CN210285882U - Composite material ground platen grabbing device - Google Patents
Composite material ground platen grabbing device Download PDFInfo
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- CN210285882U CN210285882U CN201822181946.9U CN201822181946U CN210285882U CN 210285882 U CN210285882 U CN 210285882U CN 201822181946 U CN201822181946 U CN 201822181946U CN 210285882 U CN210285882 U CN 210285882U
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- rod
- main
- adjusting rod
- slide bar
- mobile jib
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Abstract
The utility model discloses a combined material ground platen grabbing device, first mobile jib and second mobile jib including parallel arrangement, first mobile jib and second mobile jib pass through main arm fixed connection, main arm one end is equipped with connecting portion, subtend between first mobile jib and the second mobile jib is provided with first regulation pole and second regulation pole, be provided with the cylinder between first regulation pole and the second regulation pole, two the flexible end of cylinder sets up mutually, the flexible end fixedly connected with slide bar of cylinder, the slide bar both ends pass through slide mechanism with first mobile jib and second mobile jib sliding connection, the second is adjusted the pole and is provided with buffer gear, the slide bar is provided with the clamping jaw downwards, the slide bar lower surface still is provided with photoelectric sensor, still be provided with the vision positioner on the main arm. The utility model has the advantages of the utility model is general strong, can snatch the material that accords with, need not to shut down, automatic positioning work piece position.
Description
Technical Field
The utility model relates to a technical field is got to the work piece clamp, concretely relates to combined material ground platen grabbing device.
Background
The floor board is also called as a clamping board or a pallet, is suitable for industries such as electronics, hardware, clothing, logistics, chemical industry, food, storage and the like, has the characteristics of firmness, durability, moisture resistance, corrosion resistance, easy stacking and the like, and is an ideal choice for product and goods turnover and long-distance transportation.
Along with the rapid development of composite materials, due to the light weight and high strength characteristics of the composite materials, the composite materials are more and more adopted in the manufacturing process of the floor plates for production, in order to improve the production efficiency and the requirements of floor plate doubling production of different specifications, grabbing robots are mostly configured on a production line and are convenient to transport, at present, an industrial robot grabbing device generally adopts a vacuum chuck form, most of workpieces grabbed by the industrial robot grabbing device are flat and smooth light parts, in the field of composite material forming, multiple surfaces of products are rough, the vacuum chucks such as leather grain surfaces or felt surfaces are difficult to pick up, and most of the existing grabbing devices are single specification customization, the compatibility is poor, when the floor plate doubling production is changed, the line is required to be stopped to adjust the grabbing devices, and time and labor are wasted. Meanwhile, workpieces need to be positioned in advance and then grabbed, and therefore the grabbing difficulty is improved.
SUMMERY OF THE UTILITY MODEL
To the not enough of above-mentioned prior art, the utility model aims to solve the technical problem that: how to provide a general strong, can snatch accord with the material, need not to shut down, the combined material ground platen grabbing device of automatic positioning work piece position.
In order to solve the technical problem, the utility model discloses a following technical scheme:
a composite floor board grabbing device comprises a first main rod and a second main rod which are arranged in parallel, wherein the central line positions of the first main rod and the second main rod are fixedly connected through a main arm, one end of the main arm is extended and provided with a connecting part, the connecting part is fixedly connected with a grabbing mechanical arm, a first adjusting rod and a second adjusting rod which are detachably connected are oppositely arranged between the first main rod and the second main rod along the main arm towards two sides, the first adjusting rod and the second adjusting rod are respectively perpendicular to the first main rod and the second main rod, an air cylinder is arranged between the first adjusting rod and the second adjusting rod, the fixed end of the air cylinder is respectively fixed with the first adjusting rod and the second adjusting rod, the telescopic ends of the two air cylinders are arranged in a back-to-back mode, a sliding rod is fixedly connected with the telescopic ends of the air cylinder, and the two ends of the sliding rod are slidably connected with the first main, one side, close to the slide bar, of the second adjusting rod is provided with a buffer mechanism, the slide bar is provided with a clamping jaw downwards, the lower surface of the slide bar is further provided with a photoelectric sensor, the photoelectric sensor is connected to the slide bar through an angle adjusting mechanism, and the main arm is further provided with a visual positioning device.
In the concrete implementation, the main arm is connected with the industrial robot through the connecting part to control the movement of the main arm, the position and the placing angle of the ground platen are determined by the visual positioning device, the gripping device is placed above the gripping device, the cylinders at two sides drive the slide bar to move oppositely and oppositely relative to the first main bar and the second main bar through the sliding mechanism during gripping, the gripping jaw below the slide bar grips the ground platen, in order to prevent the gripping jaw from extruding and crushing the ground platen, when the slide bar moves to the buffer mechanism, the cylinder stops shrinking to complete gripping, the angle direction of the angle direction is adjusted by the ground platen angle adjusting mechanism with different specifications to control the photoelectric sensor to detect the edge of the ground platen in place, if larger displacement deviation occurs, the machine is shut down to alarm, the utility model adopts the gripping jaw to grip the ground platen, thereby avoiding the weakness that the sucking disc type gripping, the continuous grabbing can be realized by being connected with a management system of a workshop for control, the grabbed workpieces can be detected in place, and the grabbing quality is guaranteed.
Preferably, the connecting part is a connecting flange, and the axis of the connecting flange coincides with the axis of the main arm.
Like this, flange joint's connected mode is stable firm, and flange joint can bear great power, ensures the steady operation of grabbing device in the use.
Preferably, the sliding mechanism comprises linear guide rails fixedly mounted on the first main rod and the second main rod, a sliding block is matched on the linear guide rails in a sliding mode, and the sliding block is fixedly connected with the sliding rod.
Therefore, the linear guide rail and the sliding block are stable in matched operation, vertical jumping cannot occur, stable operation of the clamping jaw is guaranteed, and falling of the floor plate is avoided.
As an optimization, the buffer mechanism comprises a buffer seat, the buffer seat is fixedly installed on the first adjusting rod, and a buffer rubber pad is arranged on the end face, close to the sliding rod, of the buffer seat.
Like this, buffer seat and cushion can ensure that the clamping jaw can not destroy the ground platen, can reduce the impact again when with the contact of slide bar, ensure the stability of getting.
Preferably, the angle adjusting mechanism is a driving motor, an output shaft of the driving motor is parallel to the first main rod, and the output shaft of the driving motor is rotatably connected with the photoelectric sensor.
Thus, the photoelectric sensor can realize angle adjustment to adapt to the floor boards with different volumes.
As an optimization, the driving motors and the photoelectric sensors are provided with three groups.
Like this, three driving motor of group and photoelectric sensor can fix a position the floor panel, have practiced thrift the manufacturing cost of equipment, do not influence the accuracy nature of location simultaneously.
Preferably, the visual positioning device is a high-definition camera.
Like this, can gather the locating position of ground platen, need not to fix a position the ground platen and put.
Preferably, the ends of the first adjusting rod and the second adjusting rod are provided with connecting frames, and the other ends of the connecting frames are connected with the first main rod and the second main rod through bolts.
Therefore, the distance between the first adjusting rod and the second adjusting rod can be adjusted according to actual field conditions, and therefore air cylinders with different lengths can be installed.
Drawings
Fig. 1 is a schematic structural view of a composite material floor panel gripping device according to an embodiment of the present invention.
Fig. 2 is a front view of the composite floor panel gripping device of fig. 1.
Fig. 3 is a left side view of fig. 2.
Fig. 4 is a top view of fig. 2.
In the drawings: the device comprises a first main rod 1, a second main rod 11, a main arm 12, a first adjusting rod 13, a second adjusting rod 14, a cylinder 15, a sliding rod 16, a clamping jaw 17, a photoelectric sensor 18, a connecting flange 19, a linear guide rail 2, a sliding block 21, a buffer seat 22, a buffer rubber pad 23, a driving motor 24 and a high-definition camera 25.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
In specific implementation, as shown in fig. 1 to 4, the device comprises a first main rod 1 and a second main rod 11 which are arranged in parallel, the central line positions of the first main rod 1 and the second main rod 11 are fixedly connected through a main arm 12, one end of the main arm 12 is extended and provided with a connecting part, the connecting part is fixedly connected with a grabbing mechanical arm, a first adjusting rod 13 and a second adjusting rod 14 which are detachably connected are oppositely arranged between the first main rod 1 and the second main rod 11 along the main arm 12 towards two sides, the first adjusting rod 13 and the second adjusting rod 14 are respectively perpendicular to the first main rod 1 and the second main rod 11, an air cylinder 15 is arranged between the first adjusting rod 13 and the second adjusting rod 14, the fixed end of the air cylinder 15 is respectively fixed with the first adjusting rod 13 and the second adjusting rod 14, the telescopic ends of the two air cylinders 15 are arranged opposite, a slide rod 16 is fixedly connected to the telescopic end of the air cylinder 15, the two ends of the sliding rod 16 are connected with the first main rod 1 and the second main rod 11 in a sliding mode through sliding mechanisms, one side, close to the sliding rod 16, of the second adjusting rod 14 is provided with a buffer mechanism, the sliding rod 16 is provided with a clamping jaw 17 downwards, the lower surface of the sliding rod 16 is further provided with a photoelectric sensor 18, the photoelectric sensor 18 is connected onto the sliding rod 16 through an angle adjusting mechanism, and a visual positioning device is further arranged on the main arm 12.
In the concrete implementation, the main arm is connected with the industrial robot through the connecting part to control the movement of the main arm, the position and the placing angle of the ground platen are determined by the visual positioning device, the gripping device is placed above the gripping device, the cylinders at two sides drive the slide bar to move oppositely and oppositely relative to the first main bar and the second main bar through the sliding mechanism during gripping, the gripping jaw below the slide bar grips the ground platen, in order to prevent the gripping jaw from extruding and crushing the ground platen, when the slide bar moves to the buffer mechanism, the cylinder stops shrinking to complete gripping, the angle direction of the angle direction is adjusted by the ground platen angle adjusting mechanism with different specifications to control the photoelectric sensor to detect the edge of the ground platen in place, if larger displacement deviation occurs, the machine is shut down to alarm, the utility model adopts the gripping jaw to grip the ground platen, thereby avoiding the weakness that the sucking disc type gripping, the continuous grabbing can be realized by being connected with a management system of a workshop for control, the grabbed workpieces can be detected in place, and the grabbing quality is guaranteed.
In this embodiment, the connecting portion is a connecting flange 19, and an axis of the connecting flange 19 coincides with an axis of the main arm 12.
Like this, flange joint's connected mode is stable firm, and flange joint can bear great power, ensures the steady operation of grabbing device in the use.
In this embodiment, the sliding mechanism includes a linear guide 2 fixedly installed on the first main rod 1 and the second main rod 11, a sliding block 21 is slidably fitted on the linear guide 2, and the sliding block 21 is fixedly connected to the sliding rod 16.
Therefore, the linear guide rail and the sliding block are stable in matched operation, vertical jumping cannot occur, stable operation of the clamping jaw is guaranteed, and falling of the floor plate is avoided.
In this embodiment, the buffering mechanism includes a buffering seat 22, the buffering seat 22 is fixedly mounted on the first adjusting rod 13, and a buffering rubber pad 23 is disposed on an end surface of the buffering seat 22 close to the sliding rod 16.
Like this, buffer seat and cushion can ensure that the clamping jaw can not destroy the ground platen, can reduce the impact again when with the contact of slide bar, ensure the stability of getting.
In this embodiment, the angle adjusting mechanism is a driving motor 24, an output shaft of the driving motor 24 is parallel to the first main rod 1, and an output shaft of the driving motor 24 is rotatably connected to the photoelectric sensor 18.
Thus, the photoelectric sensor can realize angle adjustment to adapt to the floor boards with different volumes.
In this embodiment, three sets of driving motors 24 and photoelectric sensors 18 are provided.
Like this, three driving motor of group and photoelectric sensor can fix a position the floor panel, have practiced thrift the manufacturing cost of equipment, do not influence the accuracy nature of location simultaneously.
In this embodiment, the visual positioning device is a high-definition camera 25.
Like this, can gather the locating position of ground platen, need not to fix a position the ground platen and put.
In this embodiment, the ends of the first adjusting rod and the second adjusting rod are both provided with a connecting frame, and the other end of the connecting frame is connected with the first main rod and the second main rod through bolts.
Therefore, the distance between the first adjusting rod and the second adjusting rod can be adjusted according to actual field conditions, and air cylinders with different lengths can be installed
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those skilled in the art; the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the scope of the embodiments of the present invention, and are intended to be covered by the claims and the specification.
Claims (8)
1. The composite floor board grabbing device is characterized by comprising a first main rod and a second main rod which are arranged in parallel, wherein the central line positions of the first main rod and the second main rod are fixedly connected through a main arm, one end of the main arm is extended and provided with a connecting part, the connecting part is fixedly connected with a grabbing mechanical arm, a first adjusting rod and a second adjusting rod which are detachably connected are oppositely arranged between the first main rod and the second main rod along the main arm in the direction of two sides, the first adjusting rod and the second adjusting rod are respectively perpendicular to the first main rod and the second main rod, an air cylinder is arranged between the first adjusting rod and the second adjusting rod, the fixed end of the air cylinder is respectively fixed with the first adjusting rod and the second adjusting rod, the telescopic ends of the two air cylinders are arranged in a back-to-back manner, a slide bar is fixedly connected with the telescopic ends of the air cylinder, and the two ends of the slide bar are slidably connected with the, one side, close to the slide bar, of the second adjusting rod is provided with a buffer mechanism, the slide bar is provided with a clamping jaw downwards, the lower surface of the slide bar is further provided with a photoelectric sensor, the photoelectric sensor is connected to the slide bar through an angle adjusting mechanism, and the main arm is further provided with a visual positioning device.
2. The composite floor panel gripping device of claim 1 wherein the coupling portion is a coupling flange having an axis coincident with an axis of the primary arm.
3. The composite material floor panel gripping device of claim 1, wherein the sliding mechanism comprises linear guide rails fixedly mounted on the first main bar and the second main bar, and a sliding block is slidably fitted on the linear guide rails and fixedly connected with the sliding bar.
4. The composite material floor slab grabbing device of claim 1, wherein the buffering mechanism comprises a buffering seat, the buffering seat is fixedly mounted on the first adjusting rod, and a buffering rubber pad is arranged on an end face, close to the sliding rod, of the buffering seat.
5. The composite material floor panel gripping device of claim 1, wherein the angular adjustment mechanism is a drive motor, an output shaft of the drive motor is parallel to the first main rod, and the output shaft of the drive motor is rotatably connected to the photoelectric sensor.
6. The composite floor panel gripping apparatus of claim 5 wherein there are three sets of drive motors and photoelectric sensors.
7. The composite floor plate grasping device according to claim 1, wherein the visual positioning device is a high definition camera.
8. The composite material floor slab grabbing device according to claim 1, wherein a connecting frame is arranged at each end of the first adjusting rod and the second adjusting rod, and the other end of the connecting frame is connected with the first main rod and the second main rod through bolts.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822181946.9U CN210285882U (en) | 2018-12-24 | 2018-12-24 | Composite material ground platen grabbing device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822181946.9U CN210285882U (en) | 2018-12-24 | 2018-12-24 | Composite material ground platen grabbing device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210285882U true CN210285882U (en) | 2020-04-10 |
Family
ID=70059955
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201822181946.9U Active CN210285882U (en) | 2018-12-24 | 2018-12-24 | Composite material ground platen grabbing device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN210285882U (en) |
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2018
- 2018-12-24 CN CN201822181946.9U patent/CN210285882U/en active Active
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