Gripping device based on servo control

Abstract

The utility model relates to the technical field of automation, in particular to a grabbing device based on servo control, which comprises a grabbing module, a plurality of sliding blocks are mounted at the bottom of the grabbing module, the sliding blocks are driven by a servo motor to slide on the grabbing module, the distances between the sliding blocks are the same all the time, and clamping jaw assemblies are mounted at the bottoms of the sliding blocks; the clamping jaw assembly comprises a cross beam and a mounting plate connected to the bottom of the cross beam through a rod body, driving plates are slidably mounted at the two ends of the mounting plate, the tops of the driving plates are driven through clamping jaw air cylinders, clamping jaws are mounted at the bottoms of the driving plates, a ventilation pipe is further mounted in the center of the mounting plate, and a suction cup is mounted at the bottom of the ventilation pipe; a pipeline capable of being externally connected with a negative pressure pump is installed on the top of the driving plate, and a positioning air cylinder used for locking the ventilation pipe is further installed on the driving plate. By means of the grabbing device, the multiple objects are grabbed synchronously, packaging bags are shaped synchronously, the distance between the objects is adjusted, and the object shaping and placing efficiency is improved.

Description

Technical Field

[0001] The present application relates to the field of automation technology, and in particular to a gripping device based on servo control. Background Art

[0002] At present, for easily damaged and fragile foods, such as biscuits and moon cakes, they need to be packed in packaging bags first, and then placed in corresponding packaging boxes with containers, which can effectively protect the food and reduce the impact of external forces on the integrity of the food during transportation. Therefore, the two ends of the packaged food packaging bags placed in the container need to be folded to neatly place the packaging bags in the packaging box, so that the food can be fully filled in the packaging box and the utilization rate of the packaging box can be improved.

[0003] The existing production method is to manually arrange the packaging bags and place them in packaging boxes, which requires a lot of manpower and is inefficient, while the quality cannot be controlled. Utility Model Content

[0004] In order to overcome the problems existing in the prior art, the present application provides a grasping device based on servo control.

[0005] The present application provides a servo-controlled gripping device that adopts the following technical solution:

[0006] A servo-controlled grasping device includes a grasping module, a plurality of sliders are installed at the bottom of the grasping module, wherein the sliders slide on the grasping module under the drive of a servo motor, and the distance between the sliders is always the same, and a clamping claw assembly is installed at the bottom of the sliders; a clamping claw assembly, the clamping claw assembly includes a crossbeam and a mounting plate connected to the bottom of the crossbeam through a rod body, and a driving plate is slidably installed at both ends of the mounting plate, wherein the top of the driving plate is driven by a clamping claw cylinder, and a clamping claw is installed at the bottom of the driving plate, and a vent pipe is also installed at the center of the mounting plate, and a suction cup is installed at the bottom of the vent pipe, and a pipe capable of externally connecting a negative pressure pump is installed at the top thereof, and a positioning cylinder for locking the vent pipe is also installed on the driving plate. The output shaft of the servo motor is meshed with a screw gear distributed around the gear through a gear, and the screw gears are all arranged at the end of the screw, and the sliders are respectively provided with a thread sleeve adapted to the screw, wherein the pitches on the screw corresponding to the thread sleeves distributed in sequence along the grasping module are 1, 2, 3...N, respectively, and the unit of the pitch is mm.

[0007] By adopting the above technical solution, the grabbing module drives the slider to move at equal distances on the grabbing module through the servo motor at the end, and the servo motor drives the lead screw with different pitches to move with the thread sleeve, so as to realize the equal distance adjustment of the slider. In conjunction with the external robotic arm, the slider can drive the gripper assembly to grab and shape the packaging bag, and can choose to install the corresponding number of gripper assemblies and adjust the distance between adjacent gripper assemblies according to the number and position of containers, so as to place the shaped packaging bag into the container, thereby improving the automation level of the overall equipment.

[0008] Preferably, U-shaped openings are provided at both ends of the mounting plate, and a sliding rod adapted to the U-shaped opening is installed on the driving plate, wherein a limit block having a width greater than that of the sliding rod is installed at the bottom of the sliding rod.

[0009] Preferably, a clamping claw is detachably mounted on the bottom of the limiting block, and corresponding threaded mounting holes are mounted on the limiting block and the clamping claw.

[0010] By adopting the above technical solution, the U-shaped openings at both ends of the mounting plate are adapted to the sliding rod, and the width of the driving plate at the top of the sliding rod and the limit block at the bottom are both greater than the sliding rod. Under the drive of the clamping jaw, the driving plate can slide in the U-shaped opening, thereby driving the clamping jaw to close and shape the packaging bag. The detachable connection between the limit block and the clamping jaw can select clamping jaws of different sizes according to different types of packaging bags, which has a wider range of applications.

[0011] Preferably, the clamping jaws include a main board parallel to the driving board and side boards at both ends of the main board vertically connected to the main board, and an arc-shaped transition is adopted between the main board and the side boards.

[0012] By adopting the above technical solution, the clamp includes a main board whose bottom is parallel to the driving board and is used to shape the packaging bag from both sides, and the side boards are used to fold the folded edges of the packaging bag on both sides toward adjacent surfaces.

[0013] Preferably, the vent pipe is slidably connected to the mounting plate, and the top and bottom surfaces of the mounting plate are connected to the vent pipe via a spring, the spring is sleeved on the vent pipe, and one end of the spring away from the mounting plate is fixedly connected to the vent pipe.

[0014] Preferably, a limiting nut is also fixedly mounted on the top of the ventilation pipe, and the inner diameter of the positioning groove provided on the output end of the positioning cylinder is located between the outer diameter of the ventilation pipe and the outer diameter of the limiting nut.

[0015] By adopting the above technical solution, the ventilation pipe is connected to the mounting plate through a spring. When the grabbing device moves downward as a whole, the suction cup at the bottom of the ventilation pipe fits against the top of the packaging bag, the spring on the ventilation pipe at the bottom of the mounting plate is compressed, the ventilation pipe moves upward relative to the mounting plate, and the spring at the top of the mounting plate is stretched. At this time, the positioning cylinder is started, and the output end of the positioning cylinder cooperates with the limit nut at the top of the ventilation pipe to fix the position of the ventilation pipe at this time, so that the suction cup will not drop.

[0016] Preferably, L-shaped limit strips are installed on the two sides adjacent to the suction cup and the clamp main board, and the height of the limit strips is the same as the thickness of the packaging bag to be grasped.

[0017] By adopting the above technical solution, the L-shaped limit strip installed on the suction cup can limit the distance when the suction cup is pressed down, thereby protecting the packaging bag and preventing the suction cup from pressing down too much and damaging the packaging bag. In addition, the bottom cross bar of the L-shaped design can contact the placement table to improve stability.

[0018] Preferably, a connecting seat for connecting a robotic arm is also installed on the top of the grabbing module.

[0019] By adopting the above technical solution, the top of the grabbing module is connected to the mechanical arm through the connecting seat, and the movement and lifting of the grabbing device are controlled by the mechanical arm.

[0020] In summary, the present application includes at least one of the following beneficial technical effects:

[0021] This application upgrades the traditional manual sorting and placement to fully automatic sorting and placement through a grabbing device, which greatly improves work efficiency, reduces labor costs, and ensures the quality of sorting and placement;

[0022] The present application adjusts the distance between the clamping jaw assemblies through a servo motor, which can meet the placement requirements of containers with different gaps. At the same time, detachable clamping jaws are installed to meet the shaping requirements of packaging bags of different models. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a schematic diagram of the overall structure of a gripping device based on servo control;

[0024] Figure 2 It is a schematic diagram of the structure of a gripper assembly in a gripping device based on servo control;

[0025] Figure 3 It is the shape of the material packaging bag before shaping;

[0026] Figure 4 It is the shape of the material packaging bag after shaping.

[0027] Explanation of the accompanying drawings: 1. Grabbing module; 11. Slider; 12. Servo motor; 13. Connecting seat; 2. Gripping jaw assembly; 21. Crossbeam; 22. Rod body; 23. Mounting plate; 231. U-shaped opening; 232. Spring; 24. Driving plate; 241. Positioning cylinder; 2411. Positioning groove; 242. Sliding rod; 243. Limit block; 25. Gripping jaw cylinder; 26. Gripping jaw; 261. Main board; 262. Side panel; 27. Threaded mounting hole; 3. Ventilation pipe; 31. Suction cup; 311. L-shaped limit strip; 32. Pipe; 33. Limit nut. DETAILED DESCRIPTION

[0028] The following is combined with Figure 1-4 This application is described in further detail.

[0029] The embodiment of the present application discloses a gripping device based on servo control.

[0030] Reference Figure 1 , Figure 2 , Figure 3 and Figure 4 A servo-controlled grasping device comprises a grasping module 1, wherein four sliders 11 are installed at the bottom of the grasping module 1, wherein the sliders 11 slide on the grasping module 1 under the drive of a servo motor 12, and the distances between the sliders 11 are always the same, and a clamping claw assembly 2 is installed at the bottom of each slider 11; a clamping claw assembly 2, wherein the clamping claw assembly 2 comprises a crossbeam 21 and a mounting plate 23 connected to the bottom of the crossbeam 21 through a rod body 22, and a driving plate 24 is slidably installed at both ends of the mounting plate 23, wherein the top of the driving plate 24 is driven by a clamping claw cylinder 25, and a clamping claw 26 is installed at the bottom of the driving plate 24, and a vent pipe 3 is also installed at the center of the mounting plate 23, a suction cup 31 is installed at the bottom of the vent pipe 3, and a pipe 32 capable of externally connecting a negative pressure pump is installed at the top thereof, and a positioning cylinder 241 for locking the vent pipe 3 is also installed on the driving plate 24. The output shaft of the servo motor 12 is meshed with the screw gears distributed around the gears through gears. The screw gears are all set at the ends of the screws, and the slider 11 is respectively provided with a thread sleeve adapted to the screw, wherein the thread sleeves distributed in sequence along the grab module 1 correspond to the thread pitches of 1, 2, 3, and 4, respectively, and the unit of the thread pitch is mm. The grab module 1 drives the slider 11 to move at equal distances on the grab module 1 through the servo motor 12 at the end, and the screws with different pitches driven by the servo motor 12 are used to move with the thread sleeves, thereby realizing the equal distance adjustment of the slider 11. With the external mechanical arm, the slider 11 can drive the clamping claw assembly 2 to grab and shape the packaging bag, and can choose to install the corresponding number of clamping claw assemblies 2 and adjust the distance between adjacent clamping claw assemblies 2 according to the number and position of the container, and place the shaped packaging bag into the container, thereby improving the automation of the overall equipment.

[0031] Reference Figure 1 , Figure 2 , Figure 3 and Figure 4 , U-shaped openings 231 are provided at both ends of the mounting plate 23, and a sliding rod 242 adapted to the U-shaped opening 231 is installed on the driving plate 24, wherein a limit block 243 with a width greater than the sliding rod 242 is installed at the bottom of the sliding rod 242. A clamping jaw 26 is detachably installed at the bottom of the limit block 243, and corresponding threaded mounting holes 27 are installed on the limit block 243 and the clamping jaw 26. The U-shaped openings 231 provided at both ends of the mounting plate 23 are adapted to the sliding rod 242, and the widths of the driving plate 24 at the top of the sliding rod 242 and the limit block 243 at the bottom are both greater than the sliding rod 242. Under the driving of the clamping jaw 26, the driving plate 24 can slide in the U-shaped opening 231, thereby driving the clamping jaw 26 to close and shape the packaging bag. The detachable connection between the limit block 243 and the clamping jaw 26 can select clamping jaws 26 of different sizes according to different types of packaging bags, and has a wider range of applications.

[0032] Reference Figure 1 , Figure 2 , Figure 3 and Figure 4 The clamping jaw 26 includes a main board 261 parallel to the driving board 24 and side boards 262 vertically connected to the main board 261 at both ends of the main board 261, and an arc transition is adopted between the main board 261 and the side boards 262. The clamping jaw 26 includes a main board 261 parallel to the driving board 24 at the bottom, which is used to shape the packaging bag from both sides, and the side boards 262 are used to fold the folded packaging bag edges on both sides of the packaging bag toward the adjacent surface.

[0033] Reference Figure 1 and Figure 2 The vent pipe 3 is slidably connected to the mounting plate 23, and the top and bottom surfaces of the mounting plate 23 are connected to the vent pipe 3 through springs 232. The spring 232 is sleeved on the vent pipe 3, and one end of the spring 232 away from the mounting plate 23 is fixedly connected to the vent pipe 3. A limit nut 33 is also fixedly installed on the top of the vent pipe 3, and the inner diameter of the positioning groove 2411 provided on the output end of the positioning cylinder 241 is located between the outer diameter of the vent pipe 3 and the outer diameter of the limit nut 33. The ventilation pipe 3 is connected to the mounting plate 23 through a spring 232. When the grabbing device moves downward as a whole, the suction cup 31 at the bottom of the ventilation pipe 3 fits against the top of the packaging bag, and the spring 232 on the ventilation pipe 3 at the bottom of the mounting plate 23 is compressed. The ventilation pipe 3 moves upward relative to the mounting plate 23, and the spring 232 at the top of the mounting plate 23 is stretched. At this time, the positioning cylinder 241 is started, and the output end of the positioning cylinder 241 cooperates with the limit nut 33 at the top of the ventilation pipe 3 to fix the position of the ventilation pipe 3 at this time, so that the suction cup 31 will not drop.

[0034] Reference Figure 1 , Figure 2 , Figure 3 and Figure 4 L-shaped limit strips 311 are installed on the two sides of the suction cup 31 adjacent to the main board 261 of the clamp 26. The height of the limit strips is the same as the thickness of the packaging bag to be grasped. The L-shaped limit strips 311 installed on the suction cup 31 can limit the distance when the suction cup 31 is pressed down, protect the packaging bag, and prevent the suction cup 31 from pressing down too much and damaging the packaging bag. In addition, the bottom cross bar of the L-shaped design can contact the placement table to improve stability.

[0035] Reference Figure 1 A connection seat 13 for connecting a mechanical arm is also installed on the top of the grab module 1. The top of the grab module 1 is connected to the mechanical arm through the connection seat 13, and the movement and lifting of the grab device are controlled by the mechanical arm.

[0036] Working principle: The servo motor 12 drives the grabbing module 1 to drive the slider 11 to adjust the distance, and the corresponding clamping assembly adjusts the distance. After the distance is adjusted, the clamping cylinder is started, and then the grabbing device is moved as a whole to the top of the material under the action of the mechanical arm. The grabbing device moves from top to bottom onto the material, wherein the suction cup 31 presses on the packaging bag of the material to suck the packaging bag of the material. During the downward pressing process, the spring 232 on the vent pipe 3 on the bottom of the mounting plate 23 is compressed, and the vent pipe 3 moves up at the same time. At this time, the output end of the positioning cylinder 241 extends out and is inserted into the bottom of the limit nut 33 at the top of the vent pipe 3, thereby fixing the rising position of the vent pipe 3 at this time, so that the vent pipe 3 will not fall. After the suction cup 31 sucks the material, the claws 26 on both sides fold the sealing edge of the material packaging bag downward during the rising process of the vent pipe 3. At the same time, the clamping cylinder drives the clamping to close, and the clamping folds the sealing edge of the material packaging bag inward from both sides to complete the shaping of the outer packaging bag. After shaping is completed, the gripping device is moved as a whole under the action of the manipulator to put the material into the container.

[0037] The above are all preferred embodiments of the present application, and the protection scope of the present application is not limited thereto. Therefore, any equivalent changes made according to the structure, shape, and principle of the present application should be included in the protection scope of the present application.

Claims

1. A gripping device based on servo control, characterized in that: include A gripping module (1), wherein a plurality of sliders (11) are mounted at the bottom of the gripping module (1), wherein the sliders (11) slide on the gripping module (1) under the drive of a servo motor (12), and the distance between the sliders (11) is always the same, and a clamping claw assembly (2) is mounted at the bottom of each slider (11); A clamping jaw assembly (2), the clamping jaw assembly (2) comprising a crossbeam (21) and a mounting plate (23) connected to the bottom of the crossbeam (21) via a rod body (22), drive plates (24) being slidably mounted at both ends of the mounting plate (23), wherein the top of the drive plate (24) is driven by a clamping jaw cylinder (25), and a clamping jaw (26) is mounted at the bottom of the drive plate (24), a vent pipe (3) is also mounted at the center of the mounting plate (23), a suction cup (31) is mounted at the bottom of the vent pipe (3), and a pipe (32) capable of being externally connected to a negative pressure pump is mounted at the top of the vent pipe (3), and a positioning cylinder (241) for locking the vent pipe (3) is also mounted on the drive plate (24).

2. A servo-controlled gripping device according to claim 1, characterized in that: The mounting plate (23) is provided with U-shaped openings (231) at both ends, and a sliding rod (242) adapted to the U-shaped opening (231) is installed on the driving plate (24), wherein a limit block (243) having a width greater than that of the sliding rod (242) is installed at the bottom of the sliding rod (242).

3. A servo-controlled gripping device according to claim 2, characterized in that: A clamping claw (26) is detachably mounted on the bottom of the limit block (243), and corresponding threaded mounting holes (27) are mounted on the limit block (243) and the clamping claw (26).

4. A servo-controlled gripping device according to claim 3, characterized in that: The clamping claw (26) comprises a main plate (261) parallel to the driving plate (24) and side plates (262) at both ends of the main plate (261) vertically connected to the main plate (261), and an arc-shaped transition is adopted between the main plate (261) and the side plates (262).

5. The servo-controlled gripping device according to claim 1, characterized in that: The ventilation pipe (3) is slidably connected to the mounting plate (23), and the top surface and the bottom surface of the mounting plate (23) are connected to the ventilation pipe (3) via a spring (232). The spring (232) is sleeved on the ventilation pipe (3), and one end of the spring (232) away from the mounting plate (23) is fixedly connected to the ventilation pipe (3).

6. The servo-controlled gripping device according to claim 1, characterized in that: A limiting nut (33) is also fixedly mounted on the top of the ventilation pipe (3), and the inner diameter of the positioning groove (2411) provided on the output end of the positioning cylinder (241) is located between the outer diameter of the ventilation pipe (3) and the outer diameter of the limiting nut (33).

7. The servo-controlled gripping device according to claim 1, characterized in that: L-shaped limiting strips (311) are also installed on two sides adjacent to the suction cup (31) and the main board (261) of the clamping claw (26), and the height of the limiting strip is the same as the thickness of the packaging bag to be grasped.

8. The servo-controlled gripping device according to claim 1, characterized in that: A connecting seat (13) for connecting to a mechanical arm is also installed on the top of the grabbing module (1).

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