CN209226111U - Gripper equipment and handling device - Google Patents

Abstract

The utility model relates to a kind of gripper equipment and handling device, gripper equipment includes: bearing assembly, including the arrying main body plate for carrying weight；Handgrip, including fixed frame and the clamping apparatus being set on the fixed frame, the clamping apparatus is used to block the fixed part of weight, fixed frame and the removable connection of arrying main body plate, and weight is moved to predetermined position.By setting, for carrying the bearing assembly of weight and the handgrip of fixed weight, the crawl requirement of irregular shape weight may be implemented in the gripper equipment.In addition, irregular shape weight can be safely placed in predetermined position using the gripper equipment by handling device provided by the utility model, and accurate positioning, reliability are higher.

Description

Handling device and handling device

technical field

The utility model relates to the technical field of electromechanical equipment, in particular to a gripping device and a handling device.

Background technique

In the existing workshop, there are mainly two ways to carry out heavy objects with irregular shapes. One is to directly lift them with bare hands and place them in the cabinet. The operation intensity is relatively high, and there are injuries Potential safety hazards to personnel, damaged products, etc. The other is to directly hang heavy objects by using row cranes or electric hoists. Since the placement of irregularly shaped heavy objects is different before and after transportation, the vertical suspension method can only solve the problem of handling irregularly shaped heavy objects, but cannot Items are safely placed in the cabinet.

Utility model content

An object of the present utility model is to provide a gripping device, which can meet the requirement of grabbing heavy objects with irregular shapes.

Another object of the present invention is to provide a transport device that can securely place heavy objects with irregular shapes at predetermined positions.

On the one hand, the embodiment of the present utility model provides a gripper device, which includes: a bearing assembly, including a load-bearing body plate for carrying heavy objects; a gripper, including a fixing frame and a clamping device arranged on the fixing frame, The clamping device is used for clamping the fixed part of the heavy object, and the fixed frame is movably connected with the bearing main board to move the heavy object to a predetermined position.

According to an aspect of an embodiment of the present invention, the clamping device includes an overturning mechanism and a limiting piece with an opening, the limiting piece is connected to the fixing frame, and the overturning mechanism can be overturned relative to the opening of the limiting piece.

According to an aspect of the embodiment of the present utility model, the turning mechanism includes a clamping piece and a rotating shaft arranged on the clamping piece, the rotating shaft is pivotally connected to the limiting piece, and a coil spring is further arranged between the clamping piece and the limiting piece. The clip is driven to extend into the opening or move out from the opening.

According to an aspect of the embodiment of the present invention, the bearing assembly further includes a first sliding device, the first sliding device includes a first guide rail and a first slider slidably connected to the first guide rail, the first guide rail is connected to the bearing main body plate, The holder of the gripper is connected to the first slider.

According to an aspect of the embodiment of the present invention, the gripper device further includes a frame and a plurality of rollers rotatably connected to the frame, and the frame is arranged on the main body board.

On the other hand, the embodiment of the present utility model also provides a transporting device, which includes: a first moving device movable along a first direction; a second moving device connected to the first moving device, the second moving device includes A support plate that is movable in a second direction perpendicular to the first direction; as the above-mentioned gripper device, the gripper device is fixed on the support plate through the bearing main body plate, and the gripper moves along the direction perpendicular to the first direction and the second direction The third direction of is movable relative to the carrier assembly.

According to an aspect of an embodiment of the present utility model, the second moving device includes a second sliding device, the second sliding device includes a second guide rail and a second slider slidable along the second guide rail, the second guide rail extends along the second direction, The support plate is connected to the second slider.

According to an aspect of the embodiment of the present invention, the second moving device further includes a second driving device, the output end of the second driving device is connected to the support plate to drive the support plate to move along the second direction.

According to an aspect of the utility model embodiment, the second driving device includes a base, a lead screw and a nut screwed with the lead screw, the second guide rail is connected with the base, the nut is connected with the support plate, and the end of the lead screw away from the nut is provided with an operating handle.

According to an aspect of the embodiment of the present utility model, the first moving device is any one of a hydraulic platform vehicle with pedals, an electric forklift, and an electric/pneumatic lifting device.

The gripper device provided by the embodiment of the utility model can realize the gripping requirements of irregularly shaped heavy objects by providing a load-bearing component for carrying heavy objects and a gripper for fixing heavy objects. In addition, the handling device provided by the utility model adopts the gripper device, which can safely place heavy objects with irregular shapes at a predetermined position, and the positioning is accurate and the reliability is high.

Description of drawings

The features, advantages and technical effects of the exemplary embodiments of the present invention will be described below with reference to the accompanying drawings.

Fig. 1 is a schematic structural view of a gripper device provided by an embodiment of the present invention;

Fig. 2 is a schematic structural view of the clamping device in the gripper device shown in Fig. 1;

Fig. 3 is a structural schematic diagram of the snap-in parts of the snap-in device shown in Fig. 2;

Fig. 4 is a structural schematic diagram of the bearing assembly in the gripper device shown in Fig. 1;

Fig. 5 is a structural schematic diagram of a handling device provided by an embodiment of the present invention;

Fig. 6 is a schematic structural view of a third moving device in the conveying device shown in Fig. 5 .

in:

1-overturning mechanism; 2-limiting part; 2a-opening; 1a-clamping piece; 1b-rotating shaft; 1c-coil spring; 1d-notch; A-first clamping part; B-second clamping part;

10-carrying assembly; 11-carrying main body plate; 12-rolling member; 20-handle; 21-fixing frame; - the first slider; 30 - the driving device; X - the first direction; Y - the second direction; Z - the third direction;

100-grip device; 200-first moving device; 210-pedal; 300-second moving device; 310-support plate; 320-second sliding device; 321-second guide rail; 322-second slider; 331 -base 331; 332-leading screw; 333-nut; 334-operating handle.

In the figures, the same parts are given the same reference numerals. The figures are not drawn to scale.

Detailed ways

Features and exemplary embodiments of various aspects of the present invention will be described in detail below. In the following detailed description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. It will be apparent, however, to one skilled in the art that the present invention may be practiced without some of these specific details. The following description of the embodiments is only to provide a better understanding of the present invention by showing examples of the present invention. In the drawings and the following description, at least some of the well-known structures and techniques are not shown in order to avoid unnecessary obscurity of the present invention; and, for clarity, the size of some structures may be exaggerated. Furthermore, the features, structures, or characteristics described hereinafter may be combined in any suitable manner in one or more embodiments.

The orientation words appearing in the following description are the directions shown in the figure, and are not intended to limit the specific structure of the present invention. In the description of the present utility model, it should also be noted that unless otherwise specified and limited, the terms "installation" and "connection" should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection , or integrally connected; it can be directly connected or indirectly connected. Those of ordinary skill in the art can understand the specific meanings of the above terms in the present utility model according to specific situations.

In order to better understand the utility model, the gripper device and the handling device provided by the embodiment of the utility model will be described in detail below with reference to FIG. 1 to FIG. 6 .

Referring to FIG. 1 , the embodiment of the present invention provides a gripper device 100 , which includes a carrying component 10 and a gripper 20 .

The carrying assembly 10 includes a carrying body board 11 for carrying heavy objects.

The gripper 20 includes a fixed frame 21 and a clamping device 22 arranged on the fixed frame 21. The clamping device 22 is used to clamp the fixed part of the heavy object. The fixed frame 21 is movably connected with the main body plate 11 to hold the heavy object Move to the predetermined position.

The carrying body plate 11 may be a metal plate, and irregularly shaped heavy objects are hoisted to the carrying body plate 11 by means of a hoisting device such as an electric hoist. For heavy objects with irregular shapes, as long as at least three points on the heavy objects can touch the main body plate 11 , they can be placed on the main body plate 11 . And the clamping device 22 clamps the fixed part of the heavy object, for example, the metal frame on the heavy object, or the handle, etc., which can prevent the heavy object from shaking during the moving process.

The gripper device 100 provided by the embodiment of the present utility model can realize the gripping requirement of irregularly shaped heavy objects by providing a bearing assembly 10 for carrying heavy objects and a gripper 20 for fixing heavy objects.

The specific structure of the gripper device 100 will be further described in detail below with reference to the accompanying drawings.

Please refer to FIG. 2 and FIG. 3 together. The clamping device 22 includes a turning mechanism 1 and a limiting member 2 with an opening 2a. Reversible.

Further, the turning mechanism 1 includes a clamping piece 1a and a rotating shaft 1b provided on the clamping piece 1a, the rotating shaft 1b is pivotally connected to the limiting member 2, and a coil spring is further arranged between the clamping piece 1a and the limiting member 2 1c, so as to drive the clip 1a to extend into the opening 2a or move out from the opening 2a.

Specifically, the clamping part 1a includes a first clamping part A and a second clamping part B intersecting in an L shape, the second clamping part B can extend into the opening 2a of the limiting part 2, and the first clamping part A is provided with a rotating shaft 1 b, and the rotating shaft 1 b is pivotally connected with the limiting member 2 . A notch 1d is further provided on the first engaging portion A, and the coil spring 1c is sleeved on the rotating shaft 1b and accommodated in the notch 1d. The coil spring 1c has two ends, one end is located in the notch 1d, and the other end is blocked by the stopper 2 . When it is necessary to clamp a heavy object, first turn the clamping part 1a so that the second clamping part B moves out of the opening 2a, then put the fixed part of the heavy object into the opening 2a, and then release the clamping part 1a, so that the second clamping part B automatically extends into the opening 2a under the action of the coil spring, thereby clamping the fixed part of the weight.

In order to clamp the heavy object stably, there are two clamping devices 22, and the two clamping devices 22 are arranged at intervals. In order to improve the versatility of the gripper device 100 , the two clamping devices 22 are movably connected with respect to the fixing frame 21 , so as to adjust the distance between the fixing parts of different weights, as shown in FIG. 1 . In addition, in order to reduce the friction between the limiting member 2 and the fixed part of the weight, the limiting member 2 can be made of plastic parts such as wear-resistant nylon.

Referring to Fig. 1 and Fig. 2 again, since the heavy object is hoisted to the main body plate 11, the clamping device 22 and the heavy object may be separated by a certain distance, in order to facilitate fixing the fixed part of the heavy object to the clamping device 22, the carrying assembly 10 further includes a frame 121 and a plurality of rollers 122 rotatably connected with the frame 121 . There may be at least two frames 121 , which are arranged at intervals on both sides of the main body plate 11 . The heavy object is in contact with a plurality of rollers 122 , which can ensure that the heavy object slides smoothly to a proper position on the carrying body plate 11 .

In addition, the carrier assembly 10 further includes a first sliding device 13, the first sliding device 13 includes a first guide rail 13a and a first slider 13b slidably connected to the first guide rail 13a, the first guide rail 13a is connected to the carrier main board 11, The fixing frame 21 of the gripper 20 is connected to the first slider 13b, so that the gripper 20 pushes the weight to move along the plurality of rollers 122 to a predetermined position. According to usage requirements, a limit block is provided at the end of the first guide rail 13a to ensure that the first slider 13b will not fall during sliding along the first guide rail 13a.

It should be noted that the first guide rail 13 a and the first slider 13 b are not limited to the structure shown in the figure, and may also be a cylindrical first optical axis and a first sleeve moving along the first optical axis, respectively. The first optical axis is connected to the carrying body plate 11 through a bracket.

The gripper device 100 further includes a driving device 30 , the output end of the driving device 30 is connected to the fixing frame 21 of the gripper 20 to drive the gripper 20 to reciprocate relative to the carrying assembly 10 . The magnitude of the driving force of the driving device 30 can be defined in advance to ensure that the magnitude of the driving force is appropriate. The driving device 30 may be any one of an electric push rod, an air cylinder, and a hydraulic cylinder.

As an optional embodiment, the fixing frame 21 of the gripper 20 is provided with a handle 23 , which is convenient for the operator to hold the handle 23 and push the gripper 20 to reciprocate relative to the bearing assembly 10 . Manually operating the gripper 20 can simplify the overall structure of the gripper device and reduce the weight.

Referring to FIG. 5 , the embodiment of the present utility model also provides a handling device, which includes: any kind of gripping device 100 , a first moving device 200 and a second moving device 300 as described above.

The first mobile device 200 is movable along the first direction X.

The second mobile device 300 is connected to the first mobile device 200 , and the second mobile device 300 includes a support plate 310 movable along a second direction Y perpendicular to the first direction X.

The handle device 100 is fixed on the support plate 310 through the carrying body plate 11 , and the handle 20 is movable relative to the carrying assembly 10 along a third direction Z perpendicular to the first direction X and the second direction Y.

Therefore, in the transport device provided by the embodiment of the present invention, the heavy object can be placed on the load-carrying body plate 11 of the gripper device 100 and fixed by the clamping device 22 of the gripper 20 , and then can be moved to any position in the space. For example, first move the heavy object to a certain height along the first direction X, then adjust the left and right direction of the heavy object along the second direction Y, and finally push the heavy object into the predetermined position of the cabinet along the third direction Z, and the positioning is accurate.

6, the second mobile device 300 includes a second sliding device 320, the second sliding device 320 includes a second guide rail 321 and a second slider 322 slidable along the second guide rail 321, and the second guide rail 321 is along the second direction Y By extension, the support plate 310 is connected to the second slider 322 .

Further, the second moving device 300 further includes a second driving device 330 , the output end of the second driving device 330 is connected to the support plate 310 to drive the support plate 310 to move along the second direction Y. The second driving device 330 may be any one of an electric push rod, an air cylinder, or a hydraulic cylinder.

As an optional implementation manner, the second driving device 330 is a manual fine-tuning device. The second driving device 330 comprises a base 331, a leading screw 332 and a nut 333 screwed to the leading screw 332, the second guide rail 321 is connected to the base 331, the nut 333 is connected to the support plate 310, and the end of the leading screw 332 away from the nut 333 is provided with The handle 334 is operated. By turning the operating handle 334 manually, the position of the support plate 310 in the second direction Y can be fine-tuned to achieve precise alignment, and meanwhile, the overall structure of the handling device is simplified and the weight is reduced.

In addition, in order to further reduce the weight of the second mobile device 300, the support plate 310 supporting the main body plate 11 can be divided into a pair of small support plates 310, and the pair of small support plates 310 respectively correspond to the main body plate 11 along the The two sides of the three-way Z are set. Each pair of small support plates 310 is disposed on a second sliding block 322 of a second sliding device 320 . In addition, the second driving device 330 can be arranged on one of the support plates 310 , and drive the movement of the other support plate 310 by driving the movement of one support plate 310 . In order to reduce the operating force, the second driving device 330 may also be respectively disposed on the two support plates 310 , which will not be repeated here.

Referring again to FIG. 5 , the first moving device 200 may be any one of a hydraulic platform vehicle with a pedal 210 , an electric forklift, and an electric/pneumatic lifting device. Taking the hydraulic platform vehicle as an example, the operator can realize the lifting movement of the hydraulic platform vehicle along the first direction X by stepping on the pedal 210 .

The steps of the carrying device provided by the embodiment of the utility model for carrying irregularly shaped heavy objects are as follows:

(1) hoisting the irregularly shaped heavy object to the bearing body plate 11 of the gripper device 100 through the electric hoist, so that the bottom of the heavy object is in contact with the roller 122;

(2) Insert the frame of the irregular heavy object into the engaging device 22 of the gripper 20, and confirm that the heavy object is firmly grasped;

(3) Push the handling device to the work station, that is, the position of the cabinet body loaded with heavy objects, and realize the lifting of the heavy objects by stepping on the pedal 210, and stop when reaching the height position of the cabinet;

(4) finely adjust the left and right positions of the carrying assembly 10 by rotating the operating handle 334 to ensure that the cabinet entry position is aligned;

(5) After aligning with the position of entering the cabinet, press the switch of the driving device 30 to automatically push the heavy object into the cabinet.

The handling device provided by the embodiment of the present invention saves manpower, reduces operation intensity and improves safety compared with manual handling by adopting the gripping device as described above. In addition, by setting a manual fine-tuning device, precise alignment of heavy objects before entering the cabinet can be achieved, with a simple structure and low cost.

While the invention has been described with reference to a preferred embodiment, various modifications may be made and equivalents may be substituted for parts thereof without departing from the scope of the invention. In particular, as long as there is no structural conflict, the technical features mentioned in the various embodiments can be combined in any manner. The utility model is not limited to the specific embodiments disclosed herein, but includes all technical solutions falling within the scope of the claims.

Claims (10)

1. A gripper device (100), characterized in that it comprises: A bearing assembly (10), including a bearing body plate (11) for carrying heavy objects; The gripper (20) includes a fixed frame (21) and a clamping device (22) arranged on the fixed frame (21), the clamping device (22) is used to clamp the fixed part of the weight , the fixing frame (21) is movably connected with the main bearing plate (11), so as to move the weight to a predetermined position. 2. The gripper device (100) according to claim 1, characterized in that, the clamping device (22) comprises a turning mechanism (1) and a stopper (2) with an opening (2a), the The limiting piece (2) is connected to the fixing frame (21), and the turning mechanism (1) can be turned over relative to the opening (2a) of the limiting piece (2). 3. The gripper device (100) according to claim 2, characterized in that, the turning mechanism (1) comprises a clamping piece (1a) and a rotating shaft (1b) arranged on the clamping piece (1a) ), the rotating shaft (1b) is pivotally connected to the limiting member (2), and a coil spring (1c) is further provided between the clamping member (1a) and the limiting member (2), so as to Drive the clamping piece (1a) to extend into the opening (2a) or move out from the opening (2a). 4. The gripper device (100) according to claim 1, characterized in that, the carrying assembly (10) further comprises a first sliding device (13), and the first sliding device (13) comprises a first guide rail (13a) and a first slider (13b) slidably connected to the first guide rail (13a), the first guide rail (13a) is connected to the bearing body plate (11), and the handle (20 ) of the fixing frame (21) is connected to the first slider (13b). 5. The gripper device according to claim 1, characterized in that, the gripper device (100) further comprises a frame (121) and a plurality of rollers (122) rotatably connected to the frame (121) , the frame is arranged on the bearing main board (11). 6. A handling device, characterized in that it comprises: a first moving device (200), movable along a first direction (X); A second mobile device (300), connected to the first mobile device (200), the second mobile device (300) includes a second direction (Y) movable along the first direction (X) perpendicular to the first direction (X) The support plate (310); The gripper device (100) according to any one of claims 1 to 5, wherein the gripper device (100) is fixed on the support plate (310) through the bearing body plate (11), and the The gripper (20) is movable relative to the carrying assembly (10) along a third direction (Z) perpendicular to the first direction (X) and the second direction (Y). 7. The handling device according to claim 6, characterized in that, the second moving device (300) comprises a second sliding device (320), and the second sliding device (320) comprises a second guide rail (321) and a second slider (322) slidable along the second guide rail (321), the second guide rail (321) extends along the second direction (Y), the support plate (310) is connected to the Describe the second slider (322). 8. The transport device according to claim 7, characterized in that, the second moving device (300) further comprises a second driving device (330), the output end of the second driving device (330) is connected to the The support plate (310) is used to drive the support plate (310) to move along the second direction (Y). 9. The handling device according to claim 8, characterized in that, the second driving device (330) comprises a base (331), a lead screw (332) and a nut ( 333), the second guide rail (321) is connected to the base (331), the nut (333) is connected to the support plate (310), and the lead screw (332) is away from the nut (333) One end of is provided with operating handle (334). 10. The transport device according to claim 6, characterized in that, the first moving device (200) is any one of a hydraulic platform vehicle with a pedal (210), an electric forklift, and an electric/pneumatic lifting device.