Gripping device

Abstract

The utility model belongs to the technical field of reinforcing steel bar moving and transporting, and discloses a grabbing device which comprises a grabbing seat, a clamping mechanism and a material suction mechanism, the clamping mechanism comprises a clamping driver, a transmission part and two clamping jaws, the material suction mechanism comprises a material suction driver and a material suction module, the material suction module can move between a material suction position and a maintaining position, and the material suction driver is connected with the transmission part. And when the material suction module is at the material suction position, the material suction module can suck the transferred object, and when the material suction module is at the holding position, the clamping driver can drive the two clamping jaws to clamp the transferred object on the material suction module. In the utility model, the material sucking mechanism is used for sucking and lifting the transferred object to the clamping mechanism, and the clamping mechanism is used for clamping and releasing the transferred object in situ, so that the position of the transferred object is kept immovable in the process that the two clamping jaws of the clamping mechanism grab and release the transferred object, and the two clamping jaws are prevented from scraping and impacting the transferred object; and the quality of the transferred objects is ensured.

Description

Technical Field

[0001] This utility model relates to the field of steel bar transportation technology, and in particular to a gripping device. Background Technology

[0002] In existing steel bar processing production lines, steel bars are picked up and moved by gripping devices while being conveyed on conveyor frames.

[0003] Existing gripping devices typically include two grippers. During the transfer of reinforcing bars, the two grippers first move vertically to grip the reinforcing bars on the conveyor frame, then move laterally to transfer the reinforcing bars, and finally move vertically to place the gripped reinforcing bars. During this process, the two grippers are prone to causing the reinforcing bars to tilt, resulting in scraping and impact, which can lead to deformation and damage to the reinforcing bars. Utility Model Content

[0004] The purpose of this invention is to provide a gripping device that can avoid scratching and impacting the reinforcing bars during the gripping and placement process.

[0005] To achieve this objective, the present invention adopts the following technical solution:

[0006] The gripping device includes:

[0007] Grab the seat;

[0008] The clamping mechanism includes a clamping driver, a transmission component, and two grippers. The clamping driver is disposed on the gripping seat. The transmission component is slidably disposed on the gripping seat along a first direction and connected to the output end of the clamping driver. The two grippers are rotatably disposed on the gripping seat and are pulsatorically connected to opposite sides of the transmission component.

[0009] The material suction mechanism includes a material suction driver and a material suction module. The material suction driver is disposed on the gripper seat, and the material suction module is slidably disposed on the gripper seat along the first direction and connected to the output end of the material suction driver. The material suction module can move between a material suction position and a holding position. When the material suction module is in the material suction position, it can adsorb the transfer material. When the material suction module is in the holding position, the clamping driver can drive the two grippers to clamp the transfer material on the material suction module.

[0010] Preferably, the clamping driver can drive the transmission member to move between the clamping position and the open position. When the transmission member moves to the clamping position, the two grippers clamp the transported object. When the transmission member moves to the open position, the suction module can transport the transported object between the two grippers.

[0011] Preferably, the clamping driver can also drive the transmission member to move to the unloading position, which is located on the side of the open position away from the clamping position. The suction module is located at the holding position. When the transmission member moves to the unloading position, it can push the transported object away from the suction module.

[0012] Preferably, there are two clamping mechanisms, with the suction mechanism located between the two clamping mechanisms in a second direction, which is perpendicular to the first direction.

[0013] Preferably, the material suction module includes a material suction frame and a magnet. The material suction frame is slidably disposed on the gripping seat along the first direction and connected to the output end of the material suction driver. The magnet is disposed on the material suction frame and configured to magnetically attract the transported object.

[0014] Preferably, the material suction module includes a plurality of magnets, which are arranged at intervals along a second direction, the second direction being perpendicular to the first direction.

[0015] Preferably, the suction rack and / or the magnet are provided with positioning grooves, and when the magnet magnetically attracts the transported object, the transported object is positioned in the positioning groove.

[0016] Preferably, the suction module includes a counting sensor, and when the suction module adsorbs the transported material, the transported material triggers the counting sensor.

[0017] Preferably, the suction module includes a plurality of counting sensors, which are arranged at intervals along a second direction, the second direction being perpendicular to the first direction.

[0018] Preferably, the gripping seat includes a clamping seat body and a suction seat body, with the clamping mechanism disposed on the clamping seat body and the suction mechanism disposed on the suction seat body.

[0019] The grasping method, using the grasping device described above, includes:

[0020] Step 1: The gripping device moves to the loading station;

[0021] Step 2: The suction driver drives the suction module to move to the suction position, and the suction module picks up the transported material;

[0022] Step 3: The suction driver moves the suction module to the holding position;

[0023] Step 4: The clamping driver drives two grippers to clamp the transferred object through a transmission component;

[0024] Step 5: The gripping device moves to the unloading station;

[0025] Step 6: The clamping driver drives the two grippers to release the transported object through the transmission mechanism.

[0026] The beneficial effects of this utility model are:

[0027] The suction mechanism is used to absorb and lift the transported material to the clamping mechanism. The clamping mechanism is used to clamp and release the transported material in situ. This ensures that the transported material remains stationary during the gripping and releasing process, preventing the grippers from scratching or impacting the material. This also prevents the material from tilting or deforming, thus ensuring the quality of the transported material. Based on the gripping seat, the clamping mechanism and the suction mechanism work together, resulting in a simple and compact structure with a high degree of automation, safety, reliability, and ease of operation. Attached Figure Description

[0028] Figure 1 This is a schematic diagram of the gripping device in one orientation according to an embodiment of the present invention;

[0029] Figure 2 This is a schematic diagram of the gripping device in another orientation according to an embodiment of the present invention;

[0030] Figure 3 This is a cross-sectional view of the gripping device when the transmission component is in the clamping position according to an embodiment of the present invention;

[0031] Figure 4 This is a cross-sectional view of the gripping device when the transmission component is in the open position according to an embodiment of the present invention;

[0032] Figure 5 This is a cross-sectional view of the gripping device when the transmission component is in the unloading position according to an embodiment of the present invention;

[0033] Figure 6 This is a schematic diagram of the gripping device described in this embodiment of the present invention when it moves to the loading station;

[0034] Figure 7 This is a schematic diagram of the gripping device when the suction module moves the steel bar to the holding position according to an embodiment of the present invention;

[0035] Figure 8 This is a schematic diagram of the gripping device for clamping steel bars using two grippers and a magnet, as described in this embodiment of the utility model.

[0036] Figure 9 This is a schematic diagram of the gripping device for pushing the reinforcing bar away from the magnet by the transmission component described in this embodiment of the utility model.

[0037] In the picture:

[0038] 1. Gripping seat; 11. Clamping seat body; 12. Suction seat body;

[0039] 2. Clamping mechanism; 21. Clamping driver; 22. Transmission component; 23. Gripper;

[0040] 3. Suction mechanism; 31. Suction driver; 32. Suction module; 321. Suction rack; 322. Magnet; 323. Counting sensor;

[0041] 100. Steel bars. Detailed Implementation

[0042] The embodiments of this utility model are described in detail below. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar parts or parts having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this utility model, and should not be construed as limiting this utility model.

[0043] In the description of this utility model, unless otherwise explicitly specified and limited, the terms "connected," "linked," and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection or a detachable connection; a mechanical connection or an electrical connection; a direct connection or an indirect connection through an intermediate medium; or the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0044] In the description of this utility model, unless otherwise expressly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0045] The technical solution of this utility model will be further described below with reference to the accompanying drawings and specific embodiments.

[0046] like Figures 1-9As shown, this utility model provides a gripping device, including a gripping seat 1, a clamping mechanism 2, and a suction mechanism 3. The clamping mechanism 2 includes a clamping driver 21, a transmission component 22, and two grippers 23. The clamping driver 21 is disposed on the gripping seat 1. The transmission component 22 is slidably disposed on the gripping seat 1 along a first direction and connected to the output end of the clamping driver 21. The two grippers 23 are rotatably disposed on the gripping seat 1 and are tractively connected to opposite sides of the transmission component 22. The suction mechanism 3 includes a suction driver 31 and a suction module 32. The suction driver 31 is disposed on the gripping seat 1. The suction module 32 is slidably disposed on the gripping seat 1 along a first direction and connected to the output end of the suction driver 31. The suction module 32 can move between a suction position and a holding position. When the suction module 32 is in the suction position, it can absorb the transported material. When the suction module 32 is in the holding position, the clamping driver 21 can drive the two grippers 23 to clamp the transported material on the suction module 32.

[0047] In this invention, the suction mechanism 3 is used to absorb and lift the transported material to the clamping mechanism 2. The clamping mechanism 2 is used to clamp and release the transported material in situ. This ensures that the two grippers 23 of the clamping mechanism 2 keep the transported material stationary during the gripping and releasing process, avoiding scratching and impact on the transported material by the two grippers 23. This makes the transported material less prone to tilting and deformation, ensuring the quality of the transported material. Based on the gripping seat 1, the clamping mechanism 2 and the suction mechanism 3 work together, resulting in a simple and compact structure, high degree of automation, safety and reliability, and easy operation.

[0048] Specifically, the gripper 1 includes a clamping body 11 and a suction body 12. The clamping mechanism 2 is disposed on the clamping body 11, and the suction mechanism 3 is disposed on the suction body 12. The above arrangement makes the clamping mechanism 2 and the suction mechanism 3 more independent, facilitating maintenance and replacement.

[0049] More specifically, the clamping base 11 includes a clamping platform and a pressure plate. The clamping platform is fixed to one side of the suction base 12, and the pressure plate is installed on the side of the clamping platform opposite to the suction base 12.

[0050] In this embodiment, the clamping driver 21 is fixed to the top of the clamping platform, and a guide groove for the sliding of the transmission member 22 is formed between the pressure plate and the clamping platform. The guide groove extends along a first direction, which is a vertical direction. The transmission member 22 is slidably disposed in the guide groove along the vertical direction. The transmission member 22 is a rack and pinion structure, with teeth on opposite sides. Two grippers 23 are rotatably mounted on the clamping platform through bearings and mesh with the teeth on both sides of the transmission member 22. The suction driver 31 is fixedly mounted on the suction seat 12, and the suction module 32 is slidably disposed on the suction seat 12 along the vertical direction.

[0051] In other embodiments, the transmission member 22 may also be a strip structure without teeth, with two grippers 23 abutting against opposite sides of the transmission member 22, and the transmission member 22 driving the two grippers 23 to rotate by friction.

[0052] Specifically, the clamping driver 21 can drive the transmission member 22 to move between the clamping position and the open position. When the transmission member 22 moves to the clamping position, the two grippers 23 clamp the transfer object. When the transmission member 22 moves to the open position, the suction module 32 can transfer the transfer object between the two grippers 23. The above arrangement allows the two grippers 23 to clamp and release the transfer object more reliably.

[0053] More specifically, the clamping driver 21 can also drive the transmission component 22 to move to the unloading position. The unloading position is located on the side of the open position away from the clamping position, and the suction module 32 is located in the holding position. When the transmission component 22 moves to the unloading position, it can push the transported object away from the suction module 32. The above configuration enables the transmission component 22 to also have the function of unloading.

[0054] In this embodiment, the clamping driver 21 is a multi-position cylinder, and the clamping position, the open position, and the unloading position are arranged sequentially in the vertical direction.

[0055] In other embodiments, the clamping driver 21 can also be a linear motor, an electric cylinder, etc. In other embodiments, a separate cylinder can also be provided for unloading.

[0056] Specifically, the gripper 23 extends along an arc, with one end being a pointed tip and the other end being a transition end. From the pointed tip to the transition end, the cross-sectional area of ​​the gripper 23 gradually increases, and the transition end is provided with a gear that meshes with the transmission component 22.

[0057] In this embodiment, the two grippers 23 protrude in opposite directions, and when the two grippers 23 intersect, they can clamp and abut the transported object against the suction module 32.

[0058] Specifically, there are two clamping mechanisms 2. In the second direction, the suction mechanism 3 is located between the two clamping mechanisms 2, and the second direction is perpendicular to the first direction. The two clamping mechanisms 2 cooperate to clamp the rod-shaped transfer object more safely and reliably.

[0059] In this embodiment, a clamping seat 11 is configured for each clamping mechanism 2, the second direction is horizontal, and the two clamping seats 11 are fixed to the opposite sides of the suction seat 12 in the horizontal direction.

[0060] Specifically, the suction driver 31 is a linear motor, which is fixedly installed on the suction base 12. The suction base 12 is installed on the gantry or the robot arm. Driven by the drive device on the gantry or the robot arm, it moves along the third direction, thereby being able to pick up and place materials between the loading station and the unloading station. The first direction, the second direction and the third direction are perpendicular to each other.

[0061] In other embodiments, the suction driver 31 may also be an electric cylinder or the like.

[0062] Specifically, the material suction module 32 includes a material suction frame 321 and a magnet 322. The material suction frame 321 is slidably disposed on the gripping seat 1 along a first direction and connected to the output end of the material suction driver 31. The magnet 322 is disposed on the material suction frame 321 and configured to magnetically suction and transfer objects. The above configuration enables the material suction module 32 to easily and conveniently achieve magnetic suction of transferred objects.

[0063] More specifically, the material suction module 32 includes a plurality of magnets 322, which are arranged at intervals along a second direction perpendicular to the first direction. This arrangement enables the material suction module 32 to magnetically suction rod-shaped transported objects more safely and reliably.

[0064] More specifically, the suction rack 321 and / or the magnet 322 are provided with positioning grooves. When the magnet 322 magnetically attracts and transports an object, the object is positioned in the positioning groove. By providing positioning grooves, the magnetic attraction and transport of rod-shaped objects becomes safer and more reliable.

[0065] In this embodiment, the positioning groove is disposed on the magnet 322, extends along the second direction and is disposed through it, so as to simultaneously position the rod-shaped transport object when magnetically attracted.

[0066] In other embodiments, the suction module 32 may further include a suction rack 321 and an electromagnet 322, which magnetically attracts the transported object. In other embodiments, the suction module 32 may further include a suction rack 321 and a vacuum suction cup, which uses a vacuum generator to attract the transported object. In other embodiments, the suction module 32 includes a magnet 322, which is elongated and extends along a second direction.

[0067] Specifically, the suction module 32 also includes a counting sensor 323. When the suction module 32 picks up the transported material, the transported material triggers the counting sensor 323. By setting the counting sensor 323, the number of transported materials can be counted more accurately.

[0068] More specifically, the material suction module 32 includes multiple counting sensors 323, which are arranged sequentially at intervals along a second direction, perpendicular to the first direction. The multiple counting sensors 323 cross-check each other, preventing inaccurate counting when a single counting sensor 323 fails.

[0069] In this embodiment, the suction module 32 includes two counting sensors 323. In the second direction, a magnet 322 is located between the two counting sensors 323. The counting sensors 323 are photoelectric sensors, pressure sensors, etc., and are electrically connected to the controller. When the suction module 32 adsorbs and transports material, it triggers the counting sensors 323. When the suction module 32 unloads material, it releases the trigger on the counting sensors 323. When the trigger duration is not less than the set duration, the controller counts once based on the trigger and de-trigger signals. When the trigger duration is less than the set duration, the controller determines that the adsorption and transport of material has failed. When the trigger or de-trigger states of the two counting sensors 323 are inconsistent, the controller determines that the adsorption or unloading has failed. The related structures, circuit connections, and control judgment principles of the controller and the counting sensors 323 are conventional settings in the art and will not be described in detail here.

[0070] In this embodiment, the transported object is a steel bar 100, which is horizontally transported on the conveyor frame via a conveyor chain. A single steel bar 100 extends along a second direction, and multiple steel bars 100 are parallel to each other and are arranged at intervals in a third direction.

[0071] This utility model also provides a grasping method, which uses the above-mentioned grasping device and includes the following steps:

[0072] Step 1: Move the gripping device to the loading station.

[0073] In this step, such as Figure 6 As shown, the drive device or robot on the gantry moves the gripping device to the loading station. At this time, the transmission component 22 is in the open position and the suction module 32 is in the holding position.

[0074] Step 2: The suction driver 31 drives the suction module 32 to move to the suction position, and the suction module 32 adsorbs the transported material.

[0075] In this step, the material suction module 32 moves to the material suction position, and the magnet 322 at the bottom of the material suction module 32 magnetically attracts a steel bar 100 on the conveyor chain.

[0076] Step 3: The suction driver 31 drives the suction module 32 to move to the holding position.

[0077] In this step, such as Figure 7 As shown, the suction module 32 moves the steel bar 100 to the holding position, so that the steel bar 100 is located between the two grippers 23.

[0078] Step 4: The clamping driver 21 drives the two grippers 23 to clamp the transferred object through the transmission component 22.

[0079] In this step, such as Figure 8As shown, the transmission component 22 moves to the clamping position, and the two grippers 23 and the magnet 322 clamp the steel bar 100.

[0080] Step 5: Move the gripping device to the unloading station.

[0081] In this step, the drive unit or robot on the gantry moves the gripping device to the unloading station.

[0082] Step 6: The clamping driver 21 drives the two grippers 23 to release the transported object through the transmission component 22.

[0083] In this step, such as Figure 9 As shown, the transmission component 22 first moves to the unloading position, drives the two grippers 23 to open, and then continues to extend downward to the unloading position, pushing the steel bar 100 away from the magnet 322 of the suction module 32, so that the steel bar 100 falls under its own gravity.

[0084] After step six, the clamping driver 21 drives the transmission component 22 to retract to the open position, and then steps one to six are repeated to load and unload the next steel bar 100.

[0085] Obviously, the above embodiments of this utility model are merely examples for clearly illustrating the present utility model, and are not intended to limit the implementation of the present utility model. Those skilled in the art can make other variations or modifications based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this utility model should be included within the protection scope of the claims of this utility model.

Claims

1. A gripping device, characterized in that, include: Grab seat (1); The clamping mechanism (2) includes a clamping driver (21), a transmission member (22) and two grippers (23). The clamping driver (21) is disposed on the gripping seat (1). The transmission member (22) is slidably disposed on the gripping seat (1) along a first direction and connected to the output end of the clamping driver (21). The two grippers (23) are respectively rotatably disposed on the gripping seat (1) and are tractively connected to the opposite sides of the transmission member (22). The suction mechanism (3) includes a suction driver (31) and a suction module (32). The suction driver (31) is disposed on the gripper seat (1). The suction module (32) is slidably disposed on the gripper seat (1) along the first direction and connected to the output end of the suction driver (31). The suction module (32) can move between a suction position and a holding position. When the suction module (32) is in the suction position, it can adsorb the transported material. When the suction module (32) is in the holding position, the clamping driver (21) can drive the two grippers (23) to clamp the transported material on the suction module (32).

2. The gripping device according to claim 1, characterized in that, The clamping driver (21) can drive the transmission member (22) to move between the clamping position and the open position. When the transmission member (22) moves to the clamping position, the two jaws (23) clamp the transported object. When the transmission member (22) moves to the open position, the suction module (32) can transport the transported object between the two jaws (23).

3. The gripping device according to claim 2, characterized in that, The clamping driver (21) can also drive the transmission member (22) to move to the unloading position, which is located on the side of the open position away from the clamping position. The suction module (32) is located at the holding position. When the transmission member (22) moves to the unloading position, it can push the transported object away from the suction module (32).

4. The gripping device according to claim 1, characterized in that, There are two clamping mechanisms (2). In the second direction, the suction mechanism (3) is located between the two clamping mechanisms (2). The second direction is perpendicular to the first direction.

5. The gripping device according to claim 1, characterized in that, The material suction module (32) includes a material suction rack (321) and a magnet (322). The material suction rack (321) is slidably disposed on the gripping seat (1) along the first direction and connected to the output end of the material suction driver (31). The magnet (322) is disposed on the material suction rack (321) and is configured to magnetically suction the transported object.

6. The gripping device according to claim 5, characterized in that, The material suction module (32) includes a plurality of magnets (322), which are arranged at intervals along a second direction, the second direction being perpendicular to the first direction.

7. The gripping device according to claim 5, characterized in that, The suction rack (321) and / or the magnet (322) are provided with positioning grooves. When the magnet (322) magnetically attracts the transported object, the transported object is positioned in the positioning groove.

8. The gripping device according to claim 1, characterized in that, The suction module (32) includes a counting sensor (323). When the suction module (32) adsorbs the transported material, the transported material triggers the counting sensor (323).

9. The gripping device according to claim 8, characterized in that, The material suction module (32) includes a plurality of counting sensors (323), which are arranged at intervals along a second direction, the second direction being perpendicular to the first direction.

10. The gripping device according to any one of claims 1-9, characterized in that, The gripping seat (1) includes a clamping seat body (11) and a suction seat body (12), the clamping mechanism (2) is disposed on the clamping seat body (11), and the suction mechanism (3) is disposed on the suction seat body (12).

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