Grabbing device

Abstract

The utility model belongs to the technical field of material carrying, and discloses a grabbing device which comprises a fixed seat, an adjusting seat and an air cylinder, and the fixed seat comprises a connecting shaft; the adjusting seat is spherically hinged to the connecting shaft, and a plurality of vacuum chucks are arranged on the adjusting seat at intervals; cylinder bodies of the air cylinders are connected with the fixing base, and piston rods of the air cylinders are connected with the adjusting base. According to the grabbing device provided by the utility model, in the process that the fixed seat moves towards a material with an inclined surface at the top, under the action of the air cylinder, the adjusting seat deflects relative to the connecting shaft, and all the vacuum chucks are in contact with and are adsorbed with the inclined surface, so that the condition that the material is separated from the vacuum chucks in the transfer process is effectively prevented. In addition, the pressure intensity in the air cylinder can be adjusted, and the situation that the materials are crushed in the material adsorption process of the vacuum suction cup is effectively prevented.

Description

TECHNICAL FIELD

[0001] The utility model relates to material handling technical field especially relates to a kind of grabbing device. BACKGROUND

[0002] In the process of cigarette production, picking and carrying material is a very common process.In related technologies, to reduce the damage of material, the material is usually grabbed by negative pressure suction, but for the material with inclined surface on the top, the adsorption effect of negative pressure suction grabbing device on the material is poor, and the material may be separated during transfer.

[0003] Therefore, a grabbing device is needed to solve the above technical problems. UTILITY MODEL CONTENT

[0004] The utility model aims at providing a kind of grabbing device, can stably adsorb and grab material.

[0005] To achieve this purpose, the utility model adopts the following technical solutions:

[0006] Provide a kind of grabbing device, comprising:

[0007] Fixed seat, including connecting shaft;

[0008] Adjusting seat, with the connecting shaft ball hinge, multiple vacuum cups are arranged on the adjusting seat with interval;

[0009] Cylinder, multiple are arranged with interval around the connecting shaft, the cylinder body of the cylinder is connected with the fixed seat, the piston rod of the cylinder is connected with the adjusting seat.

[0010] Optionally, the fixed seat further comprises:

[0011] Fixed plate, the side of the fixed plate towards the adjusting seat is connected with the first end of the connecting shaft, the cylinder body is connected with the side of the fixed plate towards the adjusting seat;

[0012] Flange, including interval arranged first flange and second flange, the first flange is connected with the side of the fixed plate away from the adjusting seat.

[0013] Optionally, it further includes ball hinge bearing, the outer ring of the ball hinge bearing is connected with the adjusting seat, the inner ring of the ball hinge bearing is connected with the connecting shaft.

[0014] Optionally, the second end of the connecting shaft is in echelon, including echelon surface and the limiting protrusion on echelon surface, the limiting protrusion is threaded in the inner ring, and the echelon surface is abutted with the first end of the inner ring;

[0015] The grabbing device further comprises a fastener and a gasket, the gasket abuts against the second end of the inner ring, and the fastener is threaded through the gasket and is screwed with the limiting protrusion.

[0016] Optionally, the adjusting seat comprises:

[0017] A connecting plate, on which the vacuum suction cups are arranged;

[0018] A connecting sleeve, provided with a stepped hole, the outer ring is arranged in the large end of the stepped hole, and the first end of the outer ring abuts against the stepped surface of the stepped hole;

[0019] A connecting cover, arranged on the side of the connecting sleeve away from the connecting plate, the connecting cover is connected with the connecting sleeve, and the second end of the outer ring abuts against the connecting cover.

[0020] Optionally, a contact head is connected to the piston rod of the air cylinder, an arc end surface is arranged at one end of the contact head facing the adjusting seat, and the arc end surface abuts against the adjusting seat.

[0021] Optionally, the adjusting seat comprises a contact plate, and the arc end surface abuts against the contact plate.

[0022] Optionally, the fixing seat is provided with two guide rods at equal intervals around the connecting shaft, the adjusting seat is provided with two limiting channels corresponding to the guide rods in one-to-one correspondence, and the guide rods are arranged in the corresponding limiting channels.

[0023] Optionally, the limiting channel is provided in the form of a U-shaped groove or a long slot.

[0024] Optionally, the limiting channel comprises two oppositely arranged guide surfaces, the guide rod is in sliding contact with the two guide surfaces, or a gap is formed between the guide rod and the two guide surfaces.

[0025] The beneficial effects of the utility model are as follows:

[0026] The grabbing device provided by the utility model, in the process of moving the material with the inclined surface at the top of the fixing seat, part of the vacuum suction cups first contact and adsorb the inclined surface, the piston rod of part of the air cylinders is retracted into the cylinder body under the extrusion of the adjusting seat, the piston rod of the remaining air cylinders is extended out of the cylinder body, so that the adjusting seat is deflected relative to the connecting shaft, until the remaining vacuum suction cups contact and adsorb the inclined surface, and then the material can be stably adsorbed and grabbed. In addition, the pressure in the air cylinder can be adjusted, so that the material is effectively prevented from being crushed in the process of adsorbing the material. BRIEF DESCRIPTION OF DRAWINGS

[0027] Figure 1 is a structural schematic view of the grabbing device provided by the utility model;

[0028] Figure 2 is a part structure sectional view of the grabbing device provided by the utility model;

[0029] Figure 3 is another part structure sectional view of the grabbing device provided by the utility model.

[0030] In the figure:

[0031] 10, material; 11, inclined surface;

[0032] 100, fixed seat; 110, connecting shaft; 111, stepped surface; 112, limiting protrusion; 120, fixed plate; 130, flange part; 131, first flange plate; 132, second flange plate;

[0033] 200, adjusting seat; 210, connecting plate; 211, positioning hole; 212, limiting channel; 2121, guide surface; 220, connecting sleeve; 221, stepped hole; 222, positioning protrusion; 230, connecting cover; 240, contact plate; 241, perforation;

[0034] 300, air cylinder; 310, contact head; 311, circular arc end face;

[0035] 400, vacuum chuck;

[0036] 500, spherical hinge bearing; 510, outer ring; 520, inner ring;

[0037] 610, fastener; 620, gasket;

[0038] 700, guide rod. DETAILED DESCRIPTION

[0039] The utility model will be further explained in detail below in combination with the drawings and examples. It can be understood that the specific examples described here are only used to explain the utility model, and not limited to the utility model. In addition, it should be noted that in order to facilitate the description, only the part related to the utility model is shown in the drawings, not all the structures.

[0040] In the description of the utility model, unless otherwise explicitly specified and limited, the terms "connected", "connected", "fixed" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or it can be integrated; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the communication inside two elements or the interaction relationship between two elements. For ordinary skilled in the art, the specific meaning of the above terms in the utility model can be understood according to the specific circumstances.

[0041] In the utility model, unless another definite provision and limitation, first feature is in second feature "on" or "under" can include that first and second features are in direct contact, also can include that first and second features are not in direct contact but contact through other features between them.Moreover, first feature is on, above and on of second feature includes that first feature is directly above and obliquely above of second feature, or only indicates that the horizontal height of first feature is higher than second feature.The first feature is below, below and below of the second feature includes that the first feature is directly below and obliquely below of the second feature, or only indicates that the horizontal height of first feature is less than second feature.

[0042] In the description of the embodiment, the terms "upper", "lower", "right", "left", "horizontal", "vertical", and "radial" refer to the orientation or position shown in the drawings, which are for convenience and simplification of description and operation, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be construed as limiting the present utility model. In addition, the terms "first" and "second" are only used to distinguish in the description and have no special meaning.

[0043] Referring to Figures 1 to 3 As shown in the drawings, the embodiment provides a grabbing device, which comprises a fixing seat 100, an adjusting seat 200 and a plurality of air cylinders 300.

[0044] Specifically, the fixing seat 100 comprises a connecting shaft 110; the adjusting seat 200 is ball-hinged with the connecting shaft 110, and a plurality of vacuum suction cups 400 are arranged on the adjusting seat 200 at intervals; and the plurality of air cylinders 300 are arranged at intervals around the connecting shaft 110, the cylinder bodies of the air cylinders 300 are connected with the fixing seat 100, and the piston rods of the air cylinders 300 are connected with the adjusting seat 200.

[0045] Exemplarily, in the process that the fixing seat 100 moves towards the top with the inclined surface 11, part of the vacuum suction cups 400 first contact and adsorb the inclined surface 11, the piston rods of part of the air cylinders 300 are retracted into the cylinder bodies under the extrusion of the adjusting seat 200, the piston rods of the remaining air cylinders 300 are extended out of the cylinder bodies, and then the adjusting seat 200 is deflected relative to the connecting shaft 110 until the remaining vacuum suction cups 400 contact and adsorb the inclined surface 11, so that the material 10 can be stably adsorbed and grabbed, and the material 10 is effectively prevented from separating from the vacuum suction cups 400 during the transfer process. In addition, the pressure in the air cylinders 300 can be adjusted, so that the material 10 is effectively prevented from being crushed during the adsorption of the material 10 by the vacuum suction cups 400. The air cylinders 300 can be connected with solenoid valves (not shown), and the pressure in the air cylinders 300 can be adjusted through the solenoid valves.

[0046] Exemplarily, the grabbing device can not only grab the material 10 with the inclined surface 11 on the top, but also grab the material 10 with the horizontal surface on the top, the material 10 with the uneven surface on the top, or the material 10 with other structured surface on the top. Among them, the arrangement of the vacuum suction cups 400 on the adjusting seat 200 can be set according to the top shape of the material 10.

[0047] In the embodiment, as shown in Figure 1 and Figure 2 , the fixing seat 100 further comprises a fixing plate 120 and a flange piece 130. The fixing plate 120 is connected to the first end of the connecting shaft 110 on the side facing the adjusting seat 200, and the cylinder body of the air cylinder 300 is connected to the side of the fixing plate 120 facing the adjusting seat 200, facilitating the assembly between the connecting shaft 110 and the fixing plate 120 and the air cylinder 300 and the fixing plate 120. The flange piece 130 comprises a first flange plate 131 and a second flange plate 132 arranged at intervals. The first flange plate 131 is connected to the side of the fixing plate 120 away from the adjusting seat 200, facilitating the assembly between the flange piece 130 and the fixing plate 120. Among them, the second flange plate 132 is used to connect with external equipment, such as a mechanical arm. In the embodiment, the fixing seat 100 is designed in a split type, facilitating processing and manufacturing.

[0048] Exemplarily, the connecting shaft 110 can be connected to the fixing plate 120 by bolt fastening, which is stable and reliable.

[0049] In the embodiment, as shown in Figure 2 , the grabbing device further comprises a spherical hinge bearing 500. The outer ring 510 of the spherical hinge bearing 500 is connected to the adjusting seat 200, and the inner ring 520 of the spherical hinge bearing 500 is connected to the connecting shaft 110, thereby realizing the articulation between the connecting shaft 110 and the adjusting seat 200, facilitating assembly.

[0050] Specifically, the second end of the connecting shaft 110 is in a stepped shape, comprising a stepped surface 111 and a limiting protrusion 112 arranged on the stepped surface 111. The limiting protrusion 112 is arranged in the inner ring 520, and the stepped surface 111 abuts against the first end of the inner ring 520. The grabbing device further comprises a fastener 610 and a gasket 620. The gasket 620 abuts against the second end of the inner ring 520, and the fastener 610 is arranged through the gasket 620 and is threadedly connected with the limiting protrusion 112, so as to realize the positioning assembly between the connecting shaft 110 and the spherical hinge bearing 500. The inner ring 520 is clamped by the gasket 620 and the stepped surface 111, so as to ensure the stable and reliable connection between the connecting shaft 110 and the inner ring 520. Among them, the fastener 610 can be a bolt.

[0051] In the embodiment, as shown in Figure 1 and Figure 3As shown, the adjusting seat 200 comprises a connecting plate 210, a connecting sleeve 220 and a connecting cover 230, the vacuum chuck 400 is arranged on the connecting plate 210; the connecting sleeve 220 is provided with a stepped hole 221, the outer ring 510 is arranged in the large end of the stepped hole 221, and the first end of the outer ring 510 abuts against the stepped surface 111 of the stepped hole 221; the connecting cover 230 is arranged on the side of the connecting sleeve 220 away from the connecting plate 210, the connecting cover 230 is connected with the connecting sleeve 220, and the connecting cover 230 abuts against the second end of the outer ring 510, facilitating the positioning assembly between the adjusting seat 200 and the spherical hinge bearing 500.

[0052] Illustratively, the connecting sleeve 220 can be arranged on the side of the connecting plate 210 away from the fixed plate 120, so as to ensure the compact structure of the grabbing device and facilitate the assembly between the connecting plate 210, the connecting cover 230 and the connecting sleeve 220. Of course, the connecting sleeve 220 can also be arranged on the side of the connecting plate 210 facing the fixed plate 120.

[0053] Illustratively, the side of the connecting sleeve 220 facing the connecting plate 210 is provided with a positioning protrusion 222, the connecting plate 210 is provided with a positioning hole 211, the positioning protrusion 222 is arranged in the positioning hole 211, and the peripheral part of the positioning protrusion 222 is fitted with the hole wall of the positioning hole 211, so as to realize the positioning assembly between the connecting sleeve 220 and the connecting plate 210. Wherein, the connecting shaft 110 is arranged in the positioning hole 211.

[0054] Illustratively, the connecting sleeve 220 can be connected with the connecting plate 210 by means of bolt fastening.

[0055] Illustratively, the connecting cover 230 can be connected with the connecting sleeve 220 by means of bolt fastening.

[0056] In a feasible implementation, the cylinder body of the air cylinder 300 can be fixed on the fixed seat 100, and the piston rod of the air cylinder 300 can abut against the adjusting seat 200, facilitating assembly.

[0057] Specifically, the air cylinder 300 can be located between the fixed plate 120 and the connecting plate 210, the cylinder body of the air cylinder 300 is fixed on the fixed seat 100, and the piston rod of the air cylinder 300 can abut against the connecting plate 210.

[0058] It is worth mentioning that when the piston rod of the air cylinder 300 extends or retracts relative to the cylinder body, the piston rod of the air cylinder 300 slides relative to the adjusting seat 200, in order to make the piston rod slide smoothly relative to the adjusting seat 200 and prevent jamming, the contact head 310 is connected to the piston rod of the air cylinder 300, the end of the contact head 310 facing the adjusting seat 200 is provided with a circular arc end face 311, and the circular arc end face 311 abuts against the adjusting seat 200.

[0059] Specifically, the adjusting seat 200 comprises a contact plate 240, and the circular arc end surface 311 abuts against the contact plate 240. The adjusting seat 200 is located on the side of the connecting plate 210 facing the fixing plate 120. In this embodiment, the hardness and strength of the contact plate 240 are greater than those of the connecting plate 210, that is, the contact plate 240 has good wear resistance, so as to reduce the wear between the connecting shaft 110 and the contact plate 240. The contact plate 240 is provided with a through hole 241 for the connecting shaft 110 to pass through.

[0060] For example, the material of the contact plate 240 can be metal, for example, the contact plate 240 can be a quenched metal plate, so as to ensure the hardness and strength of the contact plate 240.

[0061] For example, the material of the contact plate 240 can be metal, for example, the contact plate 240 can be a quenched metal plate, so as to ensure the hardness and strength of the contact plate 240.

[0062] For example, the contact plate 240 can be connected to the connecting plate 210 by means of bolt fastening.

[0063] Of course, the cylinder body of the air cylinder 300 can also be connected to the fixing seat 100 by means of hinging or other connection modes, and the piston rod of the air cylinder 300 can also be connected to the adjusting seat 200 by means of hinging or other connection modes, which is not limited in the present application.

[0064] In a feasible implementation, the air cylinder 300 is provided with a plurality of, for example, three to six, air cylinders around the connecting shaft 110. When the grabbing device grabs the material 10, the adjusting seat 200 can adaptively and more stably and reliably deflect relative to the connecting shaft 110, so as to stably adsorb the material 10.

[0065] In a feasible implementation, the air cylinder 300 is provided with a plurality of, for example, three to six, air cylinders around the connecting shaft 110. When the grabbing device grabs the material 10, the adjusting seat 200 can adaptively and more stably and reliably deflect relative to the connecting shaft 110, so as to stably adsorb the material 10.

[0066] For example, the plurality of vacuum suction cups 400 and the plurality of air cylinders 300 are arranged one by one. When the fixing plate 120 and the connecting plate 210 are parallel, that is, the grabbing device is in a natural state, the extension line of the connecting line between the corresponding vacuum suction cup 400 and the air cylinder 300 intersects the axis of the connecting shaft 110, so that the adjusting seat 200 can adaptively and more stably and reliably deflect relative to the connecting shaft 110. Optionally, the vacuum suction cup 400 and the air cylinder 300 are each provided with four.

[0067] In this embodiment, refer to Figure 1 and Figure 3As shown, the fixing base 100 is provided with two guide rods 700 at equal intervals around the connecting shaft 110; the adjusting base 200 is provided with two limiting channels 212 corresponding to the guide rods 700, and the guide rods 700 are arranged in the corresponding limiting channels 212 to limit the deflection angle of the adjusting base 200; when the material 10 is grabbed, the adjusting base 200 can quickly and stably complete the deflection, and then all the vacuum cups 400 can quickly complete the adsorption and grabbing of the material 10, thereby improving the grabbing speed of the grabbing device on the material 10.

[0068] Exemplarily, the guide rod 700 can pass through the fixing plate 120 and be threadedly connected with a nut, and the connection is stable and reliable.

[0069] Exemplarily, the limiting channel 212 is provided as a U-shaped groove or a long hole to guide the deflection of the adjusting base 200, thereby effectively improving the grabbing speed of the grabbing device on the material 10.

[0070] Exemplarily, the limiting channel 212 includes two oppositely arranged guide surfaces 2121. In some embodiments, the guide rod 700 is in sliding contact with the two guide surfaces 2121 to ensure the stability of the deflection of the guide base. In some embodiments, a gap is formed between the guide rod 700 and the two guide surfaces 2121, which effectively prevents the jamming of the adjusting base 200 and the limiting channel 212 during the deflection of the adjusting base 200, and the deflection range of the adjusting base 200 is larger, thereby improving the applicability of the grabbing device on the material 10.

[0071] Exemplarily, taking the case that the air cylinder 300 is provided with four air cylinders as an example, the line connecting the two guide rods 700 is parallel or perpendicular to the line connecting the two adjacent air cylinders 300, so that the deflection of the adjusting base 200 caused by the action of the air cylinder 300 is more stable and reliable, and the jamming of the adjusting base 200 and the limiting channel 212 during the deflection of the adjusting base 200 is effectively prevented.

[0072] Exemplarily, the end of the second end of the guide rod 700 is tapered, which effectively prevents the jamming of the adjusting base 200 and the limiting channel 212 during the deflection of the adjusting base 200.

[0073] It can be understood that the connection modes not explicitly described herein can be selected as needed, such as common connection modes such as threaded connection, welding or bonding.

[0074] Obviously, the above embodiments of the utility model are only examples for clearly illustrating the utility model, and are not a limitation on the embodiments of the utility model. For ordinary skilled persons in the art, various obvious changes, re-adjustments and replacements can be made without departing from the protection scope of the utility model. It is unnecessary and impossible to enumerate all the embodiments. Any modification, equivalent replacement and improvement made within the spirit and principle of the utility model shall be included in the protection scope of the utility model claim.

Claims

1. A gripping device, characterized in that The utility model relates to a kind of vacuum suction device, including: Fixed seat (100), including connecting shaft (110); Adjusting seat (200), with the connecting shaft (110) ball hinge, multiple vacuum chuck (400) are spaced on the adjusting seat (200); Cylinder (300), multiple are spaced around the connecting shaft (110), the cylinder (300) cylinder is connected with the fixed seat (100), the piston rod of the cylinder (300) is connected with the adjusting seat (200).

2. The gripping device according to claim 1, characterized in that The fixed seat (100) further includes: Fixed plate (120), the side of the fixed plate (120) towards the adjusting seat (200) is connected with the first end of the connecting shaft (110), the cylinder of the cylinder (300) is connected with the side of the fixed plate (120) towards the adjusting seat (200); Flange piece (130), including first flange plate (131) and second flange plate (132) spaced, the first flange plate (131) is connected with the side of the fixed plate (120) away from the adjusting seat (200).

3. The gripping device of claim 1, wherein It further includes ball hinge bearing (500), the outer ring (510) of the ball hinge bearing (500) is connected with the adjusting seat (200), the inner ring (520) of the ball hinge bearing (500) is connected with the connecting shaft (110).

4. The gripping device according to claim 3, characterized in that The second end of the connecting shaft (110) is stepped, including stepped surface (111) and limit protrusion (112) on stepped surface (111), the limit protrusion (112) is worn in the inner ring (520), and the stepped surface (111) is abutted with the first end of the inner ring (520); The gripping device further includes fastener (610) and gasket (620), the gasket (620) is abutted with the second end of the inner ring (520), the fastener (610) is worn in the gasket (620) and is connected with the limit protrusion (112) screw thread.

5. The gripping device of claim 3, wherein The adjusting seat (200) includes: Connecting plate (210), the vacuum chuck (400) is arranged on the connecting plate (210); Connecting sleeve (220), is provided with stepped hole (221), the outer ring (510) is arranged in the large end of the stepped hole (221), and the first end of the outer ring (510) is abutted with the stepped surface (111) of the stepped hole (221); Connecting cover (230), is arranged on the side of the connecting sleeve (220) away from the connecting plate (210), the connecting cover (230) is connected with the connecting sleeve (220), and the second end of the connecting cover (230) is abutted with the outer ring (510).

6. The gripping device of claim 1, wherein The piston rod of the cylinder (300) is connected with contact head (310), one end of the contact head (310) towards the adjusting seat (200) is provided with circular arc end face (311), and the circular arc end face (311) is abutted with the adjusting seat (200).

7. The gripping device according to claim 6, characterized in that The adjusting seat (200) includes contact plate (240), and the circular arc end face (311) is abutted with the contact plate (240).

8. The gripping device according to any one of claims 1-7, characterized in that, The fixing base (100) is provided with two guide rods (700) at equal intervals around the connecting shaft (110), and the adjusting base (200) is provided with two limiting channels (212) corresponding to the guide rods (700) one by one, and the guide rods (700) are arranged in the corresponding limiting channels (212).

9. The gripping device according to claim 8, characterized in that The limiting channel (212) is provided as a U-shaped groove or a long hole.

10. The gripping device of claim 8, wherein The limiting channel (212) comprises two oppositely arranged guide surfaces (2121), and the guide rod (700) is in sliding contact with the two guide surfaces (2121), or a gap is formed between the guide rod (700) and the two guide surfaces (2121).

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