected thereto to move closer to or away from each other; Wherein, the grabbing end includes a conical positioning hole with an open side. When the two grabbing ends are separated and moved from each other, the grabbing nail on the barrel is inserted into the conical positioning hole through the open side of the conical positioning hole, thereby realizing a temporary connection between the grabbing assembly and the barrel.

2. The gripping device according to claim 1, characterized in that: The gripping end portion comprises a transverse block and a lifting block connected by a bolt pair, and a mounting hole is provided in the horizontal section of the transverse block so as to be connected with the corresponding movable end of the parallel air gripper; the conical positioning hole is provided in the horizontal section of the lifting block.

3. The gripping device according to claim 2, characterized in that: The vertical section of the transverse block is provided with a first waist-shaped hole extending in the vertical direction, and the vertical section of the lifting block is provided with a second waist-shaped hole extending in the transverse direction. The bolt pair connects the transverse block and the lifting block through the first waist-shaped hole and the second waist-shaped hole.

4. The gripping device according to claim 3, characterized in that: The contact parts of the vertical section of the transverse block and the vertical section of the lifting block are respectively provided with tooth-shaped patterns.

5. The gripping device according to claim 1, characterized in that: The side opening of the tapered positioning hole is formed with a V-shaped opening which gradually becomes smaller from the outside to the inside.

6. The gripping device according to claim 1, characterized in that: The inner conical structure of the conical positioning hole is adapted to the conical structure of the nut of the grabbing nail.

7. The gripping device according to claim 1, characterized in that: The frame comprises a mounting body, and the mounting body is provided with an air gripper mounting hole; the parallel air gripper comprises an air gripper body, and the air gripper body is connected to the air gripper mounting hole through screws.

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