A grabbing device capable of automatic pick-up and placement

Abstract

The utility model discloses a grabbing device capable of automatic pick-up and placement, comprising a center disk, an automatic pick-up and placement mechanism is arranged above the center disk, the automatic pick-up and placement mechanism comprises a sleeve and a movable core, a plurality of grabbing rods are arranged at the edge of the center disk, the grabbing rods comprise an upper horizontal rod and a lower horizontal rod, the upper horizontal rod and the lower horizontal rod are connected by a vertical rod, the upper horizontal rod is connected to the lower end face of the sleeve by a rope, the upper end face of the sleeve is provided with a connecting rope, and a grabbing pad is arranged at the end of the lower horizontal rod. The utility model has an ingenious, simple, and reasonable structural design, and is easy to install. Under the action of the sleeve, the movable core, the center disk and the grabbing rod, the cylindrical workpiece can be automatically picked up and placed without the need for manual assistance, thereby saving labor, improving work efficiency, and improving safety to a certain extent.

Description

Technical Field

[0001] The utility model belongs to the technical field of mechanical devices, and in particular relates to a grasping device capable of automatically taking and placing. Background Art

[0002] With the rapid development of industry, the transportation tools currently used for tubular objects still require manual assistance during the lifting process, which increases the workload and labor intensity, has low work efficiency, and is also dangerous. Utility Model Content

[0003] In order to solve the above problems, the utility model provides a grabbing device capable of automatic grabbing.

[0004] The utility model is implemented as follows: a grasping device capable of automatic pick-up and placement, comprising a center disk, an automatic pick-up and placement mechanism is arranged above the center disk, the automatic pick-up and placement mechanism comprises a sleeve and a movable core, a plurality of stepped holes are horizontally opened on the side wall inside the sleeve, the stepped holes comprise a first through hole, a second through hole and a platform hole, the first through hole, the second through hole and the platform hole are connected and are in a straight line, a telescopic connecting rod is arranged in the stepped hole, a clamping head is arranged at the front end of the telescopic connecting rod, a clamping ring is arranged at the tail end, the clamping ring is arranged outside the sleeve, a movable column is arranged between the clamping head and the clamping ring, a spring is sleeved on the outside of the movable column, the movable column has the same diameter as the first through hole, the diameter of the clamping ring is larger than the diameter of the first through hole, the diameter of the second through hole is larger than the outer diameter of the spring, the clamping head is arranged in the The platform hole slides, and the spring can be compressed or relaxed in the second through hole. The sleeve is also provided with a vertical center hole. The movable core comprises a bottom column and an umbrella-shaped column, a center column is arranged between the bottom column and the umbrella-shaped column, an inverted umbrella-shaped lifting slider is sleeved on the center column, the centers of the center hole, the bottom column, the umbrella-shaped column, the center column and the lifting slider are in a straight line, the maximum outer diameters of the umbrella-shaped column and the lifting slider are larger than the outer diameter of the bottom column and slightly smaller than the diameter of the center hole, the bottom column is fixed above the center position of the center disk, a plurality of grabbing rods are arranged on the edge of the center disk, the grabbing rods comprise an upper horizontal rod and a lower horizontal rod, the upper horizontal rod and the lower horizontal rod are connected by a vertical rod, the upper horizontal rod is connected to the lower end face of the sleeve by a rope, the upper end face of the sleeve is provided with a connecting rope, and the end of the lower horizontal rod is provided with a grabbing pad.

[0005] Furthermore, the grab bars are arranged in three numbers evenly distributed on the central disk. The stepped holes are generally arranged in two or more numbers.

[0006] Furthermore, an umbrella-shaped boss is provided on the lifting slider, and a groove matching the boss is provided at the bottom of the umbrella-shaped column. The maximum outer diameters of the umbrella-shaped column and the lifting slider are the same, and the maximum outer diameter of the boss is smaller than the maximum outer diameter of the lifting slider.

[0007] Furthermore, the length of the upper horizontal rod is greater than that of the lower horizontal rod, and a counterweight is provided at the end of the upper horizontal rod. The length of the upper horizontal rod is less than the outer diameter of the center disk, which is conducive to the grabbing rod being overlapped on the center disk when the workpiece is not being grabbed.

[0008] When the grabbing device is working, the sleeve is lifted by descending a small height. During the descending process, the umbrella-shaped column on the upper part of the movable core squeezes the clamping head outward, the spring is compressed, and the clamping head becomes an inverted trapezoidal block structure. After the clamping head passes over the umbrella-shaped column, the spring squeezes the clamping head and pushes the end of the clamping head to the outer edge of the center column. At this time, the sleeve is lifted upward. At this time, under the action of the clamping head, the sleeve lifts the movable core together with the center disk. At this time, the length of the rope connected to the upper horizontal rod is greater than the distance from the bottom end face of the sleeve to the center disk. The rope does not exert a pulling force on the upper horizontal rod, and the center disk lifts the grabbing rod.

[0009] When the grabbing device is translated to above the cylindrical workpiece, the sleeve descends. When the lower end surface of the center disk contacts the workpiece, it continues to descend. The sleeve continues to descend. When the chuck contacts the inverted umbrella-shaped lifting slider, it is squeezed apart again. When the chuck continues to descend to the bottom of the lifting slider, the sleeve rises again. During the rising process, the chuck abuts against the lifting slider under the action of the spring and lifts the lifting slider. When the lifting slider contacts the bottom surface of the umbrella-shaped column, under the action of the gravity of the movable core and the center disk, the chuck is gradually opened by the lifting slider and slides to the edge. Since the maximum outer diameters of the lifting slider and the umbrella-shaped column are the same, the chuck The head slides from the bottom of the umbrella-shaped column to the top, so that the chuck removes the movable core. When the sleeve continues to rise, when the distance from the bottom end face of the sleeve to the center disk is greater than the length of the rope connected to the upper horizontal rod, the rope pulls the upper horizontal rod of the grabbing rod, and the upper horizontal rod rotates on the outer edge of the center disk. The grabbing pad at the end of the lower horizontal rod abuts against the outer surface of the cylindrical workpiece (when the grabbing rod does not rotate, the outer diameter of the circle formed by several grabbing pads is greater than the diameter of the workpiece). As the sleeve rises, the grabbing pad firmly abuts against the outer surface of the cylindrical workpiece, thereby grabbing the workpiece.

[0010] When the sleeve drives the workpiece to move to the specified position, the sleeve descends to a certain height, puts the workpiece down, and the sleeve continues to descend. The center disk contacts the workpiece again. When the sleeve descends again, the chuck contacts the umbrella column again and is stretched open. After reaching the lower end of the umbrella column, the chuck abuts the center column under the action of the spring. After that, the sleeve rises and the chuck contacts the lower surface of the umbrella column, thereby lifting the active core and the center disk. At this time, the grab bar overlaps the edge of the center disk, and the grab pad does not act on the workpiece. When the sleeve moves to the top of another workpiece, a new round of operation begins.

[0011] Furthermore, one end of the upper horizontal rod away from the counterweight block is hinged to the outer edge of the center disk, thereby facilitating the rotation of the horizontal rod on the outer edge of the center disk.

[0012] Furthermore, a symmetrical rotation axis is arranged at one end of the upper horizontal rod away from the counterweight block, and a bracket matching the rotation axis is arranged at the outer edge of the center disk.

[0013] Furthermore, the grab pad is movably connected to the end of the lower horizontal rod, which is conducive to automatically adjusting the relative angle between the grab pad and the lower horizontal rod when the grab pad contacts the workpiece.

[0014] Furthermore, the upper horizontal rod is hinged to the rope, which is beneficial for the grabbing rod to automatically adjust at the outer edge of the center disk when grabbing the workpiece.

[0015] The beneficial effects of the utility model are as follows: the utility model has an ingenious, simple and reasonable structural design and is easy to install. Under the action of the sleeve, the movable core, the center disk and the grabbing rod, the cylindrical workpiece can be automatically picked up and placed without manual assistance, thereby saving labor, improving work efficiency and improving safety to a certain extent. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the structure of the utility model;

[0017] Figure 2 This is a schematic diagram of the sleeve structure of the utility model;

[0018] Figure 3 This is a schematic diagram of the structure of the movable core of the utility model;

[0019] Figure 4 This is a schematic diagram of the edge structure of the center disk of the utility model;

[0020] Figure 5 It is a schematic diagram of the structure when the sleeve of the utility model is lowered to below the umbrella-shaped column;

[0021] Figure 6 This is a schematic diagram of the structure of the utility model when the sleeve is lowered to the bottom of the lifting slider;

[0022] Figure 7 This is a schematic diagram of the structure of the utility model when the sleeve rises to the bottom of the umbrella-shaped column;

[0023] Figure 8 This is a schematic diagram of the structure of the grabbing rod of the utility model when lifting a workpiece;

[0024] 1-center disk, 2-automatic pick-and-place mechanism, 3-sleeve, 4-movable core, 5-step hole, 6-first through hole, 7-second through hole, 8-platform hole, 9-telescopic connecting rod, 10-clamp, 11-clamp ring, 12-movable column, 13-spring, 14-center hole, 15-bottom column, 16-umbrella-shaped column, 17-center column, 18-lifting slider, 19-grabbing rod, 20-upper horizontal rod, 21-lower horizontal rod, 22-vertical rod, 23-rope, 24-grabbing pad, 25-boss, 26-counterweight, 27-rotating axis, 28-bracket, 29-workpiece. DETAILED DESCRIPTION

[0025] In order to more clearly understand the technical solution of the present invention, the present invention is further described below in conjunction with the accompanying drawings.

[0026] like Figure 1-5The grabbing device shown in the figure can automatically pick up and place, including a center disk 1, an automatic pick up and place mechanism 2 is arranged above the center disk, the automatic pick up and place mechanism 2 includes a sleeve 3 and a movable core 4, a plurality of stepped holes 5 are horizontally opened on the side wall inside the sleeve, the stepped holes 5 include a first through hole 6, a second through hole 7 and a platform hole 8, the first through hole 6 and the second through hole 7 are connected with the platform hole 8 and are in a straight line, a telescopic connecting rod 9 is arranged in the stepped hole 5, a clamping head 10 is arranged at the front end of the telescopic connecting rod 9, and a clamping ring 11 is arranged at the tail, the clamping ring 11 is arranged outside the sleeve 3, a movable column 12 is arranged between the clamping head 10 and the clamping ring 11, a spring 13 is sleeved on the outside of the movable column 12, the movable column 12 has the same diameter as the first through hole 6, the diameter of the clamping ring 11 is larger than the diameter of the first through hole 6, the diameter of the second through hole 7 is larger than the outer diameter of the spring 13, the clamping head 10 slides in the platform hole 8, and the spring 13 is arranged at the first through hole 6. The two through holes 7 can be compressed or expanded, the sleeve 3 is also provided with a vertical center hole 14, the movable core 4 includes a bottom column 15 and an umbrella-shaped column 16, a center column 17 is arranged between the bottom column 15 and the umbrella-shaped column 16, an inverted umbrella-shaped lifting slider 18 is sleeved on the center column 17, the centers of the center hole 14, the bottom column 15, the umbrella-shaped column 16, the center column 17 and the lifting slider 18 are in a straight line, the maximum outer diameter of the umbrella-shaped column 16 and the lifting slider 18 is greater than the outer diameter of the bottom column 15 and The diameter of the center hole 14 is slightly smaller than that of the center hole 14. The bottom column 15 is fixed above the center position of the center disk 1. The edge of the center disk 1 is provided with a plurality of grabbing rods 19. The grabbing rods 19 include an upper horizontal rod 20 and a lower horizontal rod 21. The upper horizontal rod 20 and the lower horizontal rod 21 are connected by a vertical rod 22. The upper horizontal rod 20 is connected to the lower end surface of the sleeve 3 through a rope 23. The upper end surface of the sleeve 3 is provided with a connecting rope. The end of the lower horizontal rod 21 is provided with a grabbing pad 24. The grabbing rods 19 are provided with three evenly arranged on the center disk to meet the grabbing requirements. The stepped holes are generally provided with two, which can more stably grab and put away the workpiece. The lifting slider 18 described in the specific embodiment is provided with an umbrella-shaped boss 25. The bottom of the umbrella-shaped column is provided with a groove that matches the boss. The maximum outer diameter of the umbrella-shaped column 16 and the lifting slider 18 is the same, and the maximum outer diameter of the boss 25 is smaller than the maximum outer diameter of the lifting slider 18. The length of the upper horizontal rod 20 is greater than that of the lower horizontal rod 21, and a counterweight block 26 is disposed at the end of the upper horizontal rod 20. The length of the upper horizontal rod 20 is less than the outer diameter of the center disk 1, which is conducive to the grabbing rod 19 being overlapped on the center disk when the workpiece is not being grabbed. The end of the upper horizontal rod 20 away from the counterweight block 26 is hinged to the outer edge of the center disk 1, and the end of the upper horizontal rod 20 away from the counterweight block 26 is provided with a symmetrical rotation axis 27, and the outer edge of the center disk 1 is provided with a bracket 28 that matches the rotation axis.The grab pad 24 is movably connected to the end of the lower horizontal rod 21, which is conducive to automatically adjusting the relative angle between the grab pad and the lower horizontal rod 21 when the grab pad 24 contacts the workpiece 29. The upper horizontal rod 20 is hinged with the rope 23, which is conducive to automatically adjusting the grab rod 19 at the outer edge of the center plate 1 when grabbing the workpiece.

[0027] When the grabbing device is working, the sleeve is lifted by a small drop. During the drop, the umbrella-shaped column on the upper part of the movable core squeezes the chuck outward, the spring is compressed, and the chuck becomes an inverted trapezoidal block structure. After the chuck passes over the umbrella-shaped column, the spring squeezes the chuck and pushes the end of the chuck to the outer edge of the center column. Figure 5 As shown, the sleeve is lifted upwards. Under the action of the clamp, the sleeve lifts the movable core together with the center disk. At this time, the length of the rope connected to the upper horizontal rod is greater than the distance from the bottom end of the sleeve to the center disk. The rope does not exert a pulling force on the upper horizontal rod, and the center disk lifts the grabbing rod. Figure 1 shown.

[0028] When the grabbing device is translated to the top of the cylindrical workpiece, the sleeve descends. When the lower end surface of the center disk contacts the workpiece, it continues to descend. The sleeve continues to descend. When the chuck contacts the inverted umbrella-shaped lifting slider, it is squeezed apart again. When the chuck continues to descend to the bottom of the lifting slider, Figure 6 As shown, the sleeve rises again. During the rising process, the chuck abuts against the lifting slider under the action of the spring and lifts the lifting slider. When the lifting slider contacts the bottom surface of the umbrella-shaped column, the chuck is gradually stretched open by the lifting slider and slides to the edge under the gravity of the active core and the center disk. Since the maximum outer diameters of the lifting slider and the umbrella-shaped column are the same, the chuck slides from the bottom of the umbrella-shaped column to the top, thereby removing the active core. When the sleeve continues to rise, as shown in FIG. Figure 7 As shown in the figure, when the distance from the bottom end face of the sleeve to the center disk is greater than the length of the rope connected to the upper horizontal rod, the rope pulls the upper horizontal rod of the grabbing rod, and the upper horizontal rod rotates on the outer edge of the center disk, and the grabbing pad at the end of the lower horizontal rod abuts against the outer surface of the cylindrical workpiece (when the grabbing rod does not rotate, the outer diameter of the circle formed by the grabbing pads is greater than the diameter of the workpiece). As the sleeve rises, the grabbing pad firmly abuts against the outer surface of the cylindrical workpiece, thereby grabbing the workpiece, as shown in the figure. Figure 8 shown.

[0029] When the sleeve drives the workpiece to move to the specified position, the sleeve descends to a certain height, puts the workpiece down, and the sleeve continues to descend. The center disk contacts the workpiece again. When the sleeve descends again, the chuck contacts the umbrella column again and is stretched open. After reaching the lower end of the umbrella column, the chuck abuts the center column under the action of the spring. After that, the sleeve rises and the chuck contacts the lower surface of the umbrella column, thereby lifting the active core and the center disk. At this time, the grab bar overlaps the edge of the center disk, and the grab pad does not act on the workpiece. When the sleeve moves to the top of another workpiece, a new round of operation begins.

[0030] The utility model has an ingenious, simple and reasonable structural design and is easy to install. Under the action of the sleeve, the movable core, the center disk and the grabbing rod, the cylindrical workpiece can be automatically taken and placed without manual assistance, thereby saving labor, improving work efficiency and improving safety to a certain extent.

[0031] The above description is only a preferred embodiment of the present utility model, so all equivalent changes or modifications made according to the structure, features and principles described in the scope of the present utility model patent application are included in the scope of the present utility model patent application.

Claims

1. A gripping device capable of automatic pick-up and placement, characterized in that: It includes a center disk, an automatic pick-up and placement mechanism is arranged above the center disk, the automatic pick-up and placement mechanism includes a sleeve and a movable core, a plurality of stepped holes are horizontally opened on the side wall inside the sleeve, the stepped holes include a first through hole, a second through hole and a platform hole, the first through hole, the second through hole and the platform hole are connected and are in a straight line, a telescopic connecting rod is arranged in the stepped hole, a clamping head is arranged at the front end of the telescopic connecting rod, a clamping ring is arranged at the tail, the clamping ring is arranged outside the sleeve, a movable column is arranged between the clamping head and the clamping ring, a spring is sleeved on the outside of the movable column, the movable column has the same diameter as the first through hole, the diameter of the clamping ring is larger than the diameter of the first through hole, the diameter of the second through hole is larger than the outer diameter of the spring, the clamping head is in the platform hole Sliding, the sleeve is also provided with a vertical center hole, the movable core includes a bottom column and an umbrella-shaped column, a center column is arranged between the bottom column and the umbrella-shaped column, an inverted umbrella-shaped lifting slider is sleeved on the center column, the centers of the center hole, the bottom column, the umbrella-shaped column, the center column and the lifting slider are in a straight line, the maximum outer diameters of the umbrella-shaped column and the lifting slider are larger than the outer diameter of the bottom column and slightly smaller than the diameter of the center hole, the bottom column is fixed above the center position of the center disk, a plurality of grabbing rods are arranged on the edge of the center disk, the grabbing rods include an upper horizontal rod and a lower horizontal rod, the upper horizontal rod and the lower horizontal rod are connected by a vertical rod, the upper horizontal rod is connected to the lower end face of the sleeve by a rope, the upper end face of the sleeve is provided with a connecting rope, and the end of the lower horizontal rod is provided with a grabbing pad.

2. The automatic pick-and-place grabbing device according to claim 1, characterized in that: The lifting slider is provided with an umbrella-shaped boss, the bottom of the umbrella-shaped column is provided with a groove matching the boss, the maximum outer diameters of the umbrella-shaped column and the lifting slider are the same, and the maximum outer diameter of the boss is smaller than the maximum outer diameter of the lifting slider.

3. The automatic pick-and-place grabbing device according to claim 1, characterized in that: The length of the upper horizontal rod is greater than that of the lower horizontal rod, and a counterweight is arranged at the end of the upper horizontal rod. The length of the upper horizontal rod is less than the outer diameter of the center disk.

4. The automatic pick-and-place grabbing device according to claim 3, characterized in that: One end of the upper horizontal rod away from the counterweight is hinged to the outer edge of the center plate.

5. The automatic pick-and-place grabbing device according to claim 4, characterized in that: A symmetrical rotation axis is arranged at one end of the upper horizontal rod away from the counterweight block, and a bracket matching the rotation axis is arranged at the outer edge of the center disk.

6. The automatic pick-and-place grabbing device according to claim 1, characterized in that: The grabbing pad is movably connected to the end of the lower horizontal rod.

7. The automatic pick-and-place grabbing device according to claim 1, characterized in that: The upper horizontal rod is hinged with the rope.

8. The automatic pick-and-place grabbing device according to claim 1, characterized in that: The grabbing rods are arranged in three numbers evenly distributed on the central disk.

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