Automatic grabbing machine

Abstract

The utility model relates to the field of grabbing machines, in particular to an automatic grabbing machine. Comprising two supports, two bases are fixedly connected to the lower ends of the supports, belt conveyors are arranged in the supports, parting strip boxes are arranged at the lower ends of the supports, two cross beams are fixedly connected to the sides, close to each other, of the four supports, lifting mechanisms are arranged on the upper surfaces of the cross beams, and each lifting mechanism comprises a horizontal operation mechanism. The horizontal operation mechanism is connected with the cross beam, and the upper surface of the horizontal operation mechanism is fixedly connected with a fixing base used for installing the lifting mechanism. According to the automatic grabbing machine, the parting strips are grabbed through the vacuum suction cups, compared with a traditional hooking or manual placing mode, control is easier and more convenient, and the placing requirement for the parting strips is lowered. And the horizontal operation mechanism and the lifting mechanism adopt servo control systems, so that the accuracy and the rapidness of the equipment operation process are ensured. The equipment has the advantages of meeting the factory production efficiency and increasing automatic production requirements.

Description

Technical Field

[0001] The utility model relates to the field of grabbing machines, in particular to an automatic grabbing machine. Background Art

[0002] The automatic grabber is composed of a frame, a horizontal operating mechanism, a lifting mechanism, a vacuum suction cup and a control system. It is a device used to automatically grab the partition board and is more common in daily life.

[0003] Prior art, such as the utility model with publication number CN211590153U, discloses a grasping mechanism, which uses a first driving member, the driving end of which is provided with two clamping claws arranged opposite to each other, and the ends of the two clamping claws away from the first driving member are respectively extended toward each other with hooks; the object to be grasped, the object to be grasped is provided with a buckle structure matched with the two hooks, the first driving member can drive the two clamping claws to move relative to each other so that the two hooks are embedded in or out of the buckle structure to grasp or release the object to be grasped, which solves the problem that the object to be grasped sometimes needs to be carried in the automated production process. Some objects to be grasped are relatively large in size and not very regular in shape.

[0004] In daily work, it is found that in the process of grabbing the partition board, the existing technology uses a hook for hooking, but the existing hooking method is cumbersome and has requirements on the placement conditions of the partition board. Moreover, when the size of the partition is small, the hook is not easy to be accurately inserted into the buckle. Utility Model Content

[0005] The utility model aims to solve the shortcomings in the prior art and proposes an automatic grabbing machine.

[0006] The lifting of the lifting mechanism is a key issue in the present invention, and the lifting of the lifting mechanism is, the lifting of the lifting mechanism being a key issue to the lifting of the lifting mechanism, and the key is to increase the lifting of the lifting mechanism by pushing the lifting mechanism forward and downward, so that the lifting of the lifting mechanism can be effectively prevented from happening.

[0007] The effects achieved by the above components are: pushing the spacer box filled with spacers into place, then issuing instructions to the robot, the horizontal operating mechanism runs to the top of the spacer box, and then the lifting mechanism drives the vacuum suction cup to descend to the top of the top layer of spacers in the spacer box, the solenoid valve controls the action of the vacuum generator, the vacuum suction cup grabs the top layer of spacers and lifts it to the set height, the horizontal operating mechanism runs to the top of the spacer receiving conveyor, the lifting mechanism drives the vacuum suction cup to descend to the set height, the vacuum generator is activated, the vacuum suction cup releases the spacers to the conveyor, the lifting mechanism drives the vacuum suction cup to the set height, and the conveyor moves to take away the spacers, wherein the frame: equipment supporting structure, laying horizontal running track; horizontal operating mechanism: servo drive + rack and pinion; lifting mechanism: servo drive + rack and pinion; vacuum suction cup: flexible suction cups are arranged in high density.

[0008] Preferably, a slide bar is fixedly connected to the upper surface of the crossbeam, and the slide bar is a stainless steel bar.

[0009] Preferably, the upper surface of the crossbeam is fixedly connected to a first linear guide rail, and the linear guide rail is a rubber strip.

[0010] Preferably, a second linear guide is fixedly connected to one side of the slide rod, and the second linear guide is slidably connected to the horizontal operating mechanism.

[0011] The effects achieved by the above components are: the linear guide rail can limit the slide bar to prevent the slide bar from offsetting when moving, and the linear guide rail has high precision.

[0012] Preferably, the support is specifically Q235.

[0013] Preferably, a plurality of the vacuum suction cups are evenly distributed on the connecting frame.

[0014] Preferably, the base is connected to the bracket by welding.

[0015] Preferably, the servo motor is connected to the fixing seat via a threaded connection, and the fixing seat is connected to the horizontal operation mechanism via a threaded connection.

[0016] Compared with the related art, the automatic grabbing machine provided by the utility model has the following beneficial effects:

[0017] The utility model provides an automatic grabbing machine, which pushes a spacer box filled with spacers into place, then sends a command to a manipulator, a horizontal operating mechanism runs above the spacer box, and then a lifting mechanism drives a vacuum suction cup to descend to above the top layer of spacers in the spacer box, an electromagnetic valve controls the action of a vacuum generator, the vacuum suction cup grabs the top layer of spacers and lifts it to a set height, the horizontal operating mechanism runs above a spacer receiving conveyor, the lifting mechanism drives the vacuum suction cup to descend to a set height, the vacuum generator is actuated, the vacuum suction cup releases the spacers onto the conveyor, the lifting mechanism drives the vacuum suction cup to rise to a set height, and the conveyor moves to take away the spacers, wherein a frame: an equipment supporting component, on which a horizontal operating track is laid; a horizontal operating mechanism: a servo drive + a gear rack; a lifting mechanism: a servo drive + a gear rack; a vacuum suction cup: a flexible suction cup is arranged in high density, and a linear guide rail can limit the slide bar to avoid displacement when the slide bar moves. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 A structural schematic diagram of an automatic grabbing machine provided by the utility model;

[0019] Figure 2 for Figure 1 A schematic diagram of a portion of the structure shown;

[0020] Figure 3 for Figure 2 The enlarged view of point A is shown;

[0021] Figure 4 for Figure 2 An enlarged view of point B is shown.

[0022] Numbers in the figure: 1. bracket; 2. crossbeam; 3. rack; 4. slide bar; 5. servo motor; 6. gear; 7. moving bar; 8. second linear guide; 9. connecting frame; 10. vacuum suction cup; 11. slide bar; 12. fixed seat; 13. base; 14. first linear guide; 15. belt conveyor; 16. spacer box; 17. horizontal running mechanism. DETAILED DESCRIPTION

[0023] In order to make the purpose, technical solution and advantages of the utility model more clear, the utility model is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the utility model and are not used to limit the utility model.

[0024] The specific implementation of the present utility model is described in detail below in conjunction with specific embodiments.

[0025] See also Figures 1 to 4An automatic grabbing machine provided by an embodiment of the utility model comprises: two brackets 1, two bases 13 are fixedly connected to the lower end of the bracket 1, a belt conveyor 15 is arranged inside the bracket 1, a spacer box 16 is arranged at the lower end of the bracket 1, two beams 2 are fixedly connected to the side where the four brackets 1 are close to each other, a rack 3 is installed on the inner side of the beam 2, a lifting mechanism is arranged on the upper surface of the beam 2, the lifting mechanism comprises a horizontal running mechanism 17, the horizontal running mechanism 17 is connected to the beam 2, the horizontal running mechanism 17 is connected to the rack 3, the upper surface of the horizontal running mechanism 17 is fixedly connected to a fixed seat 12 for installing the lifting mechanism, a servo motor 5 is fixedly connected to one side of the fixed seat 12, a gear 6 is fixedly connected to the output end of the servo motor 5, a moving bar 7 is meshed with the tooth surface of the gear 6, a sliding rod 11 is slidably connected to the inner wall of the horizontal running mechanism 17, the sliding rod 11 is fixedly connected to the moving bar 7, the lower end of the sliding rod 11 is fixedly connected to a connecting frame 9, and a plurality of vacuum suction cups 10 are installed inside the connecting frame 9. Push the spacer box 16 filled with spacers into place, then send a command to the robot, the horizontal operating mechanism 17 runs to the top of the spacer box 16, and then the lifting mechanism drives the vacuum suction cup 10 down to the top of the top layer of spacers in the spacer box 16, the solenoid valve controls the operation of the vacuum generator, the vacuum suction cup 10 grabs the top layer of spacers and lifts it to the set height, the horizontal operating mechanism 17 runs to the top of the spacer receiving conveyor, the lifting mechanism drives the vacuum suction cup 10 down to the set height, the vacuum generator is activated, the vacuum suction cup 10 releases the spacers to the conveyor, the lifting mechanism drives the vacuum suction cup 10 to the set height, and the conveyor moves to take away the spacers. Among them, the frame: the equipment support component, laying the horizontal running track; the horizontal running mechanism 17: servo drive + gear 6 rack; the lifting mechanism: servo drive + gear 6 rack; the vacuum suction cup 10: the flexible suction cup is arranged in high density, the upper surface of the beam 2 is fixedly connected with the slide bar 4, the slide bar 4 is a stainless steel bar, the upper surface of the beam 2 is fixedly connected with the first linear guide 14, the first linear guide 14 is a stainless steel bar, and one side of the slide bar 11 is fixedly connected with the second linear guide 8, and the second linear guide 8 is slidably connected to the horizontal running mechanism 17. The linear guide 8 can limit the slide bar 11 to prevent the slide bar 11 from offset when moving. The bracket 1 is specifically Q235, and a number of vacuum suction cups 10 are evenly distributed on the connection frame 9. The base 13 is connected to the bracket 1 through a threaded connection, and the servo motor 5 is connected to the fixed seat 12 through a threaded connection. The fixed seat 12 is connected to the horizontal running mechanism 17 by welding.

[0026] The working principle of an automatic grabbing machine provided by the utility model is as follows: the utility model provides an automatic grabbing machine, after pushing the spacer box 16 filled with spacers into place, and then sending a command to the manipulator, the horizontal operation mechanism 17 runs to the top of the spacer box 16, and then the lifting mechanism drives the vacuum suction cup 10 to descend to the top of the top layer of spacers in the spacer box 16, the solenoid valve controls the action of the vacuum generator, the vacuum suction cup 10 grabs the top layer of spacers and lifts it to the set height, the horizontal operation mechanism 17 runs to the top of the spacer receiving conveyor, and the lifting mechanism drives the vacuum suction cup 10 to descend to the top of the top layer of spacers in the spacer box 16, and ... vacuum suction cup 10 grabs the top layer of spacers and lifts it to the set height, the horizontal operation mechanism 17 runs to the top of the spacer receiving conveyor, and the lifting mechanism drives the vacuum suction cup 10 to descend to the top of the top layer of spacers in the spacer box 16, and the vacuum suction cup 10 drives the vacuum suction cup 10 to descend to the top of the top layer of spacers in the spacer box 16, and the vacuum suction cup 10 drives the vacuum suction cup 10 to descend to the top of the top layer of spacers in the spacer box 16, and the vacuum suction cup 10 drives the vacuum suction cup 10 to descend to the top of the top layer of spacers in the spacer box 16, and the vacuum suction cup 10 drives the vacuum suction cup 10 to descend to the top of the top layer of spacers in the spacer box 1 The dynamic vacuum suction cup 10 drops to the set height, the vacuum generator is activated, the vacuum suction cup 10 releases the partition to the conveyor, the lifting mechanism drives the vacuum suction cup 10 to rise to the set height, and the conveyor moves to take away the partition, wherein the frame: the equipment supporting component, laying the horizontal running track; the horizontal running mechanism 17: servo drive + gear 6 rack; the lifting mechanism: servo drive + gear 6 rack; the vacuum suction cup 10: the flexible suction cup is arranged in a high density, and the linear guide rail 8 can limit the slide bar 11 to prevent the slide bar 11 from offset when moving.

[0027] The circuits and controls involved in the present invention are all prior art and will not be described in detail here.

[0028] The above description is only an embodiment of the present invention, and does not limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made by using the contents of the specification and drawings of the present invention, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. An automatic grabbing machine, characterized in that: include: Two brackets (1), the lower ends of the brackets (1) are fixedly connected to two bases (13), a belt conveyor (15) is arranged inside the brackets (1), a spacer box (16) is arranged at the lower end of the brackets (1), two cross beams (2) are fixedly connected to the sides of the four brackets (1) close to each other, a rack (3) is installed on the inner side of the cross beam (2), a lifting mechanism is arranged on the upper surface of the cross beam (2), and the lifting mechanism includes a horizontal running mechanism (17), the horizontal running mechanism (17) is connected to the cross beam (2), and the horizontal running mechanism (17) is connected to the rack (3). The upper surface of the horizontal operating mechanism (17) is fixedly connected to a fixed seat (12) for installing a lifting mechanism, one side of the fixed seat (12) is fixedly connected to a servo motor (5), the output end of the servo motor (5) is fixedly connected to a gear (6), the tooth surface of the gear (6) is meshed with a moving bar (7), the inner wall of the horizontal operating mechanism (17) is slidably connected to a slide bar (11), the slide bar (11) is fixedly connected to the moving bar (7), the lower end of the slide bar (11) is fixedly connected to a connecting frame (9), and a plurality of vacuum suction cups (10) are installed inside the connecting frame (9).

2. The automatic gripper according to claim 1, characterized in that: A slide bar (4) is fixedly connected to the upper surface of the crossbeam (2), and the slide bar (4) is a stainless steel bar.

3. The automatic gripper according to claim 1, characterized in that: The upper surface of the crossbeam (2) is fixedly connected to a first linear guide rail (14), and the first linear guide rail (14) is a stainless steel bar.

4. The automatic gripper according to claim 1, characterized in that: A second linear guide rail (8) is fixedly connected to one side of the slide rod (11), and the second linear guide rail (8) is slidably connected to the horizontal operating mechanism (17).

5. The automatic gripper according to claim 1, characterized in that: The support (1) is specifically Q235.

6. The automatic gripper according to claim 1, characterized in that: A plurality of vacuum suction cups (10) are evenly distributed on the connection frame (9).

7. The automatic gripper according to claim 1, characterized in that: The base (13) is connected to the bracket (1) by welding.

8. The automatic gripper according to claim 1, characterized in that: The servo motor (5) is connected to the fixing seat (12) through a threaded connection, and the fixing seat (12) is connected to the horizontal operation mechanism (17) through a threaded connection.

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