Floating gripping device

Abstract

The utility model relates to a floating grabbing device which comprises a driving air cylinder, a floating mechanism and a clamping mechanism, a front end plate is arranged at the telescopic end of the driving air cylinder, the floating mechanism is installed on the front end plate, and the clamping mechanism is installed on the floating mechanism. Wherein the clamping mechanism comprises a clamping jaw air cylinder and at least one pair of clamping jaws, and the clamping jaw air cylinder is used for driving the two clamping jaws to move oppositely or oppositely so as to clamp or loosen a product; the floating mechanism comprises a floating box body, a movable plate, a plurality of elastic pieces and a plurality of steel balls, the movable plate is fixed below the front end plate, the outer wall of the periphery of the movable plate is connected with the inner wall of the periphery of the floating box body through the elastic pieces, and at least part of the front end plate is located in the floating box body and movably connected with the inner wall of the periphery of the floating box body through the steel balls. The clamping mechanism can properly slide back and forth and left and right through sliding of the steel balls, meanwhile, due to the existence of the elastic piece, the product can be automatically centered to the original point after being grabbed, and the product with position deviation can be well grabbed through the design.

Description

TECHNICAL FIELD

[0001] The utility model relates to industrial automation technical field especially relates to a floating grabbing device. BACKGROUND

[0002] At present, product grabbing and displacement are everywhere in the industrial automation field, and are widely used in assembly, detection or packaging industry. When the repeated positioning precision of the product is not high or synchronous grabbing and displacement, if the automatic grabbing mechanism is not designed to float, the product grabbing and displacement cannot be stable and efficient.

[0003] At present, various floating designs are also used in the industry, but it is difficult to meet the X, Y and Z three direction floating at the same time. Even if it is forced to meet, the size of the mechanism will be larger, and the floating force is larger, and the automatic centering effect is poor. Therefore, the technical personnel in the field are committed to developing a new floating grabbing device to change the defects of various existing floating grabbing devices and realize efficient and stable grabbing operation of the product. UTILITY MODEL CONTENTS

[0004] The utility model discloses a floating grabbing device can well grab the product with position deviation, also avoids the damage of equipment to a great extent, improves the stability and efficiency of product grabbing.

[0005] In order to achieve the above purpose, the utility model provides a floating grabbing device, which comprises driving cylinder, floating mechanism and clamping mechanism arranged in sequence from top to bottom, the telescopic end of the driving cylinder is provided with a front end plate, the floating mechanism is installed on the front end plate, and the clamping mechanism is installed on the floating mechanism.

[0006] The clamping mechanism comprises a clamping jaw cylinder and at least one pair of clamping jaws, the clamping jaw cylinder is used to drive the relative motion or opposite motion of the two clamping jaws to clamp or release the product to be grabbed.

[0007] The floating mechanism comprises a floating box body, a movable plate, a plurality of elastic members and a plurality of steel balls, the movable plate is fixed below the front end plate, the outer wall of the movable plate is connected with the inner wall of the floating box body through the elastic members, the front end plate is at least partially located in the floating box body and is movably connected with the inner wall of the floating box body through the steel balls, and the clamping jaw cylinder is installed at the bottom of the floating box body.

[0008] Optionally, the driving cylinder is a guide rod cylinder.

[0009] Optionally, the elastic members are symmetrically distributed about the center line of the movable plate.

[0010] Optionally, the elastic member is an elastic plunger.

[0011] Optionally, a gap is formed between the outer wall of the front end plate and the inner wall of the floating box body, and the gap is filled with the steel balls.

[0012] Optionally, a gap is formed between the bottom wall of the movable plate and the bottom wall of the floating box body.

[0013] Optionally, the clamping mechanism further comprises a cylinder mounting plate fixed to the bottom of the floating box body, and the clamping jaw cylinder is mounted on the cylinder mounting plate.

[0014] Optionally, the clamping mechanism further comprises two quick change units oppositely arranged, the quick change unit comprises a conversion block, an adjusting rod and an adjusting block, two conversion blocks are mounted on the two opposite telescopic ends of the clamping jaw cylinder respectively, the adjusting rod is mounted on the conversion block in a direction perpendicular to the clamping direction of the clamping jaw, the adjusting block is adjustably mounted on the adjusting rod, and the clamping jaw is detachably mounted on the adjusting block.

[0015] Optionally, the adjusting rod is provided with a sliding rail in the axial direction, and the adjusting block is provided with a sliding groove matched with the sliding rail.

[0016] Optionally, the adjusting rod is provided with a plurality of adjusting holes in the axial direction, and the adjusting block is provided with a connecting hole connected with one of the adjusting holes through a knob plunger.

[0017] In the floating grabbing device, at least the following effective effects are achieved:

[0018] 1) By arranging the floating mechanism, the sliding of the steel balls can make the clamping jaw mechanism slide left and right in the horizontal direction, and the product can be self-centered back to the original point after being grabbed due to the existence of the elastic member, so that the product with position deviation can be well grabbed, and the damage of the equipment is avoided to a great extent, thereby improving the stability and efficiency of product grabbing.

[0019] 2) The clamping jaw cylinder can drive the clamping jaw to move through the quick change unit, and the position of the adjusting block on the adjusting rod is adjustable, so that the position of the clamping jaw in the direction perpendicular to the clamping direction is adjustable, so as to meet the grabbing requirements of different positions. In addition, since the clamping jaw is detachably mounted on the adjusting block, the corresponding clamping jaw can be quickly removed and replaced when producing products of different sizes, and the application range is wider.

[0020] 3) The clamping jaw is mounted and fixed by the knob plunger, so that the mounting, dismounting and replacement of the clamping jaw are very convenient.

[0021] 4) The whole device structure is compact, ingenious, can ensure stable and fast grabbing of products, especially suitable for automatic production equipment, and can greatly improve production efficiency. BRIEF DESCRIPTION OF DRAWINGS

[0022] Those skilled in the art should understand that the provided drawings are used to better understand the present application, and do not constitute any limitation on the scope of the present application. Among them:

[0023] Fig. 1 The front view of the floating grabbing device provided for an embodiment of the present application;

[0024] Fig. 2 The side view of the floating grabbing device provided for an embodiment of the present application;

[0025] Fig. 3 The structural schematic view of the clamping mechanism provided for an embodiment of the present application.

[0026] Among them:

[0027] 100 - driving cylinder; 110 - front end plate; 200 - clamping jaw cylinder; 210 - clamping jaw; 220 - cylinder mounting plate; 230 - conversion block; 240 - adjusting rod; 241 - adjusting hole; 250 - adjusting block; 260 - knob plunger; 300 - product; 400 - floating box body; 410 - movable plate; 420 - elastic member; 430 - steel ball. DETAILED DESCRIPTION

[0028] In order to make the purpose, advantages and characteristics of the present application more clear, the present application will be further described in detail below in combination with the drawings and specific embodiments. It should be noted that the drawings are very simplified and all use non-precise proportions, only to facilitate, clearly assist in explaining the purpose of the present application embodiment. In order to make the purpose, characteristics and advantages of the present application more obvious and easy to understand, please refer to the drawings. It should be understood that the structures, proportions, sizes, etc. shown in the drawings attached to the present specification are only used to cooperate with the content disclosed in the specification, so that those skilled in the art can understand and read, and are not used to limit the conditions of the present application. Any modification of structure, change of proportion relationship or adjustment of size, in the same or similar case as the effect and purpose that can be produced by the present application can be achieved, should still fall within the scope of the technical content disclosed by the present application.

[0029] As used in the present application, the singular forms "a," "an," and "the" include plural referents unless the content clearly dictates otherwise. As used in the present application, the term "or" is generally employed in its sense of "and / or" unless the content clearly dictates otherwise. As used in the present application, the term "several" is generally employed in its sense of "at least one" unless the content clearly dictates otherwise. As used in the present application, the term "at least two" is generally employed in its sense of "two or more" unless the content clearly dictates otherwise. In addition, the terms "first," "second," "third," are used only for descriptive purposes and should not be construed as indicating or implying relative importance or an indicated number of technical features. Thus, features defined with "first," "second," "third" can explicitly or implicitly include one or at least two of the features.

[0030] In the description of the present application, unless otherwise explicitly specified and limited, the terms "mounting", "connection", "connecting", "fixing" should be understood in a broad sense, for example, can be fixedly connected, or can be detachably connected, or can be integrated; can be mechanically connected, or can be electrically connected; can be directly connected, or can be indirectly connected through an intermediate medium; can be the internal communication of two elements or the interaction relationship between two elements. For those skilled in the art, the specific meanings of the above terms in the present application can be understood according to the specific circumstances.

[0031] Please refer to Figs. 1-3 The embodiment provides a floating grabbing device, which comprises a driving cylinder 100, a floating mechanism and a clamping mechanism arranged in sequence from top to bottom, a front end plate 110 is arranged at the telescopic end of the driving cylinder 100, the floating mechanism is installed on the front end plate 110, and the clamping mechanism is installed on the floating mechanism.

[0032] The clamping mechanism comprises a clamping jaw cylinder 200 and at least one pair of clamping jaws 210, the clamping jaw cylinder 200 is used for driving the two clamping jaws 210 to move relatively or oppositely to clamp or release the product 300 to be grabbed.

[0033] The floating mechanism comprises a floating box body 400, a movable plate 410, a plurality of elastic members 420 and a plurality of steel balls 430, the movable plate 410 is fixed below the front end plate 110, the outer wall of the movable plate 410 is connected to the inner wall of the floating box body 400 through the elastic members 420, the front end plate 110 is at least partially located in the floating box body 400 and is movably connected to the inner wall of the floating box body 400 through the steel balls 430, and the clamping jaw cylinder 200 is installed at the bottom of the floating box body 400.

[0034] By setting the floating mechanism, the clamping mechanism can slide in the horizontal direction left and right, and the product 300 can be self-centered back to the original position after being grabbed due to the existence of the elastic member 420. This design can well grab the product 300 with position deviation, and also largely avoids damage to the equipment, thereby improving the stability and efficiency of the product 300 grabbing.

[0035] In the embodiment, the driving cylinder 100 is a guide rod cylinder. The guide rod cylinder has high positioning accuracy and stability, and compared with a cylinder without a guide rod, the guide rod cylinder can more easily realize high-precision guiding positioning, thereby improving work efficiency and stability, and is a preferred choice. When the guide rod cylinder is extended or retracted, the floating mechanism is driven by the front end plate 110 to move vertically, and the clamping mechanism is driven to move vertically to approach the product 300 to be grabbed.

[0036] In the embodiment, the outer walls of the movable plate 410 are connected to the inner walls of the floating box body 400 through the elastic members 420. It can be understood that any outer wall of the movable plate 410 is connected to the corresponding inner wall of the floating box body 400 through at least one elastic member 420, and the elastic members 420 are symmetrically distributed about the center line of the movable plate 410, so that the product 300 can be self-centered back to the original position after being grabbed.

[0037] In the embodiment, each outer wall of the movable plate 410 is connected to the corresponding inner wall of the floating box body 400 through two elastic members 420.

[0038] Optionally, the elastic member 420 is an elastic plunger, and the utility model does not limit this.

[0039] In the embodiment, the outer walls of the front end plate 110 and the inner walls of the floating box body 400 have gaps, and the gaps are filled with steel balls 430. It should be understood that the width of the gap should be greater than the diameter of the steel ball 430, so as to reserve a space for the steel ball 430 to slide in the horizontal direction left and right.

[0040] In the embodiment, the bottom wall of the movable plate 410 and the bottom wall of the floating box body 400 have a gap, so as to reserve a space for the relative movement of the movable plate 410 and the floating box body 400 in the vertical direction, i.e. a floating space, to ensure that the floating grabbing device can simultaneously satisfy the floating in X, Y and Z directions in the space rectangular coordinate system.

[0041] In the embodiment, the clamping mechanism further comprises a cylinder mounting plate 220, the cylinder mounting plate 220 is fixed at the bottom of the floating box body 400, and the claw cylinder 200 is mounted on the cylinder mounting plate 220. The cylinder mounting plate 220 can be fixed at the bottom of the floating box body 400 by a threaded connection, and the utility model does not limit this.

[0042] In the embodiment, the clamping jaw cylinder 200 is a double-end cylinder, that is, the two ends of the clamping jaw cylinder 200 can be simultaneously extended and retracted, so as to drive the two clamping jaws 210 arranged oppositely to move synchronously to clamp or release the product 300 to be grabbed. The clamping jaw 210 can be a pair or two pairs or more, and the utility model does not limit this. In the embodiment, the clamping jaw 210 is two pairs and is arranged at the front and rear ends of the clamping jaw cylinder 200 respectively. The clamping rate of the clamping jaw cylinder 200 is affected by the air, and the greater the air, the faster the clamping rate of the clamping jaw 210.

[0043] Preferably, referring to Fig. 3 , the clamping mechanism further comprises two oppositely arranged quick change units, the quick change unit comprises a conversion block 230, an adjusting rod 240 and an adjusting block 250, the conversion block 230 is two and is arranged on the two oppositely arranged extension and retraction ends of the clamping jaw cylinder 200 respectively, the adjusting rod 240 is arranged on the conversion block 230 along the direction perpendicular to the clamping direction of the clamping jaw 210, the adjusting block 250 is adjustably arranged on the adjusting rod 240, and the clamping jaw 210 is detachably arranged on the adjusting block 250.

[0044] In the embodiment, the clamping jaw cylinder 200 can drive the clamping jaw 210 to move through the quick change unit. Since the position of the adjusting block 250 on the adjusting rod 240 is adjustable, the position of the clamping jaw 210 along the direction perpendicular to the clamping direction is adjustable, so as to adapt to the grabbing requirements of different positions. In addition, since the clamping jaw 210 is detachably arranged on the adjusting block 250, the corresponding clamping jaw 210 can be quickly removed and replaced when producing products 300 of different sizes, and the application range is wider.

[0045] Preferably, the adjusting rod 240 is provided with a sliding rail in the axial direction, and the adjusting block 250 is provided with a sliding groove, the sliding groove is matched with the sliding rail, and the position of the adjusting block 250 is adjusted by sliding the adjusting block 250 on the adjusting rod 240, and then the position of the clamping jaw 210 is adjusted.

[0046] Preferably, the adjusting rod 240 is provided with a plurality of adjusting holes 241 in the axial direction, and the adjusting block 250 is provided with a connecting hole connected with one of the adjusting holes 241 through a knob plunger 260. That is, the adjusting block 250 only needs to be slid to the position where the connecting hole is aligned with any one of the adjusting holes 241, and then the knob plunger 260 is tightened to fix, so as to prevent the clamping jaw 210 from being loosened when grabbing the product 300. By adopting the knob plunger 260 to install and fix the clamping jaw 210, the installation, disassembly and replacement of the clamping jaw 210 are very convenient.

[0047] In conclusion, the embodiment of the utility model provides a kind of floating grabbing device, by setting up floating mechanism, the sliding of steel ball 430 can make clamping mechanism in horizontal direction before and after left and right appropriate sliding, simultaneously due to the existence of elastic member 420 makes that product 300 can be grabbed after self-centering back to original point, such design can be well grabbed with positional deviation product 300, also largely avoid the damage of equipment, to improve the stability and efficiency of product 300 grabbing. The whole device structure is compact, ingenious, can guarantee product stable and fast grabbing, especially suitable for automated production equipment, can greatly improve production efficiency.

[0048] In addition, it should be realized that, although the utility model has been disclosed as above with preferred embodiments, the above embodiments are not intended to limit the utility model. For any skilled person in the art, without departing from the scope of the utility model technical scheme, many possible changes and modifications can be made to the utility model technical scheme using the disclosed technical content, or modified as equivalent embodiments of equivalent changes. Therefore, any simple modification, equivalent change and modification made to the above embodiments according to the technical essence of the utility model, without departing from the content of the utility model technical scheme, still belongs to the protection scope of the utility model technical scheme.

Claims

1. A floating gripping device, characterized in that The device comprises a driving cylinder, a floating mechanism and a clamping mechanism arranged in sequence from top to bottom, the driving cylinder is provided with a front end plate, the floating mechanism is installed on the front end plate, and the clamping mechanism is installed on the floating mechanism. The clamping mechanism comprises a clamping jaw cylinder and at least one pair of clamping jaws, the clamping jaw cylinder is used to drive the two clamping jaws to move oppositely or away from each other to clamp or release the product to be grabbed. The floating mechanism comprises a floating box, a movable plate, a plurality of elastic members and a plurality of steel balls, the movable plate is fixed below the front end plate, the outer wall of the movable plate is connected to the inner wall of the floating box through the elastic members, the front end plate is at least partially located in the floating box and is movably connected to the inner wall of the floating box through the steel balls, and the clamping jaw cylinder is installed at the bottom of the floating box.

2. The floating gripping device according to claim 1, characterized in that The driving cylinder is a guide rod cylinder.

3. The floating gripping device of claim 1, wherein, The elastic members are symmetrically distributed about the center line of the movable plate.

4. The floating gripping device according to claim 3, characterized in that The elastic members are elastic plungers.

5. The floating gripping device of claim 1, wherein, The outer wall of the front end plate and the inner wall of the floating box have a gap, and the gap is filled with the steel balls.

6. The floating gripping device of claim 1, wherein, The bottom wall of the movable plate and the bottom wall of the floating box have a gap.

7. The floating gripping device of claim 1, wherein, The clamping mechanism further comprises a cylinder mounting plate, the cylinder mounting plate is fixed at the bottom of the floating box, and the clamping jaw cylinder is installed on the cylinder mounting plate.

8. The floating gripping device of claim 1, wherein, The clamping mechanism further comprises two oppositely arranged quick change units, the quick change unit comprises a conversion block, an adjusting rod and an adjusting block, the conversion block is two and is installed on the two opposite ends of the clamping jaw cylinder respectively, the adjusting rod is installed on the conversion block in a direction perpendicular to the clamping direction of the clamping jaw, the adjusting block is adjustably installed on the adjusting rod, and the clamping jaw is detachably installed on the adjusting block.

9. The floating gripping device according to claim 8, characterized in that The adjusting rod is provided with a sliding rail in the axial direction, the adjusting block is provided with a sliding groove, and the sliding groove is matched with the sliding rail.

10. The floating gripping device of claim 8, wherein, The adjusting rod is provided with a plurality of adjusting holes in the axial direction, the adjusting block is provided with a connecting hole, and the connecting hole is connected with one of the adjusting holes through a knob plunger.

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