Automatic grabbing device for production

Abstract

The utility model relates to the technical field of gripping devices, in particular to an automatic gripping device for production, which comprises a suspension frame and a plurality of gripping components, and the plurality of gripping components are vertically mounted at the bottom of the suspension frame at equal intervals; the grabbing assembly comprises a sliding shaft, a suction cup, a one-way locking device, a sleeve, a ball seat and a universal ball head, the sliding shaft capable of being lifted and vertically limited is adopted to be connected with the suction cup, when arc-shaped, concave-surface or convex-surface smooth materials are grabbed, the suction cup of the grabbing device can be directly in contact with the materials, the suction cup is stressed to drive the sliding shaft to retract into the sleeve, and therefore the materials can be grabbed. According to the material grabbing device, all the suckers on the lower portion are attached to the surface of a material, then vacuum equipment is adopted for generating negative pressure adsorption grabbing, in the process, the material grabbing device can adapt to grabbing operation of smooth materials of any radian and shape, and extremely high universality is achieved; and a reasonable attaching angle between the suction cup and the material is guaranteed.

Description

Technical Field

[0001] The utility model relates to the technical field of grabbing devices, in particular to an automatic grabbing device for production. Background Art

[0002] Automated grasping devices, commonly known as robot grippers or end effectors, are actuators used for automated operations such as grasping, handling, and assembly in robotic systems. They are generally composed of mechanical structures, transmission systems, sensors, and control systems. These devices can be designed into different forms such as fixtures, claws, and clamps according to different operational requirements.

[0003] With the continuous development of science and technology, automated grasping devices are also constantly improving and perfecting, but there are still certain problems: when grasping curved, concave or convex smooth materials, the suction cup grasping device is mostly a fixed structure, so it is necessary to use a grasping device with a specific curvature according to the curved angle of the material to be grasped. It is impossible to achieve a single grasping device that can adapt to the grasping operations of multiple types of curved materials at the same time, and the versatility is poor and the cost of use is high. Therefore, in view of the above situation, it is urgent to develop an automated grasping device for production to overcome the shortcomings in current practical applications and meet current needs. Utility Model Content

[0004] The purpose of the utility model is to provide an automatic grasping device for production to solve the problems raised in the above background technology.

[0005] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: an automatic grabbing device for production, comprising a suspension and a grabbing assembly, wherein a plurality of grabbing assemblies are vertically and equidistantly mounted at the bottom of the suspension;

[0006] The grabbing assembly includes a sliding shaft, a suction cup, a one-way lock, a sleeve, a ball seat and a universal ball head. The one-way lock is vertically installed inside the suspension. The sliding shaft vertically penetrates the bottom of the suspension and the one-way lock, and is slidably connected to the suspension. The suction cup is rotatably connected to the bottom end of the sliding shaft through the ball seat and the universal ball head.

[0007] Preferably, the grabbing assembly also includes a sleeve, an anti-slip slider and a spring. The anti-slip slider is embedded in the interior of the sleeve and is slidably connected to the sleeve. The bottom end of the anti-slip slider is fixedly connected to the top end of the sliding shaft. The spring is embedded between the anti-slip slider and the sleeve. Specifically, the arranged spring can cooperate with the sleeve and the anti-slip slider to realize automatic resetting of the sliding shaft. At the same time, the anti-slip slider and the sleeve cooperate with each other to realize path maintenance and anti-falling effect for the sliding shaft.

[0008] Preferably, a one-way rack is provided on one side of the sliding shaft. Specifically, the one-way rack is installed vertically as a whole, and the downward tooth surface of the one-way rack is horizontal.

[0009] Preferably, a one-way pawl is embedded inside the one-way lock, and the one-way pawl is rotatably connected to the inner wall of the one-way lock by a torsion spring. An electromagnet is embedded in the inner wall of the one-way lock. Specifically, the electromagnet is close to the top of the one-way pawl. When the electromagnet is energized, it can drive the one-way pawl to disengage from the one-way rack, thereby achieving the unlocking effect.

[0010] Preferably, the one-way pawl is matched with the one-way rack. Specifically, the downward surface of the one-way rack is horizontal, and the one-way pawl is inclined upward. Therefore, the two cooperate with each other to achieve that the sliding shaft can move upward freely, but is locked by the one-way pawl when moving downward.

[0011] Preferably, a hose communicating with the suction cup is provided on one side of the suction cup. Specifically, the hose is used to connect the vacuum device and the suction cup to improve the suction and grasping ability of the suction cup.

[0012] Compared with the prior art, the utility model provides an automatic grasping device for production, which has the following beneficial effects:

[0013] It uses a liftable and vertically limited sliding shaft to connect the suction cup. When grabbing curved, concave or convex smooth materials, the suction cup of the grabbing device can be directly brought into contact with the material. The force on the suction cup will drive the sliding shaft to retract into the sleeve, so that each suction cup below is close to the surface of the material. Then a vacuum device is used to generate negative pressure for adsorption and grabbing. This process enables it to adapt to the grabbing of smooth materials of any curvature and shape, and it has strong versatility. The suction cup and the sliding shaft are connected by a ball seat and a universal ball head to ensure a reasonable fitting angle between the suction cup and the material. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative labor:

[0015] Figure 1 This is a schematic diagram of the front structure of the utility model;

[0016] Figure 2 It is a schematic diagram of the side structure of the utility model;

[0017] Figure 3 It is the overall side view of the utility model;

[0018] Figure 4 This is a schematic diagram of the structure of the grabbing component of the utility model;

[0019] Figure 5For this utility model Figure 3 A magnified view of part A;

[0020] Figure 6 It is a side longitudinal sectional view of the ball seat of the utility model.

[0021] In the figure: 10, suspension; 20, grab assembly; 201, sliding shaft; 202, suction cup; 203, one-way lock; 204, sleeve; 205, electromagnet; 206, one-way pawl; 207, one-way rack; 208, ball seat; 209, hose; 210, anti-drop slider; 211, spring; 212, universal ball head. DETAILED DESCRIPTION

[0022] 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 in 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.

[0023] In the present invention, unless otherwise clearly specified and limited, the terms "install", "connect", "connect", "fix" and the like should be understood in a broad sense, for example, it 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. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0024] Example:

[0025] See also Figure 1-Figure 6 , the utility model provides a technical solution: an automatic grabbing device for production, comprising a suspension 10 and a grabbing assembly 20, wherein a plurality of grabbing assemblies 20 are vertically and equidistantly mounted at the bottom of the suspension 10;

[0026] The grabbing assembly 20 includes a sliding shaft 201, a suction cup 202, a one-way lock 203, a sleeve 204, a ball seat 208 and a universal ball head 212. The one-way lock 203 is vertically installed inside the suspension 10. The sliding shaft 201 vertically penetrates the bottom of the suspension 10 and the one-way lock 203, and is slidably connected to the suspension 10. The suction cup 202 is rotatably connected to the bottom end of the sliding shaft 201 through the ball seat 208 and the universal ball head 212.

[0027] Preferably, the grabbing assembly 20 also includes a sleeve 204, an anti-slip slider 210 and a spring 211. The anti-slip slider 210 is embedded in the interior of the sleeve 204 and is slidably connected to the sleeve 204. The bottom end of the anti-slip slider 210 is fixedly connected to the top of the sliding shaft 201. The spring 211 is embedded between the anti-slip slider 210 and the sleeve 204. Specifically, the spring 211 can cooperate with the sleeve 204 and the anti-slip slider 210 to realize automatic resetting of the sliding shaft 201. At the same time, the anti-slip slider 210 and the sleeve 204 cooperate with each other to achieve path maintenance and anti-falling effects for the sliding shaft 201.

[0028] Preferably, a one-way rack 207 is provided on one side of the sliding shaft 201. Specifically, the one-way rack 207 is installed vertically as a whole, and the downward tooth surface of the one-way rack 207 is horizontal.

[0029] Preferably, a one-way pawl 206 is embedded inside the one-way lock 203, and the one-way pawl 206 is rotationally connected to the inner wall of the one-way lock 203 through a torsion spring. An electromagnet 205 is embedded in the inner wall of the one-way lock 203. Specifically, the electromagnet 205 is close to the top of the one-way pawl 206. When the electromagnet 205 is energized, it can drive the one-way pawl 206 to disengage from the one-way rack 207, thereby achieving the unlocking effect.

[0030] Preferably, the one-way pawl 206 is matched with the one-way rack 207. Specifically, the downward surface of the one-way rack 207 is horizontal, and the one-way pawl 206 is inclined upward. Therefore, the two cooperate with each other to achieve that the sliding shaft 201 can move upward freely, but is locked by the one-way pawl 206 when moving downward.

[0031] Preferably, a hose 209 communicating with the suction cup 202 is provided on one side of the suction cup 202 . Specifically, the hose 209 is used to connect the vacuum device and the suction cup 202 , so as to improve the adsorption and grasping ability of the suction cup 202 .

[0032] Working principle: When grabbing smooth materials with curved, concave or convex surfaces, drive the suction cup 202 close to the surface of the material, and stop when each suction cup 202 is in contact with the surface of the material. Connect the vacuum device through the hose 209, and negative pressure is generated in the suction cup 202 to adsorb the material. At this time, the entire grabbing device can be moved to drive the material to move. After moving to the specified position, close the suction cup 202. It should be noted here that when the suspension 10 moves downward to drive the suction cup 202 close to the surface of the material, when the suction cup 202 in some positions has been in contact with the material but the suspension 10 is still descending When the sliding shaft 201 is in a state of being adapted to the shape and angle of the material surface, the one-way pawl 206 is engaged with the one-way rack 207, and the sliding shaft 201 cannot move downward freely. At this time, the suction cups 202 on the entire lower surface are all in a state of being adapted to the surface shape and angle of the material. When all the sliding shafts 201 need to be reset, the electromagnet 205 is started to drive the end of the one-way pawl 206 to disengage from the one-way rack 207. At this time, the spring 211 releases its elastic potential energy and cooperates with the anti-slip slider 210 to drive the sliding shaft 201 to reset.

[0033] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the statement "comprise a ..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

Claims

1. An automated grasping device for production, characterized in that: It comprises a suspension (10) and a grabbing assembly (20), wherein a plurality of the grabbing assemblies (20) are vertically and equidistantly mounted on the bottom of the suspension (10); The grab assembly (20) comprises a sliding shaft (201), a suction cup (202), a one-way lock (203), a sleeve (204), a ball seat (208) and a universal ball head (212); the one-way lock (203) is vertically installed inside the suspension (10); the sliding shaft (201) vertically penetrates the bottom of the suspension (10) and the one-way lock (203) and is slidably connected to the suspension (10); the suction cup (202) is rotatably connected to the bottom end of the sliding shaft (201) via the ball seat (208) and the universal ball head (212).

2. The automatic grasping device for production according to claim 1, characterized in that: The grabbing assembly (20) further comprises a sleeve (204), an anti-slipping slider (210) and a spring (211); the anti-slipping slider (210) is embedded in the interior of the sleeve (204) and is slidably connected to the sleeve (204); the bottom end of the anti-slipping slider (210) is fixedly connected to the top end of the sliding shaft (201); and the spring (211) is embedded between the anti-slipping slider (210) and the sleeve (204).

3. The automatic grasping device for production according to claim 1, characterized in that: A one-way rack (207) is provided on one side of the sliding shaft (201).

4. The automatic grasping device for production according to claim 1, characterized in that: A one-way pawl (206) is embedded inside the one-way lock (203), and the one-way pawl (206) is rotationally connected to the inner wall of the one-way lock (203) via a torsion spring. An electromagnet (205) is embedded in the inner wall of the one-way lock (203).

5. The automatic grasping device for production according to claim 4, characterized in that: The one-way pawl (206) is matched with the one-way rack (207).

6. The automatic grasping device for production according to claim 1, characterized in that: A hose (209) communicating with the suction cup (202) is provided on one side thereof.

Images