Multi-cylinder multi-gripper automatic grabbing mechanism

Abstract

The utility model relates to a multi-cylinder multi-gripper automatic grabbing mechanism which comprises a first mounting plate and a plurality of sets of grabbing arm assemblies, the multiple sets of grabbing arm assemblies are evenly arranged below the first mounting plate, and each grabbing arm assembly comprises a mounting column, a grabbing cylinder, a V-shaped grabbing arm, a first support and a second support. The mounting column is vertically arranged below the first mounting plate, the first support and the second support are arranged at the top end and the bottom end of the side face of the mounting column from top to bottom, the end of a cylinder body of the grabbing air cylinder is hinged to the first support, and the end of a piston piece of the grabbing air cylinder is hinged to one end of the V-shaped grabbing arm. The corners of the V-shaped grabbing arms are hinged to the second support, the V-shaped grabbing arms define a space for containing the rolled wire, and the other ends of the V-shaped grabbing arms extend to form a bottom face bearing part which makes contact with the bottom face of the rolled wire. The wire grabbing device solves the problem that wires are damaged when the wires are grabbed.

Description

Technical Field

[0001] The utility model relates to a grabbing mechanism, and more particularly to an automatic grabbing mechanism with multiple cylinders and multiple grippers. Background Art

[0002] In the field of metal wire packaging, the movement and transportation of coiled wires relies on a gripping mechanism. Existing gripping mechanisms are relatively simple in structure, limiting their application to a limited number of situations. Furthermore, existing gripping mechanisms primarily grasp the sides of the coiled wire. Therefore, when the wire is heavy, a greater gripping force is required. However, this also creates another problem: excessive pressure exerted by the gripping mechanism on the wire can cause deformation or even damage to the coiled wire. Therefore, it became necessary to design a new gripping mechanism. Utility Model Content

[0003] In view of the shortcomings of the existing technology, the purpose of the present invention is to provide a multi-cylinder multi-gripper automatic grasping mechanism, which solves the problem of wire damage when grasping wire.

[0004] The above technical objectives of the present invention are achieved through the following technical solutions:

[0005] A multi-cylinder multi-gripper automatic grasping mechanism includes a first mounting plate and multiple groups of grasping arm assemblies, and the multiple grasping arm assemblies are evenly arranged below the first mounting plate. The grasping arm assembly includes a mounting column, a grasping cylinder, a V-shaped grasping arm, a first support and a second support. The mounting column is vertically arranged below the first mounting plate, and the first support and the second support are arranged from top to bottom at the top and bottom ends of the side of the mounting column. The cylinder end of the grasping cylinder is hinged to the first bracket, and the piston end of the grasping cylinder is hinged to one end of the V-shaped grasping arm. The corner of the V-shaped grasping arm is hinged to the second support. Multiple V-shaped grasping arms form a space for accommodating coiled wire, and the other end of the V-shaped grasping arm extends to form a bottom receiving portion, which contacts the bottom surface of the coiled wire.

[0006] In one embodiment, connecting plates are provided between the plurality of mounting posts to reinforce the mounting posts.

[0007] In one embodiment, the number of the grab arm assemblies is greater than or equal to three.

[0008] In one embodiment, the multi-cylinder multi-gripper automatic grasping mechanism also includes a lifting assembly, which includes a base plate and a lifting cylinder. The cylinder body of the lifting cylinder is arranged on the base plate, and the piston of the lifting cylinder passes through the base plate downward and is fixedly connected to the first mounting plate.

[0009] In one embodiment, the lifting assembly further includes a plurality of guide rods, each of which vertically penetrates the base plate. The guide rods are slidably connected to the base plate, and the bottom ends of the guide rods are connected to the top surface of the first mounting plate.

[0010] In one embodiment, the lifting assembly also includes a second mounting plate, the second mounting plate is provided with a first through hole for facilitating the passage of the lifting cylinder body, the second mounting plate is provided with a plurality of second through holes for matching the guide rods, the top ends of the plurality of guide rods respectively pass through the corresponding second through holes, and a plurality of connecting columns are provided between the second mounting plate and the base plate, so that the second mounting plate and the base plate form a whole.

[0011] In one embodiment, the connecting column is a telescopic structure to facilitate adjustment of the distance between the second mounting plate and the base plate.

[0012] In one embodiment, a proximity sensor is provided on the bottom surface of the second support, and a detection member is provided below the hinge between the V-shaped grabbing arm and the second support. The detection member is fixedly connected to the side of the V-shaped grabbing arm facing the proximity sensor, and the detection member is at the same height as the proximity sensor on the same side.

[0013] In summary, the present invention has the following beneficial effects:

[0014] The multiple grabbing arm assemblies of the utility model move synchronously to surround the wires, and the bottom receiving portion of the V-shaped grabbing arm supports the wires, thereby solving the problem of damaging the wires when grabbing the wires. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is an overall schematic diagram of the utility model;

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

[0017] Figure 3 It is a schematic diagram of another side of the utility model.

[0018] In the figure: 1. First mounting plate, 2. Mounting column, 3. Grabbing cylinder, 4. V-shaped grabbing arm, 5. Bottom receiving portion, 6. First support, 7. Second support, 8. Connecting plate, 9. Lifting cylinder, 10. Base plate, 11. Guide rod, 12. Second mounting plate, 13. Connecting column. DETAILED DESCRIPTION

[0019] The present invention will be described in detail below with reference to the accompanying drawings and embodiments.

[0020] It is worth noting that the directional words such as "upper" and "lower" involved in this article are all relative to the perspective of the drawings. They are only for the convenience of description and cannot be understood as limitations on the technical solution.

[0021] like Figure 1-3 As shown, the utility model proposes a multi-cylinder multi-gripper automatic grasping mechanism, including a first mounting plate 1 and multiple groups of grasping arm assemblies, and the multiple grasping arm assemblies are evenly arranged below the first mounting plate 1, and the grasping arm assembly includes a mounting column 2, a grasping cylinder 3, a V-shaped grasping arm 4, a first support 6 and a second support 7. The mounting column 2 is vertically arranged below the first mounting plate 1, and the first support 6 and the second support 7 are arranged from top to bottom at the top and bottom ends of the side of the mounting column 2. The cylinder end of the grasping cylinder 3 is hinged to the first bracket, and the piston end of the grasping cylinder 3 is hinged to one end of the V-shaped grasping arm 4. The corner of the V-shaped grasping arm 4 is hinged to the second support 7. Multiple V-shaped grasping arms 4 surround a space for accommodating coiled wire, and the other end of the V-shaped grasping arm 4 extends to form a bottom receiving portion 5, which contacts the bottom surface of the coiled wire.

[0022] like Figure 1-3 As shown, with the axis of the first mounting plate 1 as a reference, multiple mounting posts 2 are evenly distributed around the axis of the first mounting plate 1. The grabbing cylinder 3, V-shaped grabbing arm 4, first support 6, and second support 7 are all located on the side of the mounting post 2 away from the axis of the first mounting plate 1. The section of the V-shaped grabbing arm 4 below the second support 7 is the grabbing section. When the grabbing section of the V-shaped grabbing arm 4 rotates toward the axis of the first mounting plate 1 under the drive of the grabbing cylinder 3, it is in the state of grabbing the wire. The receiving parts at the bottom ends of the multiple V-shaped grabbing arms 4 are located on the bottom surface of the coiled wire. When the grabbing section of the V-shaped grabbing arm 4 rotates away from the axis of the first mounting plate 1, it is in the state of lowering the wire. The synchronous operation of multiple grabbing cylinders 3 can achieve the purpose of grabbing the wire.

[0023] Furthermore, connecting plates 8 are provided between the plurality of mounting posts 2 to reinforce the mounting posts 2 .

[0024] Furthermore, the number of the grabbing arm assemblies is greater than or equal to three. Figure 1 and 2 In the embodiment, the number of grab arm assemblies is four.

[0025] Furthermore, the multi-cylinder multi-gripper automatic grasping mechanism also includes a lifting assembly, which includes a base plate 10 and a lifting cylinder 9. The cylinder body of the lifting cylinder 9 is set on the base plate 10, and the piston of the lifting cylinder 9 passes through the base plate 10 and faces downward and is fixedly connected to the first mounting plate 1. The lifting cylinder 9 controls the synchronous lifting of multiple groups of grasping arm assemblies.

[0026] Furthermore, the lifting assembly further includes a plurality of guide rods 11, each of which vertically penetrates the base plate 10. The guide rods 11 are slidably connected to the base plate 10, and the bottom ends of the guide rods 11 are connected to the top surface of the first mounting plate 1. The function of the guide rods 11 is to ensure smoother lifting and lowering of the multiple grab arm assemblies.

[0027] Furthermore, the lifting assembly includes a second mounting plate 12, which is provided with a first through-hole for the cylinder body of the lifting cylinder 9 to pass through. The second mounting plate 12 is also provided with multiple second through-holes that mate with the guide rods 11. The top ends of the multiple guide rods 11 respectively pass through the corresponding second through-holes. Multiple connecting posts 13 are provided between the second mounting plate 12 and the base plate 10, so that the second mounting plate 12 and the base plate 10 form a single unit. The function of the second mounting plate 12 is to connect to external equipment and facilitate the installation of a multi-cylinder, multi-gripper automatic grasping mechanism.

[0028] Furthermore, the connecting column 13 is a telescopic structure, which is convenient for adjusting the distance between the second mounting plate 12 and the base plate 10. After the multi-cylinder multi-gripper automatic grasping mechanism is installed and fixed, the height distance between the multiple grasping arm assemblies and the working platform below can be adjusted by adjusting the length of the connecting column 13.

[0029] Furthermore, a proximity sensor is provided on the bottom surface of the second support 7, and a detection member is provided below the hinged connection between the V-shaped grabbing arm 4 and the second support 7. The detection member is fixedly connected to the side of the V-shaped grabbing arm 4 facing the proximity sensor, and the detection member is at the same height as the proximity sensor on the same side. The proximity sensor can detect the approach of the detection member. It is easy to understand that when grabbing wire, the movement of the V-shaped grabbing arm 4 will cause the detection member to approach the proximity sensor. When the proximity sensor detects a signal, it indicates that the V-shaped grabbing arm 4 is operating normally. Otherwise, an alarm is issued.

[0030] The above description is merely a preferred embodiment of the present invention. The scope of protection of the present invention is not limited to the above embodiment. All technical solutions based on the concept of the present invention are within the scope of protection of the present invention. It should be noted that for those skilled in the art, certain improvements and modifications that do not depart from the principles of the present invention should also be considered within the scope of protection of the present invention.

Claims

1. A multi-cylinder multi-gripper automatic grasping mechanism, characterized in that: The invention comprises a first mounting plate (1) and a plurality of grabbing arm assemblies, wherein the plurality of grabbing arm assemblies are evenly arranged below the first mounting plate (1), the grabbing arm assembly comprises a mounting column (2), a grabbing cylinder (3), a V-shaped grabbing arm (4), a first support (6) and a second support (7), the mounting column (2) is vertically arranged below the first mounting plate (1), the first support (6) and the second support (7) are arranged on the top and bottom ends of the side of the mounting column (2) from top to bottom, the cylinder end of the grabbing cylinder (3) is hinged to the first bracket, the piston end of the grabbing cylinder (3) is hinged to one end of the V-shaped grabbing arm (4), the corner of the V-shaped grabbing arm (4) is hinged to the second support (7), and the plurality of V-shaped grabbing arms (4) enclose a space for accommodating coiled wires, and the other end of the V-shaped grabbing arm (4) extends to form a bottom receiving portion (5) which contacts the bottom surface of the coiled wire.

2. The multi-cylinder multi-gripper automatic grasping mechanism according to claim 1, characterized in that: A connecting plate (8) is provided between the plurality of mounting columns (2) to reinforce the mounting columns (2).

3. The multi-cylinder multi-gripper automatic grasping mechanism according to claim 1, characterized in that: The number of the grab arm assemblies is greater than or equal to three.

4. The multi-cylinder multi-gripper automatic grasping mechanism according to claim 1, characterized in that: The invention also includes a lifting assembly, which includes a base plate (10) and a lifting cylinder (9). The cylinder body of the lifting cylinder (9) is arranged on the base plate (10), and the piston of the lifting cylinder (9) passes through the base plate (10) and faces downward and is fixedly connected to the first mounting plate (1).

5. The multi-cylinder multi-gripper automatic grasping mechanism according to claim 4, characterized in that: The lifting assembly further comprises a plurality of guide rods (11), wherein the plurality of guide rods (11) respectively vertically penetrate the base plate (10), the guide rods (11) are slidably connected to the base plate (10), and the bottom ends of the guide rods (11) are connected to the top surface of the first mounting plate (1).

6. The multi-cylinder multi-gripper automatic grasping mechanism according to claim 5, characterized in that: The lifting assembly further comprises a second mounting plate (12), the second mounting plate (12) being provided with a first through hole for the cylinder body of the lifting cylinder (9) to pass through, the second mounting plate (12) being provided with a plurality of second through holes for matching the guide rods (11), the top ends of the plurality of guide rods (11) respectively passing through the corresponding second through holes, a plurality of connecting columns (13) being provided between the second mounting plate (12) and the base plate (10), so that the second mounting plate (12) and the base plate (10) form a whole.

7. The multi-cylinder multi-gripper automatic grasping mechanism according to claim 6, characterized in that: The connecting column (13) is a telescopic structure, which facilitates adjustment of the distance between the second mounting plate (12) and the base plate (10).

8. The multi-cylinder multi-gripper automatic grasping mechanism according to claim 1, characterized in that: A proximity sensor is provided on the bottom surface of the second support (7), and a detection member is provided below the hinged portion between the V-shaped grabbing arm (4) and the second support (7). The detection member is fixedly connected to the side of the V-shaped grabbing arm (4) facing the proximity sensor, and the detection member is at the same height as the proximity sensor on the same side.

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