Grabbing device with auxiliary mechanism

Abstract

The utility model discloses a gripping device with an auxiliary mechanism, which relates to the technical field of automatic production lines of automobiles and comprises an upper device frame and an auxiliary frame, an adjusting frame is connected under the upper device frame, movable suckers are slidably mounted on the left side and the right side of the adjusting frame, and the auxiliary frame is fixed at the bottoms of the front side and the rear side of the movable suckers. According to the grabbing device provided with the auxiliary mechanism, the auxiliary frame is installed on the side edge of the guide rail, effective structural lifting can be provided from the bottoms of the two sides of a material when a movable suction cup is assisted to grab the material by means of telescopic swing adjustment of the structure of the auxiliary frame, and therefore the phenomenon that the material is damaged when the material is grabbed is avoided. The situation that the materials fall and are damaged due to faults of the movable suction cups is avoided, the adjusting frame and the movable suction cups are used in a combined mode, appropriate adjustment can be made within an effective range according to the sizes of the materials, and therefore the whole device has the flexible and stable grabbing function, and the practicability of the device is guaranteed.

Description

Technical Field

[0001] The utility model relates to the technical field of automobile automated production lines, in particular to a grabbing device provided with an auxiliary mechanism. Background Art

[0002] Automatic production line refers to a form of production organization in which the product process is realized by an automated machine system. It is formed on the basis of the further development of the continuous assembly line. Its characteristics are: the processing object is automatically transferred from one machine tool to another, and the machine tool automatically processes, loads and unloads, and inspects; the worker's task is only to adjust, supervise and manage the automatic line, and does not participate in direct operation; all machines and equipment operate at a unified rhythm, and the production process is highly continuous;

[0003] The automobile automated production line is a production line for automobile assembly. Its production line processes include welding, stamping, painting, power assembly, etc. Among them, the most common in the automobile automated production line are various gripping devices used in the processing and assembly of different parts, that is, robot hands, also called electric grippers;

[0004] An electric gripper is an automated device that uses an electric drive mechanism to achieve gripping and releasing actions. Its core components include a motor, a reducer, and a gripping mechanism. When the motor is started, the reducer converts the high-speed rotation of the motor into a low-speed, high-torque motion of the gripping mechanism, thereby achieving a firm grip of the object.

[0005] Common gripping devices take production and use costs into consideration, and according to the structural characteristics of the material being gripped, structures such as vacuum suction cups are used to perform such operations. The advantage is that vacuum adsorption is used to adsorb and grip the surface of the material without causing unnecessary impact on the surface of the material. However, if the vacuum exhaust system of this conventional structure fails during the gripping and moving process of the device, the material will instantly fall and cause damage or affect the safety of personnel.

[0006] Therefore, in view of this, the existing structure and defects are studied and improved, and a grasping device with an auxiliary mechanism is proposed. Utility Model Content

[0007] The purpose of the utility model is to provide a grasping device with an auxiliary mechanism to solve the problems raised in the above background technology.

[0008] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: a grasping device provided with an auxiliary mechanism, comprising an upper device frame and an auxiliary frame, an adjusting frame is connected directly below the upper device frame, and movable suction cups are slidably installed on the left and right sides of the adjusting frame, the auxiliary frame is fixed to the bottom of the front and rear sides of the movable suction cup, the auxiliary frame comprises an electric telescopic rod, a rotating shaft, a limiting hook and an anti-slip pad, a rotating shaft is installed on the bottom of one side of the electric telescopic rod, and a limiting hook is connected to the side of the rotating shaft away from the rotating shaft, and a surface of the limiting hook on one side close to the vertical central axis of the adjusting frame is covered with an anti-slip pad.

[0009] Furthermore, the upper device frame includes a stabilizing frame, a pneumatic push rod and a connecting pile. The pneumatic push rods are vertically installed at the four diagonal positions at the bottom of the stabilizing frame, and the connecting piles are installed at the bottom output ends of the pneumatic push rods.

[0010] Furthermore, the adjustment frame includes a beam frame, a bidirectional lead screw and a servo motor. A bidirectional lead screw is horizontally arranged directly below the beam frame, and a servo motor is installed at one end of the bidirectional lead screw through a coupling.

[0011] Furthermore, the beam frame and the bidirectional lead screw are structurally arranged to maintain parallelism with each other on the same horizontal axis, and the servo motor provides power output for the horizontal axial rotation of the bidirectional lead screw.

[0012] Furthermore, the adjustment frame also includes a slider and a guide rail, both ends of the bidirectional lead screw are threadedly connected with the slider, and the lower end of the slider is horizontally installed with the guide rail.

[0013] Furthermore, the top of the slider is slidably connected to the bottom surface of the beam frame, the slider and the guide rail are welded, and the beam frame and the guide rail are arranged in a "mouth"-shaped structure.

[0014] Furthermore, the movable suction cup includes a quick-connect air valve, a vacuum suction cup, a spring damping rod and an adjusting bolt. One end of the quick-connect air valve is connected to the vacuum suction cup, and a spring damping rod is vertically installed on the top of the vacuum suction cup, and an adjusting bolt is installed on the top of the spring damping rod.

[0015] Furthermore, the adjusting bolt is slidably connected to the guide rail, and the movable suction cup is symmetrically installed at the left and right ends of the guide rail.

[0016] The utility model provides a grabbing device with an auxiliary mechanism, which has the following beneficial effects:

[0017] 1. The utility model installs auxiliary frames symmetrically on the middle sections of the guide rails on the front and rear sides of the adjustment frame, wherein the structural elasticity of the electric telescopic rod in the vertical direction is utilized in conjunction with the structural flipping activity of the rotating shaft, so that the limit hook can be properly adjusted within a certain range in conjunction with the height of the material, thereby forming an effective structural lifting effect at the bottom of the material, and the anti-slip pad covered on one side of the limit hook serves to increase the friction of the structural contact surface without damaging the surface of the material, thereby ensuring a stable lifting effect. Through the use of the above structure, on the one hand, it can cooperate with the mobile suction cup to provide good stability for the grabbing of the material and ensure the grabbing effect, and on the other hand, it can also prevent the risk of the material falling when the mobile suction cup fails, thereby avoiding unnecessary damage to the material due to unexpected structural failure.

[0018] 2. The utility model, by slidingly connecting a movable suction cup provided with an adjusting bolt to a guide rail, enables the movable suction cups symmetrically connected to the two ends of the guide rail to translate left and right along the surface in the horizontal direction, thereby being appropriately adjusted in accordance with the width of the grasped material, and a spring damping rod is provided between the vacuum suction cup and the adjusting bolt. By utilizing the elastic expansion and contraction of the structure, it is possible to avoid the surface of the material being affected by the pressure of the interference mechanism when the vacuum suction cup is pressed against the surface of the material under the push of the pneumatic push rod, thereby playing a good structural buffering protection role and ensuring the safety of the device.

[0019] 3. The utility model, through the combined use of the upper device frame and the adjustment frame, under the drive of the servo motor, the bidirectional lead screw connected thereto will perform axial rotation in the horizontal direction, so that the sliders threaded at both ends can move horizontally along its surface, thereby driving the mobile suction cup and the auxiliary frame connected thereto through the guide rail to perform synchronous translation in the horizontal direction. By utilizing the operation of the above mechanism, appropriate structural adjustment can be effectively performed within a certain range according to the front and rear lengths of the materials, thereby further ensuring the flexibility of the device structure. In addition, the beam frame and the stabilizing frame are structurally docked by pneumatic push rods and connecting piles. When the pneumatic push rod performs structural expansion and contraction in the vertical direction, the adjusting frame connected to the connecting piles at the bottom thereof has the function of performing lifting and lowering adjustment within a certain range in the vertical direction as a whole, thereby further ensuring the flexibility and diversity of structural adjustment of the entire device to meet different operational needs. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is a schematic diagram of the three-dimensional structure of the main body of a grabbing device provided with an auxiliary mechanism according to the utility model;

[0021] Figure 2 It is a schematic diagram of the three-dimensional structure of an upper device frame of a grabbing device provided with an auxiliary mechanism according to the utility model;

[0022] Figure 3 This is a three-dimensional structural diagram of an adjustment frame of a grabbing device provided with an auxiliary mechanism according to the utility model;

[0023] Figure 4 This is a schematic diagram of the three-dimensional structure of a mobile suction cup of a gripping device provided with an auxiliary mechanism of the utility model;

[0024] Figure 5 The utility model is a schematic diagram of the three-dimensional structure of an auxiliary frame of a grabbing device provided with an auxiliary mechanism.

[0025] In the figure: 1. upper device frame; 101. stabilizing frame; 102. pneumatic push rod; 103. connecting pile; 2. adjusting frame; 201. beam frame; 202. bidirectional screw; 203. servo motor; 204. slider; 205. guide rail; 3. mobile suction cup; 301. quick-connect air valve; 302. vacuum suction cup; 303. spring damping rod; 304. adjusting bolt; 4. auxiliary frame; 401. electric telescopic rod; 402. rotating shaft; 403. limit hook; 404. anti-slip pad. DETAILED DESCRIPTION

[0026] The following is a further detailed description of the implementation of the present invention in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present invention, but cannot be used to limit the scope of the present invention.

[0027] like Figures 1 to 5 As shown, a grasping device with an auxiliary mechanism includes an upper device frame 1 and an auxiliary frame 4, an adjustment frame 2 is connected directly below the upper device frame 1, and a movable suction cup 3 is slidably installed on both sides of the left and right sides of the adjustment frame 2, and the auxiliary frame 4 is fixed to the bottom of the front and rear sides of the movable suction cup 3, and the auxiliary frame 4 includes an electric telescopic rod 401, a rotating shaft 402, a limit hook 403 and an anti-slip pad 404, a rotating shaft 402 is installed at the bottom of one side of the electric telescopic rod 401, and the rotating shaft 402 is connected to the limit hook 403 on the side away from the rotating shaft 402, and the limit The surface of one side of the hook 403 close to the vertical central axis of the adjustment frame 2 is covered with an anti-skid pad 404. By utilizing the structural elasticity of the electric telescopic rod 401 in the vertical direction and the structural flipping activity of the rotating shaft 402, the limiting hook 403 can make appropriate adjustments to the height of the material within a certain range, thereby forming an effective structural lifting effect at the bottom of the material. The anti-skid pad 404 covered on one side of the limiting hook 403 increases the friction of the structural contact surface without damaging the surface of the material, thereby ensuring a stable lifting effect.

[0028] like Figures 1 to 5As shown, the upper device frame 1 includes a stabilizing frame 101, a pneumatic push rod 102 and a connecting pile 103. The pneumatic push rods 102 are vertically installed at the four diagonal positions at the bottom of the stabilizing frame 101, and the connecting pile 103 is installed at the bottom output end of the pneumatic push rod 102. The adjusting frame 2 includes a beam frame 201, a bidirectional lead screw 202 and a servo motor 203. The bidirectional lead screw 202 is horizontally installed directly below the beam frame 201, and the servo motor 203 is installed at one end of the bidirectional lead screw 202 through a coupling. The beam frame 201 and the bidirectional lead screw 202 are arranged parallel to each other on the same horizontal axis, and the servo motor 203 provides power output for the horizontal axial rotation of the bidirectional lead screw 202. The adjusting frame 2 also includes a slider 204 and a guide rail 205. Both ends of the bidirectional lead screw 202 are threadedly connected to the slider 204, and the lower end of the slider 204 is horizontally installed with the guide rail 203. 05, the top of the slider 204 is slidably connected to the bottom surface of the beam 201, the slider 204 and the guide rail 205 are welded, and the beam 201 and the guide rail 205 are arranged in a "mouth" shape. Driven by the servo motor 203, the bidirectional lead screw 202 connected thereto will rotate axially in the horizontal direction, so that the slider 204 threaded at both ends can move horizontally along its surface, thereby driving the mobile suction cup 3 and the auxiliary frame 4 connected thereto through the guide rail 205 to perform synchronous translation in the horizontal direction. In addition, the beam 201 and the stabilizing frame 101 are structurally docked through the pneumatic push rod 102 and the connecting pile 103. When the pneumatic push rod 102 is structurally extended and retracted in the vertical direction, the adjusting frame 2 connected to the connecting pile 103 at the bottom thereof has the function of performing a certain range of lifting and lowering adjustment in the vertical direction as a whole.

[0029] like Figures 1 to 5 As shown, the movable suction cup 3 includes a quick-connect air valve 301, a vacuum suction cup 302, a spring damping rod 303 and an adjusting bolt 304, one end of the quick-connect air valve 301 is connected to the vacuum suction cup 302, and the top of the vacuum suction cup 302 is vertically installed with a spring damping rod 303, and the top of the spring damping rod 303 is installed with an adjusting bolt 304, the adjusting bolt 304 is slidably connected to the guide rail 205, and the movable suction cup 3 is symmetrically installed at the left and right ends of the guide rail 205, by slidingly connecting the movable suction cup 3 provided with the adjusting bolt 304 to the guide rail 205, the movable suction cup 3 symmetrically connected to the two ends of the guide rail 205 can be translated left and right in the horizontal direction along the surface thereof, and the spring damping rod 303 is provided between the vacuum suction cup 302 and the adjusting bolt 304, and the elastic expansion and contraction of the structure can be used to avoid that when the vacuum suction cup 302 is pressed against the material surface under the push of the pneumatic push rod 102, the material surface is not affected by the pressure of the interference mechanism.

[0030] In summary, if Figures 1 to 4As shown, the grabbing device with auxiliary mechanism is used. First, when the whole device grabs the material under the drive of the external mechanical arm, the servo motor 203 will drive the bidirectional lead screw 202 under the beam frame 201 to perform axial rotation in the horizontal direction, so that the sliders 204 at both ends are horizontally displaced, and the mobile suction cup 3 and the auxiliary frame 4 connected with the guide rail 205 are driven to adjust according to the front and rear length of the material. At the same time, the mobile suction cup 3 that has been adjusted in advance by sliding on the surface of the guide rail 205 with the adjusting bolt 304 will maintain the current stable state.

[0031] Then, the mobile suction cup 3 connected to the external vacuum pump by the quick-connect air valve 301 and the pipeline starts to operate. As the pneumatic push rods 102 installed at the four diagonal positions at the bottom of the stabilizing frame 101 extend and retract, the adjusting frame 2 connected to it through the connecting pile 103 will move and adjust in the vertical direction, and at the same time, the mobile suction cup 3 and the auxiliary frame 4 connected to the connecting pile 103 will be driven to move synchronously, and the bottom of the vacuum suction cup 302 will contact the surface of the material;

[0032] As the pneumatic push rod 102 pushes the vacuum cup 302 tightly against the surface of the material, and at the same time, due to the vertical downward pressure, the spring damping rod 303 is structurally compressed. At the same time, due to the characteristics of its own structure, the spring damping rod 303 absorbs and relieves the downward pressure from the pneumatic push rod 102. Then, as the external vacuum pump draws, a large negative pressure is formed between the vacuum cup 302 and the surface of the material in contact with it, thereby firmly adsorbing the material.

[0033] Then, driven by the robotic arm, the entire device will lift and grab the material. At the same time, the auxiliary frame 4 will operate synchronously. According to the vertical height of the material, the electric telescopic rod 401 will perform appropriate structural extension and contraction, and the rotating shaft 402 will rotate and adjust, so that the limiting hook 403 with an anti-slip pad 404 on one side surface will perform structural support from the bottom of the material, so as to stably grab the material to the target position.

[0034] The embodiments of the present invention are provided for the purpose of illustration and description, and are not intended to be exhaustive or to limit the present invention to the disclosed forms. Many modifications and variations will be apparent to those of ordinary skill in the art. The embodiments are selected and described to better illustrate the principles and practical applications of the present invention, and to enable those of ordinary skill in the art to understand the present invention and thereby design various embodiments with various modifications suitable for specific uses.

Claims

1. A gripping device provided with an auxiliary mechanism, comprising an upper device frame (1) and an auxiliary frame (4), characterized in that: An adjustment frame (2) is connected directly below the upper device frame (1), and movable suction cups (3) are slidably mounted on both left and right sides of the adjustment frame (2). The auxiliary frame (4) is fixed to the bottom of the front and rear sides of the movable suction cup (3). The auxiliary frame (4) comprises an electric telescopic rod (401), a rotating shaft (402), a limiting hook (403) and an anti-skid pad (404). A rotating shaft (402) is mounted on the bottom of one side of the electric telescopic rod (401), and a side of the rotating shaft (402) away from the rotating shaft (402) is connected to the limiting hook (403), and a side of the limiting hook (403) close to the vertical central axis of the adjustment frame (2) is covered with an anti-skid pad (404).

2. A gripping device with an auxiliary mechanism according to claim 1, characterized in that: The upper device frame (1) comprises a stabilizing frame (101), a pneumatic push rod (102) and a connecting pile (103); the pneumatic push rod (102) is vertically installed at four diagonal positions at the bottom of the stabilizing frame (101), and the connecting pile (103) is installed at the bottom output end of the pneumatic push rod (102).

3. A gripping device with an auxiliary mechanism according to claim 1, characterized in that: The adjustment frame (2) comprises a beam frame (201), a bidirectional lead screw (202) and a servo motor (203); the bidirectional lead screw (202) is horizontally arranged directly below the beam frame (201), and the servo motor (203) is installed at one end of the bidirectional lead screw (202) via a coupling.

4. A gripping device with an auxiliary mechanism according to claim 3, characterized in that: The beam frame (201) and the bidirectional lead screw (202) are arranged in parallel with each other on the same horizontal axis, and the servo motor (203) provides power output for the horizontal axial rotation of the bidirectional lead screw (202).

5. A gripping device with an auxiliary mechanism according to claim 4, characterized in that: The adjustment frame (2) further comprises a slider (204) and a guide rail (205); both ends of the bidirectional lead screw (202) are threadedly connected to the slider (204), and the guide rail (205) is horizontally mounted at the lower end of the slider (204).

6. A gripping device with an auxiliary mechanism according to claim 5, characterized in that: The top of the slider (204) is slidably connected to the bottom surface of the beam frame (201), the slider (204) and the guide rail (205) are welded, and the beam frame (201) and the guide rail (205) are arranged in a "mouth"-shaped structure.

7. A gripping device with an auxiliary mechanism according to claim 5, characterized in that: The movable suction cup (3) comprises a quick-connect air valve (301), a vacuum suction cup (302), a spring damping rod (303) and an adjusting bolt (304); one end of the quick-connect air valve (301) is connected to the vacuum suction cup (302), and the top of the vacuum suction cup (302) is vertically mounted with a spring damping rod (303), and the top of the spring damping rod (303) is mounted with an adjusting bolt (304).

8. A gripping device with an auxiliary mechanism according to claim 7, characterized in that: The adjusting bolt (304) is slidably connected to the guide rail (205), and the movable suction cup (3) is symmetrically mounted on the left and right ends of the guide rail (205).

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