Rapid grabbing device for small-diameter spherical parts

Abstract

The utility model discloses a quick grabbing device for small-diameter spherical parts, and relates to the technical field of spherical part grabbing. The utility model provides a small-diameter spherical part rapid grabbing device which comprises a part grabbing plate, a plurality of adsorption channels used for adsorbing to-be-grabbed spherical parts are formed in the part grabbing plate in the thickness direction of the part grabbing plate in a penetrating mode; and the grabber body is detachably connected with the part grabbing plate, the part grabbing plate and the grabber body are buckled to form a negative pressure cavity, the negative pressure cavity communicates with the adsorption channel, and the grabber body is further provided with a negative pressure structure used for forming negative pressure in the negative pressure cavity. Spherical parts can be grabbed in batches, the part grabbing plate can be replaced so as to adapt to array modes with different intervals or spherical parts with different diameters, and the application range is widened.

Description

Technical Field

[0001] The present application relates to the technical field of spherical parts grasping, and in particular to a device for quickly grasping spherical parts with small diameters. Background Art

[0002] In the fields of mechanical processing, tobacco manufacturing, and aviation parts assembly, there are some small-diameter spherical parts, such as the balls in ball bearings in the mechanical processing field, and the spherical beads in the filter tips in the tobacco manufacturing field. After batch processing, these small-diameter spherical parts need to enter the next process in a certain array mode to complete batch assembly, but due to their small size, the efficiency of manual operation is too low, and the operation cost of robots based on visual private servers is too high.

[0003] Therefore, there is an urgent need for a small-diameter spherical parts quick grasping device that can grasp spherical parts in batches and replace parts to adapt to array patterns with different spacings or spherical parts with different diameters, thereby improving the scope of application. Utility Model Content

[0004] The main purpose of the present application is to provide a device for quickly grasping small-diameter spherical parts, which can grasp spherical parts in batches and can replace parts to adapt to array patterns with different spacings or spherical parts with different diameters, thereby improving the scope of application.

[0005] To achieve the above-mentioned purpose, the present application provides a small-diameter spherical part quick grasping device, including: a part grasping plate, which is provided with a plurality of adsorption channels for adsorbing the spherical parts to be grasped along its thickness direction; a grasper body detachably connected to the part grasping plate, the part grasping plate and the grasper body are buckled to form a negative pressure cavity, the negative pressure cavity is connected to the adsorption channel, and the grasper body is also provided with a negative pressure structure for forming negative pressure in the negative pressure cavity.

[0006] Optionally, a positioning groove is provided at one end of the adsorption channel away from the negative pressure cavity, the minimum inner diameter of the positioning groove is greater than or equal to the inner diameter of the adsorption channel, and the cross-sectional area of ​​the positioning groove gradually increases in the direction away from the negative pressure cavity.

[0007] Optionally, one end of the part grabbing plate away from the negative pressure cavity is constructed as a grabbing plane, all of the positioning grooves pass through the grabbing plane, a placing piece is arranged under the part grabbing plate, the placing piece has a placing surface for placing the spherical part to be grabbed, and the grabbing plane is parallel to the placing surface.

[0008] Optionally, the middle part of the grabber body has a groove portion, the grabber body has a first step surface located outside the groove portion, the part grabbing plate has a protrusion that cooperates with the groove portion, all the adsorption channels pass through the protrusion, the protrusion cooperates with the groove portion to form the negative pressure cavity, and the part grabbing plate has a second step surface that fits with the first step surface.

[0009] Optionally, the first step surface is provided with at least two threaded holes, the second step surface is provided with a positioning hole that passes through the part grabbing plate along the thickness direction, the positioning hole can be coaxial with the threaded hole, and the part grabbing plate and the grabber body are connected by a locking screw.

[0010] Optionally, a sealing gasket is provided between the first step surface and the second step surface.

[0011] Optionally, the negative pressure structure includes a negative pressure tube, and a connecting hole communicating with the negative pressure cavity is provided on the grabber body, one end of the negative pressure tube is threadedly engaged with the connecting hole, and the other end is connected to the vacuum extraction device.

[0012] Optionally, the negative pressure tube is provided with a solenoid valve.

[0013] Optionally, a handle is provided on the gripper body, the handle has a gripping portion for gripping, and a control button communicatively connected to the solenoid valve is provided at a position of the handle close to the gripping portion.

[0014] Optionally, a sealing ring is provided between the negative pressure tube and the connecting hole.

[0015] Beneficial effects that this application can achieve:

[0016] A small-diameter spherical parts quick grasping device proposed in an embodiment of the present application, by arranging multiple adsorption channels on a part grasping plate, the part grasping plate and the grasper body are detachably connected, and the negative pressure structure and the like are connected to the grasper body, so that the part grasping plate with different adsorption channel inner diameters or different arrangement spacings of the adsorption channels can be replaced without replacing the entire grasping device, and the small-diameter spherical parts can be grasped and adsorbed on the part grasping plate. When the small-diameter spherical parts need to be placed at the destination position, it is only necessary to stop the negative pressure adsorption, and the spherical parts can automatically detach from the part grasping plate and fall to the destination position under the action of gravity, so the grasping and transfer of the spherical parts is convenient and quick. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a schematic diagram of the main cross-sectional structure of an embodiment of the present application;

[0018] Figure 2 It is a schematic diagram of the exploded structure of the parts grabbing plate and the grabber body;

[0019] Figure 3 It is a schematic diagram of the state when the part grabbing plate grabs a spherical part;

[0020] Figure 4 This is a schematic diagram of the state when the part grabbing plate places the spherical part at the target position;

[0021] Figure 5 It is a schematic diagram of the three-dimensional structure of an embodiment of the present application.

[0022] Numbers in the figure: 10-gripper body, 11-first step surface, 12-threaded hole, 20-part grabbing plate, 21-second step surface, 22-positioning hole, 23-locking screw, 30-negative pressure cavity, 31-groove part, 32-raised part, 40-adsorption channel, 41-positioning groove, 42-grabbing plane, 50-negative pressure tube, 51-solenoid valve, 52-sealing ring, 60-handle, 61-holding part, 62-control button, 70-spherical part, 80-placing part, 81-placing surface.

[0023] The realization of the purpose, functional features and advantages of this application will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0024] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0025] It should be noted that all directional indications in the embodiments of the present invention (such as up, down, left, right, front, back...) are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0026] In the present invention, unless otherwise clearly specified and limited, the terms "connection", "fixation", etc. should be understood in a broad sense. For example, "fixation" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0027] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the utility model, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the meaning of "and / or" appearing in the full text includes three parallel schemes. Taking "A and / or B" as an example, it includes scheme A, or scheme B, or a scheme that satisfies both A and B. In addition, the technical solutions between the various embodiments can be combined with each other, but it must be based on the ability of ordinary technicians in this field to implement. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the utility model.

[0028] Example 1

[0029] Reference Figure 1-Figure 5 , Figure 1 and Figure 3 The arrow symbol in the figure indicates the flow direction of the gas. Figure 4 The arrow symbol in the figure is a schematic diagram of the moving direction of the spherical part 70 on the part grabbing plate 20. The first embodiment of the present application provides a small-diameter spherical part 70 quick grabbing device, including: a part grabbing plate 20 having a plurality of adsorption channels 40 for adsorbing the spherical part 70 to be grasped, which is provided along the thickness direction of the part grabbing plate 20; a grabber body 10 detachably connected to the part grabbing plate 20, the part grabbing plate 20 and the grabber body 10 are buckled to form a negative pressure cavity 30, the negative pressure cavity 30 is connected to the adsorption channel 40, and a negative pressure structure for forming negative pressure in the negative pressure cavity 30 is also provided on the grabber body 10.

[0030] In this embodiment, a plurality of adsorption channels 40 are provided through the part grabbing plate 20, and the axes of all the adsorption channels 40 are parallel to each other, and all the adsorption channels 40 are arranged horizontally and vertically. Different spacings between adjacent adsorption channels 40 can be set for different part grabbing plates 20; the positions of the adsorption channels 40 can also be arranged in a ring shape according to actual use requirements. The part grabbing plate 20 is detachably connected to the grabber body 10, and a negative pressure structure for forming a negative pressure in the negative pressure cavity 30 is provided on the grabber body 10, so as to facilitate replacement of part grabbing plates 20 of different specifications to meet the different use requirements of users and improve its scope of application. The negative pressure structure may include a vacuum pump, one end of the adsorption channel 40 is connected to the negative pressure cavity 30, and the other end of the adsorption channel 40 passes through the lower end surface of the part grabbing plate 20. A negative pressure suction force is generated at the lower channel opening of the adsorption channel 40 through the negative pressure cavity 30, and the spherical part 70 is adsorbed at the lower channel opening of the adsorption channel 40. According to the gravity of the spherical part 70, the magnitude of the negative pressure suction force is adjusted so that the negative pressure suction force is greater than the gravity of the spherical part 70.

[0031] Example 2

[0032] As an optional implementation, refer to Figure 2-Figure 4 This embodiment provides a specific structure of an adsorption channel 40, including: a positioning groove 41 is provided at one end of the adsorption channel 40 away from the negative pressure cavity 30, the minimum inner diameter of the positioning groove 41 is greater than or equal to the inner diameter of the adsorption channel 40, and the cross-sectional area of ​​the positioning groove 41 gradually increases in the direction away from the negative pressure cavity 30.

[0033] Optionally, one end of the part grabbing plate 20 away from the negative pressure cavity 30 is constructed as a grabbing plane 42, all the positioning grooves 41 pass through the grabbing plane 42, and a placing piece 80 is arranged under the part grabbing plate 20. The placing piece 80 has a placing surface 81 for placing the spherical part 70 to be grabbed, and the grabbing plane 42 and the placing surface 81 are parallel to each other.

[0034] In this embodiment, a positioning groove 41 is provided at the lower end of the adsorption channel 40. The shape of the positioning groove 41 can be conical or hemispherical. The cross-sectional area of ​​the positioning groove 41 gradually increases from top to bottom, and the positioning groove 41 fits the upper half of the spherical part 70. The positioning groove 41 is used to assist in limiting the spherical part 70 when the adsorption channel 40 adsorbs the spherical part 70. The positioning groove 41 expands the area where the adsorption channel 40 can generate suction, so that the spherical part 70 can be more easily adsorbed to the channel opening of the adsorption channel 40. The state of the part grabbing plate 20 when adsorbing the spherical part 70 is as follows: Figure 3 As shown, the state of the part grabbing plate 20 when placing the spherical part 70 at the target position is as follows Figure 4As shown, when the spherical part 70 is placed at the target position, it is only necessary to stop generating the negative pressure suction force, and the spherical part 70 will automatically fall down under its own gravity. Alternatively, the spherical part 70 can be detached from the part grabbing plate 20 by back-blowing the airflow.

[0035] By setting a placement piece 80 below the part grabbing plate 20, the placement piece 80 can be used to place the spherical part 70. When the spherical part 70 is placed on the placement surface 81, since the placement surface 81 is parallel to the grabbing plane 42 of the part grabbing plate 20, all the positioning grooves 41 can be located at the same height relative to the spherical part 70, so that the positioning grooves 41 on the part grabbing plate 20 can correspond to the spherical part 70 one by one, so that all the positioning grooves 41 can smoothly absorb the spherical part 70, reducing the probability that some positioning grooves 41 cannot absorb the spherical part 70, so that the spherical part 70 captured by the part grabbing plate 20 at one time meets the required number, and when some positioning grooves 41 fail to absorb the spherical part 70, it is not necessary to supplement the missing part when transferring the spherical part 70 to the target position. The target position for receiving the spherical part 70 has a placement groove corresponding to the adsorption channel 40. Flanges are set around the placement surface 81 to limit the spherical part 70.

[0036] Example 3

[0037] As an optional implementation, refer to Figure 1-Figure 4 The present embodiment provides a specific matching method between a gripper body 10 and a part gripping plate 20, including: a groove portion 31 is provided in the middle of the gripper body 10, the gripper body 10 has a first step surface 11 located outside the groove portion 31, the part gripping plate 20 has a protrusion 32 matched with the groove portion 31, all adsorption channels 40 pass through the protrusion 32, the protrusion 32 cooperates with the groove portion 31 to form a negative pressure cavity 30, and the part gripping plate 20 has a second step surface 21 that fits with the first step surface 11.

[0038] In this embodiment, a groove portion 31 that is recessed upward is provided on the gripper body, and a protrusion portion 32 that is protruding upward is provided on the part gripping plate 20, and the inner wall of the groove portion 31 matches the outer wall size of the protrusion portion 32. When the gripper body 10 and the part gripping plate 20 are assembled, it can play an auxiliary positioning role, and realize the quick assembly of the gripper body 10 and the part gripping plate 20. At the same time, the groove portion 31 cooperates with the protrusion portion 32 to a certain extent to play a sealing role, and improve the stability of the negative pressure formed in the negative pressure cavity 30. Through the cooperation of the first step surface 11 and the second step surface 21, the sealing effect can be further improved.

[0039] Example 4

[0040] As an optional implementation, refer to Figure 2 The present embodiment provides a connection structure between a part grabbing plate 20 and a grabber body 10, including: a first step surface 11 is provided with at least two threaded holes 12, a second step surface 21 is provided with a positioning hole 22 that passes through the part grabbing plate 20 along the thickness direction, the positioning hole 22 can be coaxial with the threaded hole 12, and the part grabbing plate 20 and the grabber body 10 are connected by a locking screw 23.

[0041] Optionally, a sealing gasket is provided between the first step surface 11 and the second step surface 21 .

[0042] In this embodiment, by setting a coaxial threaded hole 12 and a positioning hole 22 on the first step surface 11 and the second step surface 21, when the threaded hole 12 is aligned with the positioning hole 22, the locking screw 23 passes through the positioning hole 22 and is threadedly connected with the threaded hole 12, so as to realize the quick installation and disassembly of the part grabbing plate 20 and the grabber body 10. The adsorption channel 40 is arranged at the protrusion 32, and when the part grabbing plate 20 with different inner diameters or different arrangements is replaced, the adsorption effect of the adsorption channel 40 will not be affected. It should be noted that the part grabbing plates 20 of different specifications and models have the same positioning hole 22 to ensure that the part grabbing plates 20 of different specifications and models can be installed on the grabber body 10. A sealing gasket is arranged between the first step surface 11 and the second step surface 21. The sealing gasket can be made of rubber. The first step surface 11 and the second step surface 21 are fitted, which is conducive to the upper and lower ends of the sealing gasket being in close contact with the first step surface 11 and the second step surface 21 respectively, thereby improving the sealing effect of the sealing gasket. A through hole that cooperates with the locking screw 23 may be reserved on the sealing gasket.

[0043] Example 5

[0044] As an optional implementation, refer to Figure 1-Figure 4 The present embodiment provides a method including: a negative pressure structure including a negative pressure tube 50, a connection hole communicating with the negative pressure cavity 30 is provided on the grabber body 10, one end of the negative pressure tube 50 is threadedly matched with the connection hole, and the other end is connected to the vacuum pumping device.

[0045] Optionally, a solenoid valve 51 is provided on the negative pressure tube 50 .

[0046] Optionally, a handle 60 is provided on the gripper body 10 . The handle 60 has a gripping portion 61 for gripping. A control button 62 is provided near the gripping portion 61 of the handle 60 and is in communication with the solenoid valve 51 .

[0047] Optionally, a sealing ring 52 is provided between the negative pressure tube 50 and the connecting hole.

[0048] In this embodiment, one end of the negative pressure tube 50 is threadedly matched to achieve quick installation or removal with the grabber theme, and the sealing ring 52 is provided to improve the sealing of the connection between the negative pressure tube 50 and the grabber body 10. By providing a handle 60 on the grabber body 10, it is convenient for humans to hold and apply force to the grabber body 10 and the part grabbing plate 20 through the handle 60, so as to facilitate humans to quickly adsorb and grab the spherical part 70 and transfer the grabbed spherical part 70 to the destination position. A control button 62 is provided at a position of the handle 60 near the gripping portion 61. The control button 62 is used to control the opening and closing of the solenoid valve 51, so that the operator can quickly control the state of releasing the negative pressure in the negative pressure cavity 30, so that the spherical part 70 adsorbed on the part grabbing plate 20 falls under its own gravity. The shape of the handle 60 can be U-shaped or L-shaped.

[0049] The above are only preferred embodiments of the present application, and are not intended to limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A small diameter spherical parts quick grasping device, characterized in that: include: A parts grabbing plate, which has a plurality of adsorption channels extending through the thickness direction thereof for adsorbing the spherical parts to be grasped; A gripper body is detachably connected to the part gripping plate, wherein the part gripping plate and the gripper body are buckled together to form a negative pressure cavity, wherein the negative pressure cavity is connected to the adsorption channel, and a negative pressure structure for forming negative pressure in the negative pressure cavity is also provided on the gripper body.

2. The small-diameter spherical parts quick grasping device according to claim 1, characterized in that: A positioning groove is provided at one end of the adsorption channel away from the negative pressure cavity, the minimum inner diameter of the positioning groove is greater than or equal to the inner diameter of the adsorption channel, and the cross-sectional area of ​​the positioning groove gradually increases in a direction away from the negative pressure cavity.

3. The small-diameter spherical parts quick grasping device according to claim 2, characterized in that: One end of the part grabbing plate away from the negative pressure cavity is constructed as a grabbing plane, all of the positioning grooves pass through the grabbing plane, a placing piece is arranged below the part grabbing plate, the placing piece has a placing surface for placing the spherical part to be grabbed, and the grabbing plane is parallel to the placing surface.

4. The small-diameter spherical parts quick grasping device according to claim 1, characterized in that: The grabber body has a groove portion in the middle, the grabber body has a first step surface located outside the groove portion, the part grabbing plate has a protrusion that cooperates with the groove portion, all the adsorption channels pass through the protrusion, the protrusion cooperates with the groove portion to form the negative pressure cavity, and the part grabbing plate has a second step surface that fits with the first step surface.

5. The small-diameter spherical parts quick grasping device as claimed in claim 4, characterized in that: The first step surface is provided with at least two threaded holes, and the second step surface is provided with a positioning hole that passes through the part grabbing plate along the thickness direction. The positioning hole can be coaxial with the threaded hole, and the part grabbing plate and the grabber body are connected by a locking screw.

6. The small-diameter spherical parts quick grasping device as claimed in claim 4, characterized in that: A sealing gasket is arranged between the first step surface and the second step surface.

7. The small-diameter spherical parts quick grasping device according to claim 1, characterized in that: The negative pressure structure comprises a negative pressure tube. A connecting hole communicating with the negative pressure cavity is arranged on the grabber body. One end of the negative pressure tube is threadedly engaged with the connecting hole, and the other end is connected to the vacuum pumping device.

8. The small-diameter spherical parts quick grasping device according to claim 7, characterized in that: The negative pressure pipe is equipped with a solenoid valve.

9. The small-diameter spherical parts quick grasping device according to claim 8, characterized in that: The grabber body is provided with a handle having a gripping portion for gripping, and a control button communicatively connected with the solenoid valve is provided at a position of the handle close to the gripping portion.

10. The small-diameter spherical parts quick grasping device according to claim 7, characterized in that: A sealing ring is arranged between the negative pressure tube and the connecting hole.

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