Grabbing device

Abstract

The utility model provides a grabbing device. The grabbing device comprises a body used for being connected with a mechanical arm. The grabbing assembly is installed on the body and used for grabbing parts. A plurality of grabbing assemblies are mounted on the body; the suction assembly is located on the side of the grabbing assembly and used for sucking the trays. After the material disc moves parts in place, the rotating shaft cover is grabbed through the grabbing assembly and then moved to the labeling machine through the mechanical arm to be labeled, the multiple parts can be grabbed at a time, the grabbing assembly is moved to the support after labeling is completed, the grabbing assembly is loosened, and the rotating shaft cover is placed on the support; and the sucking assembly downwards sucks and moves the material tray to other places. According to the grabbing device, the whole actions of grabbing the rotating shaft cover and placing the labeled rotating shaft cover on the support are automatic, and the efficiency can be improved by designing the number of the grabbing assemblies.

Description

Technical Field

[0001] The utility model belongs to the technical field of part grasping, and particularly relates to a grasping device. Background Art

[0002] Most parts of a computer need to be subjected to a series of operations such as painting and drying after production. To improve efficiency, they are generally placed on a bracket for spraying and other operations. For example, for a shaft cover, it is generally necessary to label it before painting to supervise each subsequent link. Currently, the shaft covers are labeled one by one manually and then the labeled shaft covers are placed on the bracket, resulting in low efficiency. Summary of the Utility Model

[0003] In view of the above-mentioned disadvantages of the prior art, the purpose of the present utility model is to provide a grasping device for solving the problems such as low efficiency caused by manually grasping parts for labeling and then placing them on the bracket in the prior art.

[0004] To achieve the above purpose and other related purposes, the present utility model provides a grasping device, including:

[0005] A body for connecting with a manipulator;

[0006] A grasping component installed on the body, and the grasping component is used for grasping parts; a plurality of grasping components are installed on the body;

[0007] A suction component located on the side of the grasping component for sucking a tray.

[0008] Further, the grasping component includes a jaw cylinder, a first clip and a second clip. The first clip and the second clip are installed on the jaw cylinder, and the jaw cylinder is used to control the first clip and the second clip to grip or release the part.

[0009] Further, the grasping device further includes a moving component for controlling the distance between adjacent grasping components.

[0010] Further, a first connection block is installed on the grasping component. The moving component includes a moving power. A second connection block is provided on the grasping component on the side far from the base of the moving component, and the output end of the moving power is connected to the second connection block; both sides of the first connection block are provided with interlocking holes, and adjacent first connection blocks are connected by a connecting rod. Both ends of the connecting rod are provided with limiting bosses for preventing the connecting rod from slipping out of the interlocking holes.

[0011] Further, a guide rail is provided on the body. A third connecting block is provided between the first connecting block and the grasping assembly. A slider is provided at the bottom of the third connecting block. A support base is provided on the body, and the support base is used to support the base of the moving power.

[0012] Further, the body includes a first connecting frame and a second connecting frame connected to the first connecting frame. A connecting hole for connecting to a manipulator is provided on the first connecting frame. A perforation is provided in the middle of the second connecting frame. The grasping assembly passes through the perforation, and the grasping assembly is installed on the second connecting frame.

[0013] Further, a buffer assembly is provided between the first connecting frame and the second connecting frame for buffering the grasping assembly.

[0014] Further, a third connecting frame is further provided on the side of the second connecting frame away from the first connecting frame. The buffer assembly includes a connecting rod, a spring, a sleeve and a limiting member. Two ends of the connecting rod are respectively connected to the first connecting frame and the third connecting frame. The sleeve is connected to the second connecting frame. The connecting rod passes through the sleeve. The limiting member is installed on the side of the connecting rod away from the sleeve. The spring is located between the sleeve and the limiting member.

[0015] Further, the sucking assembly includes a side frame and suction cups. The side frame is provided on the side of the body. A plurality of suction cups are installed on the side frame, and the suction cups are used to suck the tray.

[0016] Further, an ear is connected to the side frame, and a strip-shaped hole is provided on the ear. The suction cup passes through the strip-shaped hole.

[0017] As described above, the present utility model has the following beneficial effects: After the tray moves the parts in place, the grasping assembly grabs the shaft cover, and then moves to the labeling machine through the manipulator for labeling. Multiple parts can be grabbed at one time. After labeling, move the grasping assembly to the bracket, the grasping assembly releases, and place the shaft cover on the bracket. When the shaft covers in the tray are all grabbed, rotate the grasping device so that the sucking assembly moves downward, suck the tray by suction, and then move to other places, and the next tray with shaft covers moves in place. Through the grasping device provided by the present application, the entire action of grasping the shaft cover and placing the labeled shaft cover on the bracket is automated, and the efficiency can be improved by designing the number of the grasping assemblies. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 is a schematic structural diagram of the grasping device provided by the present utility model;

[0019] Figure 2 It is a schematic structural diagram of the main body;

[0020] Figure 3 It is a schematic structural diagram of the grasping component;

[0021] Figure 4 It is a schematic structural diagram of the contraction of the moving component;

[0022] Figure 5 It is a schematic structural diagram of the extension of the moving component.

[0023] Description of Part Numbers

[0024] 1 - Main body, 11 - First connecting frame, 12 - Second connecting frame, 13 - Third connecting frame, 14 - Connecting hole, 15 - Perforation, 16 - Guide rail, 17 - Slide block, 2 - Grasping component, 21 - Jaw cylinder, 22 - First clamping piece, 23 - Second clamping piece, 24 - Link, 25 - Interlocking hole, 26 - First connecting block, 27 - Second connecting block, 28 - Third connecting block, 29 - Limiting boss, 3 - Suction component, 31 - Side frame, 32 - Suction cup, 33 - Support ear, 34 - Slot, 4 - Moving component, 41 - Moving power, 42 - Support seat, 5 - Buffer component, 51 - Connecting rod, 52 - Spring, 53 - Sleeve, 54 - Limiting piece. Specific Embodiments

[0025] The following specific embodiments illustrate the implementation manners of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification.

[0026] It should be noted that the structures, ratios, sizes, etc. shown in the drawings of this specification are only used to cooperate with the content disclosed in the specification for those skilled in the art to understand and read, and are not used to limit the limited conditions under which the present invention can be implemented. Therefore, they do not have technical substantive meanings. Any modification of the structure, change of the proportional relationship, or adjustment of the size, without affecting the effects that the present invention can produce and the purposes that can be achieved, should still fall within the scope that can be covered by the technical content disclosed in the present invention. At the same time, the terms such as "upper", "lower", "left", "right", "middle", and "one" cited in this specification are only for the convenience of clear narration, and are not used to limit the scope under which the present invention can be implemented. The change or adjustment of their relative relationships, without substantial change in the technical content, should also be regarded as the scope within which the present invention can be implemented.

[0027] In order to be able to describe the present invention in detail, first, a specific description of the grasping device of the present invention will be given next.

[0028] As Figures 1 to 5As shown in the figure, the present application provides a grasping device, including a main body 1, a grasping component 2 and a suction component 3 installed on the main body 1.

[0029] The main body 1 is mainly used to connect with a manipulator. The main body 1 includes a first connection frame 11 and a second connection frame 12 connected to the first connection frame 11, and the four corners of the first connection frame 11 and the second connection frame 12 are connected. A connection hole 14 for connecting with the manipulator is provided on the first connection frame 11. A groove is provided outside the connection hole 14, and a plurality of holes for connection are provided in the groove. The connection between the entire grasping device and the manipulator is limited by the groove. In order to reduce the mass of the entire grasping device, square weight-reducing holes are provided on both sides of the connection hole 14.

[0030] A through hole 15 is provided in the middle of the second connection frame 12, and the grasping component 2 passes through the through hole 15 and is installed on the second connection frame 12.

[0031] When the grasping component 2 contacts the rotating shaft cover, in order to prevent the grasping device from pressing down too much and damaging the rotating shaft cover, a buffer component 5 is provided between the first connection frame 11 and the second connection frame 12. The buffer component 5 can be a shock absorber or the like.

[0032] The buffer component 5 of the present application includes a connecting rod 51, a spring 52, a sleeve 53 and a limiting member 54. A third connection frame 13 is also provided on the side of the second connection frame 12 away from the first connection frame 11. A through hole is also provided in the middle of the third connection frame 13 in the same way as the second connection frame 12. The two ends of the connecting rod 51 are respectively connected to the first connection frame 11 and the third connection frame 13. The sleeve 53 is connected to the second connection frame 12. The connecting rod 51 passes through the sleeve 53. The limiting member 54 is installed on the side of the connecting rod 51 away from the sleeve 53. The spring 52 is located between the sleeve 53 and the limiting member 54. The two ends of the connecting rod 51 are fixedly connected to the first connection frame 11 and the third connection frame 13, which is equivalent to that the distance between the first connection frame 11 and the third connection frame 13 is fixed. The buffer component 5 adjusts the distance between the second connection frame 12 and the third connection frame 13 brackets.

[0033] Among them, the limiting member 54 can be integrally designed with the connecting rod 51. In order to facilitate the replacement of the spring 52 and adjust the buffering force in the present application, the limiting member 54 and the connecting rod 51 are separated. The limiting member 54 is sleeved on the connection. A gap is provided on the limiting member 54, and locking holes are provided on both sides of the gap. When loosened, the limiting member 54 can slide on the connecting rod 51, and after sliding in place, the limiting member 54 can be locked by bolts.

[0034] The two ends of the spring 52 can be connected to the limiting member 54 and the sleeve 53, or can just abut, as long as the spring 52 can be deformed when the second connection frame 12 moves up and down.

[0035] The suction component 3 includes a side frame 31 and suction cups 32. The side frame 31 is arranged on the side of the body 1. A number of suction cups 32 are installed on the side frame 31. The suction cups 32 are used to suck the tray. In this embodiment, four suction cups 32 are provided to suck the tray. The side frame 31 separates the suction cups 32 from the body 1 by a certain distance, which facilitates suction. The side frame 31 of this embodiment is independent of the body 1. It is equivalent to setting side frames 31 on both the first connection frame 11 and the third connection frame 13. The side frame 31 is in the shape of a square frame, thus reducing the weight. The side frame 31 and the body 1 can also be integrally formed.

[0036] An ear 33 is connected to the side frame 31, and the suction cup 32 is installed on the ear 33. The ear 33 and the side frame 31 are connected by bolts, so that the angle of the ear 33 can be adjusted. In order to adjust the position of the suction cup 32 relative to the ear 33, a slot 34 is provided on the ear 33. The rear end of the suction cup 32 passes through the slot 34 and is fixed by bolts. Each suction cup 32 is connected with an air pipe. When it is necessary to suck the tray, the manipulator rotates the grasping device to make the suction cup 32 contact the tray. The suction cup 32 sucks the tray under the action of negative pressure suction. Then the manipulator moves the tray to the recycling position, and the suction cup 32 deflates and the tray is separated from the suction cup 32.

[0037] Among them, the grasping component 2 of this embodiment includes a jaw cylinder 21, a first jaw 22 and a second jaw 23. The first jaw 22 and the second jaw 23 are installed on the jaw cylinder 21. The jaw cylinder 21 is used to control the first jaw 22 and the second jaw 23 to grasp or release the part. The jaw cylinder 21 makes the first jaw 22 and the second jaw 23 approach or separate. The jaw cylinder 21 can also adopt a parallel jaw. The cross-section of the rotating shaft cover is U-shaped. When the rotating shaft cover is placed in the tray, the U-shaped opening is downward. A first mold is connected to the first jaw 22, and a second mold is connected to the second jaw 23. After the first mold and the second mold are combined, they match the shape of the rotating shaft cover. The first mold is L-shaped, and a convex platform is provided on the middle part of the second mold facing the first mold. The horizontal section of the first mold is located above the convex platform.

[0038] In this embodiment, four grasping components 2 are installed on the body 1, and the number of the grasping components 2 is the same as the number of labels output by the labeling machine.

[0039] Furthermore, since the number of shaft covers grasped by the grasping device in this embodiment at one time is multiple, in order to ensure uniform spraying of the shaft covers during subsequent spraying, the distance between adjacent shaft covers during spraying is relatively large. When the shaft covers are located on the material tray, in order to save space and enable more shaft covers of the same size to be placed on the material tray, the distance between adjacent shaft covers in the material tray is relatively small. The distance between adjacent shaft covers on the spraying bracket is greater than the distance between adjacent shaft covers in the material tray. Therefore, when the grasping device places the shaft covers on the spraying bracket, the distance between adjacent shaft covers needs to be changed.

[0040] In this embodiment, a moving component 4 is arranged on the body 1, and the distance between adjacent grasping components 2 is adjusted through the moving component 4.

[0041] The moving component 4 includes a moving power source 41. In this embodiment, a cylinder is used as the moving power source 41. The moving power source 41 is arranged horizontally, and the telescopic direction of the output end of the moving power source 41 is the same as the moving direction of the grasping component 2. A second connecting block 27 is arranged on the grasping component 2 on the side far from the base of the moving component 4, and the output end of the moving power source 41 is connected to the second connecting block 27, that is, the moving power source 41 is connected to the outermost gripper component. The moving power source 41 can also adopt the form of a lead screw and a motor, and the lead screw is threadedly connected to the second connecting block 27.

[0042] A support seat 42 is arranged on the body 1, and the support seat 42 is used to support the base of the moving power source 41. The support seat 42 in this embodiment is in a portal shape, with both sides installed on the second connecting frame 12 and the top located above the first connecting block 26.

[0043] For convenient control, a first connecting block 26 is installed on the top of the jaw cylinder 21. The middle of the first connecting block 26 is connected to the top of the jaw cylinder 21, and both sides extend upward. The first connecting block 26 is U-shaped. Locking holes 25 are arranged on both sides of the first connecting block 26, and adjacent first connecting blocks 26 are connected through a connecting rod 24. Limit bosses 29 are arranged at both ends of the connecting rod 24, and the limit bosses 29 are used to prevent the connecting rod 24 from slipping out of the locking holes 25. By controlling the length of the connecting rod 24, the distance between adjacent jaw cylinders 21 is controlled, and thus the distance between adjacent shaft covers is controlled.

[0044] In order to enable the connecting rod 24 to pass through the first connecting block 26 smoothly, a cover plate can be arranged on the first connecting block 26. Both the cover plate and the first connecting block 26 are provided with semi-circular holes, which form the locking holes 25 after combination. In this way, when the connecting rod 24 is located in the semi-circular hole of the first connecting block 26, the cover plate is removed, and then the cover plate is locked to the first connecting block 26 through bolts. In this way, it will not be impossible to pass through the locking holes 25 due to the limit bosses 29 on the connecting rod 24.

[0045] In order to make the gripper cylinder 21 move smoothly, guide rails 16 are installed on both sides of the perforation 15 of the second connection frame 12, and the guide rails 16 are arranged along the telescopic direction of the moving power 41. A third connection block 28 is installed on the top of the gripper cylinder 21, and the first connection block 26 is installed on the top of the third connection block 28. Sliders 17 are arranged on both sides of the third connection block 28, and the sliders 17 can slide within the guide rails 16. The movement of the gripper cylinder 21 is guided through the cooperation of the guide rails 16 and the sliders 17.

[0046] On the bottom of the third connection block 28 on the side away from the output end of the moving power 41, no slider 17 is provided. As Figure 4 and Figure 5 shown, the bottom of the rightmost third connection block 28 is fixedly connected to the second connection frame 12, which is equivalent to overall positioning through the gripper cylinder 21 at the outermost end.

[0047] Working process: The manipulator drives the grasping device downward to pick up materials at the tray. The grasping assembly 2 contacts the shaft cover, the second connection frame 12 is pushed upward by the shaft cover, and the gripper cylinder 21 closes the first clamping piece 22 and the second clamping piece 23 to clamp the shaft cover. Then the grasping device moves upward, and the second connection frame 12 resets under the action of the spring 52. Then the manipulator moves the grasping device to the labeling machine for labeling. Finally, the manipulator moves the grasping device to the spraying bracket. After the shaft cover is labeled, the moving power 41 drives the outermost gripper cylinder 21 to move. When the outermost gripper cylinder 21 moves, the middle two gripper cylinders 21 are driven to move through the connecting rod 24, while the gripper cylinder 21 fixedly connected to the second connection frame 12 remains stationary. After the moving power 41 extends, the distance between adjacent gripper cylinders 21 becomes larger, and the adjacent distances from the spraying bracket are the same. Then the shaft cover is placed on the spraying bracket.

[0048] When all the shaft covers in the tray are grasped, the manipulator rotates the grasping device to make the suction assembly 3 move downward. The suction cup 32 contacts the tray, and the suction cup 32 sucks up the tray through negative pressure suction. The manipulator moves the tray into position, and the suction cup 32 deflates to put down the tray.

[0049] Through the grasping assembly 2 provided by this application, not only can automatic material picking, labeling, and feeding be realized, multiple materials can be picked up and placed at one time during the whole process, improving the efficiency. At the same time, the empty tray can be automatically sucked away without manual operation, saving manpower.

[0050] The grasping assembly of this application is not limited to grasping shaft covers. For different products, gripper cylinders with different sizes and models, as well as the first clamping piece and the second clamping piece, can be replaced.

[0051] The above embodiments are only illustrative of the principles and effects of the present utility model, and are not intended to limit the present utility model. Any person familiar with this technology can modify or change the above embodiments without departing from the spirit and scope of the present utility model. Therefore, all equivalent modifications or changes made by those with ordinary knowledge in the technical field without departing from the spirit and technical idea disclosed by the present utility model should still be covered by the claims of the present utility model.

Claims

1. A grasping device, characterized in that, Comprising: A body (1) for connecting with a manipulator; A grasping component (2) installed on the body (1), the grasping component (2) being used for grasping parts; a plurality of grasping components (2) are installed on the body (1); A suction component (3) located on the side of the grasping component (2) for sucking a tray.

2. The gripping device according to claim 1, characterized in that, The grasping component (2) includes a jaw cylinder (21), a first clamping piece (22) and a second clamping piece (23), the first clamping piece (22) and the second clamping piece (23) are installed on the jaw cylinder (21), and the jaw cylinder (21) is used for controlling the first clamping piece (22) and the second clamping piece (23) to clamp or release the parts.

3. The grasping device according to claim 1, characterized in that, The grasping device further includes a moving component (4) for controlling the distance between adjacent grasping components (2).

4. The gripping device according to claim 3, characterized in that A first connecting block (26) is installed on the grasping component (2), the moving component (4) includes a moving power source (41), a second connecting block (27) is provided on the grasping component (2) on the side away from the base of the moving component (4), and the output end of the moving power source (41) is connected to the second connecting block (27); locking holes (25) are provided on both sides of the first connecting block (26), adjacent first connecting blocks (26) are connected by a connecting rod (24), and limiting bosses (29) are provided at both ends of the connecting rod (24), and the limiting bosses (29) are used for preventing the connecting rod (24) from slipping out of the locking holes (25).

5. The gripping device according to claim 4, characterized in that A guide rail (16) is provided on the body (1), a third connecting block (28) is provided between the first connecting block (26) and the grasping component (2), and a slider (17) is provided at the bottom of the third connecting block (28); a support seat (42) is provided on the body (1), and the support seat (42) is used for supporting the base of the moving power source (41).

6. The gripping device according to claim 1, wherein, The body (1) includes a first connecting frame (11) and a second connecting frame (12) connected to the first connecting frame (11), a connecting hole (14) for connecting with a manipulator is provided on the first connecting frame (11), a through hole (15) is provided in the middle of the second connecting frame (12), the grasping component (2) passes through the through hole (15), and the grasping component (2) is installed on the second connecting frame (12).

7. The gripping device according to claim 6, characterized in that, A buffer component (5) is provided between the first connecting frame (11) and the second connecting frame (12) for buffering the grasping component (2).

8. The gripping device according to claim 7, wherein On one side of the second connection frame (12) away from the first connection frame (11), a third connection frame (13) is further provided. The buffer assembly (5) includes a connecting rod (51), a spring (52), a sleeve (53) and a limiting member (54). The two ends of the connecting rod (51) are respectively connected to the first connection frame (11) and the third connection frame (13). The sleeve (53) is connected to the second connection frame (12). The connecting rod (51) passes through the sleeve (53). The limiting member (54) is installed on the side of the connecting rod (51) away from the sleeve (53). The spring (52) is located between the sleeve (53) and the limiting member (54).

9. The grasping device according to any one of claims 1-7, characterized in that, The suction assembly (3) includes a side frame (31) and suction cups (32). The side frame (31) is arranged on the side of the body (1). A plurality of suction cups (32) are installed on the side frame (31). The suction cups (32) are used for sucking the tray.

10. The grasping device according to claim 9, characterized in that, An ear (33) is connected to the side frame (31). A strip-shaped hole (34) is provided on the ear (33). The suction cup (32) passes through the strip-shaped hole (34).

Images