A multi-gripping station anti-collision gripping device

Abstract

The utility model discloses a plurality of clamping station's anti -collision clamping device, including lifting module, clamping module and detection module, and clamping module includes a plurality of clamping units, and clamping unit includes clamping subassembly and anti -collision protection subassembly, and anti -collision protection subassembly includes guide rod, spring and slide rail, and guide rod is connected on clamping subassembly, and clamping subassembly is connected with slide rail through sliding block, and when clamping subassembly is pressed to work piece, clamping subassembly removes upwards along slide rail, and the displacement of any clamping subassembly is detected to the opposite two sides of clamping module horizontal direction. The utility model discloses clamping unit through guide rod, spring and slide rail's cooperation, when certain clamping unit collides to work piece in the process of descending, plays the effect of anti -collision buffer, and avoids the transmission of impact force to other clamping units, and the inductive element is arranged on the two sides of clamping module, and it is not necessary to set sensing element in each clamping unit, improves the response speed and accuracy of anti -collision.

Description

Technical Field

[0001] This utility model relates to the technical field of multi-station clamping devices, and in particular to an anti-collision clamping device with multiple clamping stations. Background Technology

[0002] In the field of industrial automation, multi-grip clamping devices are widely used. However, existing multi-grip clamping devices generally employ fixed connections for their clamping units. This method makes disassembly and installation extremely complex when a clamping unit malfunctions or needs replacement, requiring significant time and manpower. In fast-paced production environments, prolonged downtime for maintenance and replacement of clamping units severely impacts production continuity, reduces efficiency, and increases costs. Furthermore, during the lifting and lowering of the clamping units, due to the modular and uniform lifting, in rigidly connected devices, if one clamping unit collides with a workpiece during descent, the impact force is rapidly transmitted to other clamping units. This transmission of impact force can damage the entire device structure, affecting its accuracy and stability, and even triggering more serious equipment failures, thus shortening the equipment's lifespan.

[0003] Anti-collision structures are also installed in some gripping devices with multiple gripping stations. However, these anti-collision structures are often quite complex. Moreover, sensors are usually installed in each gripping unit. This not only further increases the installation difficulty of the anti-collision structure, but may also cause signal interference between sensors, affecting the response speed and accuracy of the anti-collision structure and making it impossible to avoid damage caused by collisions in a timely and effective manner. Utility Model Content

[0004] To solve the above-mentioned technical problems, this utility model provides an anti-collision clamping device for multiple clamping stations.

[0005] The technical solution adopted in this utility model is as follows:

[0006] A multi-grip anti-collision gripping device includes a lifting module, a gripping module, and a detection module. The lifting module includes a drive mechanism and a lifting plate. The drive mechanism drives the lifting plate to move up and down. The gripping module includes multiple gripping units, which are detachably arranged and connected sequentially to the lifting plate. Each gripping unit includes a gripping component and an anti-collision protection component. The anti-collision protection component includes a guide rod, a spring, and a slide rail. The guide rod is connected to the gripping component, sleeved on the guide rod, and abuts against the gripping component. The slide rail is disposed on the lifting plate and has a slider. The gripping component is connected to the slider. When the gripping component presses against the workpiece, it moves upward along the slide rail. Through-beam sensors are disposed on opposite sides of the gripping module in the horizontal direction and are used to detect the upward displacement of any gripping component.

[0007] In a preferred embodiment, the photoelectric sensor includes a light emitter and a light receiver, which are disposed on opposite sides of the gripping module in the horizontal direction.

[0008] In a preferred embodiment, the light between the light emitter and the light receiver is located above the top of the guide rod or the top of the slider.

[0009] Preferably, the height of the detection module is adjustable in the vertical direction.

[0010] In a preferred embodiment, the slide rail is fastened to the lifting plate, and an elastic gasket is provided between the connecting surfaces of the slide rail and the lifting plate.

[0011] In a preferred embodiment, the lifting plate is provided with a slot, and the clamping unit further includes a connecting block. The connecting block includes a snap-fit ​​part, a connecting part, and a guide part. The snap-fit ​​part snaps into the slot, the connecting part is bolted to and fixed to the lifting plate, and the guide part is sleeved with the guide rod.

[0012] In a preferred embodiment, the anti-collision protection component further includes a spring, which is disposed between the guide portion and the top of the clamping component, and the guide rod passes through the spring and is connected to the top of the clamping component.

[0013] In a preferred embodiment, a limiting plate is connected to the bottom of the lifting plate, and the slide rail is located between the connecting part and the limiting plate.

[0014] In a preferred embodiment, both the connecting portion and the side of the limiting plate facing the slide rail are provided with a flexible layer.

[0015] In a preferred embodiment, the top of the clamping component is provided with a clearance position, which is used to avoid the latching portion.

[0016] The beneficial effects of this utility model are as follows:

[0017] 1. The clamping unit of this utility model can be detachably connected to the lifting plate. When a clamping unit malfunctions or needs to be replaced, the operator can quickly and conveniently remove the clamping unit from the lifting plate and install a new clamping unit, which not only shortens the downtime but also improves the versatility of the device.

[0018] 2. The clamping unit of this utility model is equipped with an anti-collision protection component. Through the coordinated action of the guide rod, spring and slide rail, when a clamping unit collides with the workpiece during descent, the slide rail and spring can guide the clamping component to a certain degree of displacement, absorb some of the collision energy and play a buffering role. The guide rod can work together to maintain the linearity during the buffering process, effectively prevent the impact force from being transmitted to other clamping units, reduce damage to the entire device, extend the service life of the device and ensure the accuracy and stability of the device.

[0019] 3. The detection components of this utility model are set on both sides of the clamping module. By detecting the displacement of the top of the guide rod or the slide rail, it can determine whether a collision has occurred. It is not necessary to set a sensor in each clamping unit. As long as the bottom of any clamping component presses down on the product and lifts it, it will trigger an alarm when it touches the photoelectric sensor, thus preventing damage to the product, simplifying installation, reducing signal interference between sensors, and improving the response speed and accuracy of anti-collision. Attached Figure Description

[0020] The accompanying drawings further illustrate the present invention, but the embodiments in the drawings do not constitute any limitation on the present invention.

[0021] Figure 1 This is a schematic diagram of an embodiment of the anti-collision gripping device for multi-grip workstations of this utility model;

[0022] Figure 2 This is a schematic diagram of another embodiment of the anti-collision gripping device for multi-grip workstations of this utility model;

[0023] Figure 3 This is a schematic diagram of the clamping unit installation structure. Detailed Implementation

[0024] It should be understood that the specific embodiments described herein are merely illustrative of the present invention and are not intended to limit the present invention.

[0025] In the description of this utility model, it should be understood that the terms "upper", "lower", "top", "bottom", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0026] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation" and "connection" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection, a direct connection, or an indirect connection through an intermediate medium; they can refer to 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.

[0027] See Figures 1-3 An embodiment of a multi-grip anti-collision gripping device includes a lifting module 100, a gripping module 200, and a detection module 300. The lifting module 100 includes a drive mechanism 110 and a lifting plate 120. The drive mechanism 110 drives the lifting plate 120 to rise and fall. The gripping module 200 includes multiple gripping units, which are detachably arranged and sequentially connected to the lifting plate 120. Each gripping unit includes a gripping component 210 and an anti-collision protection component 220. The anti-collision protection component 220 includes a guide rod 221, a spring 223, and a slide rail 222. 221 is connected to the clamping assembly 210. Spring 223 is sleeved on guide rod 221 and abuts against clamping assembly 210. Slide rail 222 is set on lifting plate 120. Slider 224 is set on slide rail 222. Clamping assembly 210 is connected to slider 224. When clamping assembly presses on workpiece, clamping assembly moves upward along slide rail. Detection module 300 includes through-beam sensor. Through-beam sensor is set on opposite sides of clamping module 200 in the horizontal direction. Through-beam sensor is used to detect the upward displacement of any clamping assembly 210.

[0028] It should be noted that the multi-grip station anti-collision gripping device mainly consists of a lifting module 100, a gripping module 200, and a detection module 300. These components work together to achieve gripping and anti-collision functions. The drive mechanism 110 drives the lifting plate 120 to move up and down. The lifting plate 120 provides the mounting base for the gripping module 200, allowing it to move up and down with the lifting plate 120. Multiple gripping units are arranged horizontally and detachably connected to the lifting plate 120 for easy assembly and disassembly. The gripping units are easily replaceable, improving the device's versatility. The number of gripping units can be easily increased or decreased according to the actual gripping task requirements. Each gripping unit includes a gripping component 210 and an anti-collision device. The impact protection component 220 and the clamping component 210 are responsible for the actual clamping action. When the clamping component 210 presses against the workpiece, the clamping component moves upward along the slide rail. The spring and the slide rail together buffer the impact force on the clamping component, effectively preventing the impact force from being transmitted to other clamping units, reducing damage to the entire device, extending the service life of the device, and ensuring the accuracy and stability of the device. When the through-beam sensor detects the displacement of the clamping component, it triggers the protection mechanism. The through-beam sensor is set on both sides of the clamping module and can detect the upward displacement of any clamping component. It is not necessary to set a sensor in each clamping unit, which simplifies the installation, reduces signal interference between sensors, and improves the response speed and accuracy of the anti-collision mechanism.

[0029] like Figure 1 As shown, the clamping assembly 210 is equipped with a cylinder to drive the opening and closing of the gripper to clamp the workpiece. The anti-collision protection assembly 220 plays a protective role, preventing damage to the clamping unit or workpiece due to collision during the clamping process. The photoelectric sensor includes a light emitter 310 and a light receiver 320, which are located on opposite sides of the clamping module 200 in the horizontal direction. The light emitter 310 emits light of a specific wavelength, which propagates in a straight line to the light receiver 320 without obstruction. When any clamping assembly 210 collides with the workpiece, the guide rod 221 and the slider 224 connected to the clamping assembly 210 will be displaced accordingly. Part of the light from the light emitter 310 and the light receiver 320 will be blocked, causing a change in the intensity of the light signal received by the light receiver 320, thereby triggering a protection mechanism (such as stopping the drive mechanism 110, triggering an alarm, etc.).

[0030] Understandably, the specific working principle is as follows: During the clamping process, if the clamping component 210 collides with the workpiece, the collision force will act on the clamping component 210. Since the clamping component 210 is slidably connected to the slide rail 222, under the action of the collision force, the spring 223 is compressed to absorb and buffer the energy generated by the collision, and the slide rail 222 will slide upward, thereby coordinating to reduce the impact force of the collision on the clamping component 210 and the workpiece. At the same time, the guide rod 221 is connected to the clamping component 210 and will also move upward. The photoelectric sensor monitors the displacement of the clamping component 210 in real time. When displacement is detected, the detection module 300 will transmit the signal to the external control system, thereby triggering the protection mechanism, such as stopping the operation of the drive mechanism 110, stopping the lifting plate 120 from lifting, issuing an alarm signal, reminding the operator to deal with the collision situation in time, effectively preventing the expansion of the collision accident, and protecting the safety of the equipment and the workpiece.

[0031] The real-time monitoring of the displacement of any clamping assembly 210 by the aforementioned through-beam sensor can be achieved by monitoring a component that matches the displacement. For example... Figure 1 In one embodiment, the light beam formed between the light emitter 310 and the light receiver 320 is located above the top of the guide rod 221. When the clamping assembly 210 presses against the workpiece and moves upward, the guide rod 221 moves upward as well, and the top of the guide rod 221 partially blocks the linear light beam, triggering a protection mechanism. Figure 2 In another embodiment, the light beam formed between the light emitter 310 and the light receiver 320 is located above the top of the slider 224. When the clamping assembly 210 presses against the workpiece and moves upward, the slider 224 will block part of the straight light beam, triggering a protection mechanism.

[0032] Understandably, the guide rod 221 and slider 224 of the anti-collision protection component 220 are both connected and fixed to the clamping component 210. When the clamping component 210 collides with the workpiece, the displacement of the guide rod 221 and slider 224 is consistent with that of the clamping component 210. The detection component can determine the displacement of the clamping component 210 by detecting the displacement of the guide rod 221 or the slide rail 222. In this way, the installation position of the through-beam sensor is relatively flexible, and it can flexibly cope with some situations where the installation space is limited.

[0033] To further generate a stable sensing signal, a sensing element is installed on the guide rod 221 or slide rail 222. In practical applications, the guide rod 221 or slide rail 222 may have surface roughness, color, oil stains, or reflectivity, which can easily lead to reflection, diffusion, and reduced contrast. This causes fluctuations in the light signal received by the light receiver 320, making the detection results unstable and increasing the possibility of false or false detections. Installing a sensing element can effectively reduce the occurrence of this situation, stabilize the sensing signal, and improve the accuracy of judgment.

[0034] In some embodiments, to further improve the versatility and flexibility of the clamping device, the height of the detection module 300 is adjustable in the vertical direction. It is understood that since multiple clamping units are detachably connected to the lifting plate 120 and can be replaced according to actual clamping needs, and different workpieces have significant dimensional differences in the vertical direction, the layout and structure of different clamping units may also differ. The adjustable height of the detection module 300 can adapt to these different layouts, ensuring effective anti-collision detection for each clamping unit. In some specific implementations, the detection module 300 can be set on an adjustable component (such as a liftable column with guide rails) independent of the entire clamping device, thereby adjusting the height of the photoelectric sensor and reducing misjudgments caused by unstable optical signals due to shaking or vibration during the operation of the clamping device.

[0035] The slide rail 222 and the lifting plate 120 need to maintain connection stability so that the clamping component 210 can maintain linearity when moving upward along the slide rail 222 when it hits the workpiece, and avoid the slide rail 222 and the clamping component 210 from being worn or hitting other parts due to linear deviation. For this purpose, in some embodiments, the slide rail 222 and the lifting plate 120 are fastened together, and an elastic gasket is provided between the connecting surfaces of the slide rail 222 and the lifting plate 120. It should be noted that the fastening connection between the slide rail 222 and the lifting plate 120 improves the installation accuracy and stability of the slide rail 222. Furthermore, the elastic shims can fill any small gaps and unevenness that may exist on the connection surface, making the connection between the slide rail 222 and the lifting plate 120 tighter and more stable. This ensures the linearity and stability of the clamping assembly 210 in the horizontal direction. Moreover, during the clamping and transfer process, if there is a collision or equipment vibration, the elastic shims can absorb some of the energy, reduce the impact force on the slide rail 222 and the lifting plate 120, reduce the risk of component loosening or damage caused by severe vibration, and extend the service life of the equipment.

[0036] like Figure 3 The lifting plate 120 is provided with a slot 121. The clamping unit also includes a connecting block 230. The connecting block 230 includes a snap-fit ​​part 231, a connecting part 232 and a guide part 233. The snap-fit ​​part 231 snaps into the slot 121, the connecting part 232 is bolted to the lifting plate 120 and fixed, and the guide part 233 is sleeved with the guide rod 221.

[0037] It should be noted that the design adopts a snap-fit ​​design between the connecting block 230 and the slot 121, which enables the clamping unit to be quickly positioned on the lifting plate 120. During installation, simply align the guide part 233 of the connecting block 230 with the guide rod 221, snap the snap-fit ​​part 231 into the slot 121, and fix the connecting part 232 to the lifting plate 120 with bolts to initially fix the clamping unit. No complicated alignment operation is required, and it can ensure that multiple clamping units are neatly arranged in the horizontal direction, thereby ensuring the accuracy and consistency of the clamping operation. When maintenance, replacement, or adjustment of the clamping unit is required, simply loosen the bolts between the connecting part 232 and the lifting plate 120 to easily remove the connecting block 230 from the slot 121, thus disassembling the clamping unit. Compared to traditional welding or integrated connection methods, this detachable structure facilitates equipment maintenance and upgrades, reducing maintenance costs. The connecting part 232 and the lifting plate 120 are fixed by bolts, further enhancing the connection strength and stability between the clamping unit and the lifting plate 120, preventing the clamping unit from loosening or shifting during operation. The guide part 233 is sleeved with the guide rod 221, providing guidance for the movement of the clamping assembly 210. The cooperation between the guide part 233 and the guide rod 221 ensures that the upward movement trajectory of the clamping assembly is accurate when it presses against the workpiece, reducing movement deviation.

[0038] In some embodiments, one end of the spring 223 abuts against the guide portion 233, and the other end abuts against the top of the clamping assembly 210. When the clamping assembly 210 collides with an obstacle, a large impact force is generated. The guide portion 233 can provide a stable support platform for the spring 223, allowing the spring 223 to better perform its buffering function when subjected to external force. When the clamping assembly 210 collides with the workpiece, the spring 223 is compressed between the guide portion 233 and the top of the clamping assembly 210, which can more evenly distribute the force and reduce the impact force on the clamping assembly 210 and the workpiece. The guide portion 233 suppresses the swaying of the spring 223 and the guide rod 221 during the movement, thereby avoiding secondary collisions caused by the swaying of the spring 223 and the guide rod 221 when the clamping assembly 210 rises or falls rapidly.

[0039] To enhance the anti-collision protection effect, in some embodiments, a limiting plate 122 is connected to the bottom of the lifting plate 120, and the slide rail 222 is located between the connecting part 232 and the limiting plate 122. In this way, the limiting plate 122 and the connecting part 232 together confine the slide rail 222 within a specific range, further ensuring the installation stability of the slide rail 222. Preferably, both the connecting part 232 and the limiting plate 122 have a flexible layer on the side facing the slide rail 222.

[0040] In some embodiments, the top of the gripping assembly 210 is provided with a clearance portion to avoid the connecting portion 232. It is understood that in some compact structures, the top of the gripping assembly 210 and the connecting portion 232 may conflict spatially, preventing the gripping assembly 210 from being smoothly installed in the designated position. The clearance portion provides sufficient space for the connecting portion 232, allowing the gripping assembly 210 to properly cooperate with the slide rail 222 during installation. Furthermore, if the impact force is too large during the upward movement of the gripping assembly 210 upon impact with the workpiece, the connecting portion 232 may collide or rub against the top of the gripping assembly 210, hindering its movement into position. The clearance portion prevents this situation.

[0041] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0042] The embodiments described above are merely illustrative of several implementations of this utility model, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the utility model patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this utility model, and these all fall within the protection scope of this utility model. Therefore, the protection scope of this utility model patent should be determined by the appended claims.

Claims

1. A multi-grip anti-collision gripping device, characterized in that: include, A lifting module, comprising a drive mechanism and a lifting plate, wherein the drive mechanism drives the lifting plate to move up and down; A clamping module includes multiple clamping units, which are detachably arranged and connected sequentially to a lifting plate. Each clamping unit includes a clamping assembly and an anti-collision protection assembly. The anti-collision protection assembly includes a guide rod, a spring, and a slide rail. The guide rod is connected to the clamping assembly, and the spring is sleeved on the guide rod and abuts against the clamping assembly. The slide rail is disposed on the lifting plate and has a slider. The clamping assembly is connected to the slider. When the clamping assembly presses against the workpiece, the clamping assembly moves upward along the slide rail. The detection module includes through-beam sensors, which are disposed on opposite sides of the gripping module in the horizontal direction. The through-beam sensors are used to detect the displacement of any gripping component.

2. The anti-collision gripping device for multiple gripping stations according to claim 1, characterized in that, The photoelectric sensor includes a light emitter and a light receiver, which are disposed on opposite sides of the gripping module in the horizontal direction.

3. The anti-collision gripping device for multiple gripping stations according to claim 2, characterized in that, The light between the light emitter and the light receiver is located above the top of the guide rod or the top of the slider.

4. The anti-collision gripping device for multiple gripping stations according to claim 1, characterized in that, The height of the detection module is adjustable in the vertical direction.

5. The anti-collision gripping device for multiple gripping stations according to claim 1, characterized in that, The slide rail is fastened to the lifting plate, and an elastic gasket is provided between the connecting surfaces of the slide rail and the lifting plate.

6. The anti-collision gripping device for multiple gripping stations according to claim 1, characterized in that, The lifting plate is provided with a slot, and the clamping unit further includes a connecting block. The connecting block includes a snap-fit ​​part, a connecting part, and a guide part. The snap-fit ​​part snaps into the slot, the connecting part is bolted to the lifting plate, and the guide part is sleeved with the guide rod.

7. The anti-collision gripping device for multiple gripping stations according to claim 6, characterized in that, One end of the spring abuts against the guide portion, and the other end of the spring abuts against the top of the clamping assembly.

8. The anti-collision gripping device for multiple gripping stations according to claim 7, characterized in that, The bottom of the lifting plate is connected to a limiting plate, and the slide rail is located between the connecting part and the limiting plate.

9. The anti-collision gripping device for multiple gripping stations according to claim 8, characterized in that, Both the connecting part and the limiting plate have a flexible layer on the side facing the slide rail.

10. The anti-collision gripping device for multiple gripping stations according to claim 9, characterized in that, The clamping assembly has a clearance position on its top, which is used to avoid the latching part.

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