CN105643349A - Grasper device for numerical control drilling machine and dual-mode working method of grasper device - Google Patents
Grasper device for numerical control drilling machine and dual-mode working method of grasper device Download PDFInfo
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- CN105643349A CN105643349A CN201610186118.7A CN201610186118A CN105643349A CN 105643349 A CN105643349 A CN 105643349A CN 201610186118 A CN201610186118 A CN 201610186118A CN 105643349 A CN105643349 A CN 105643349A
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- pressing plate
- drilling machine
- control drilling
- digital control
- workpiece
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
- B23Q7/04—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of grippers
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Feeding Of Workpieces (AREA)
- Earth Drilling (AREA)
Abstract
The invention discloses a grasper device for a numerical control drilling machine. The grasper device comprises a supporting plate which is arranged close to a workbench and can slide along the side of the workbench. A sucking device for sucking a workpiece is arranged on the portion, close to the workbench, of the supporting plate. The upper surface of the sucking device is parallel to the upper surface of the workbench. A grasper pressing plate is arranged on the supporting plate, arranged on the side, away from the workbench, of the sucking device and driven by a first driving device to move up and down. When the grasper pressing plate is moved above the sucking device, the grasper pressing plate and the sucking device jointly grasp the workpiece. According to the grasper device, when the grasper pressing plate is moved above the sucking device, the grasper pressing plate and the sucking device can jointly grasp the workpiece, and the stability of the conveying process of the workpiece is improved. The invention further discloses a dual-mode working method of the grasper device for the numerical control drilling machine. The numerical control drilling machine can control working modes of the grasper device according to the drilling position of the workpiece.
Description
Technical field
The present invention relates to digital control hole drilling technical field, a kind of method being specifically related to digital control drilling machine gripper equipment and working in double modes thereof.
Background technology
Existing digital control drilling machine is all clamp workpiece by upper handgrip and lower handgrip to reach to drive the purpose of workpiece motion s, but when the bore position of workpiece is close apart from upper handgrip position, can affect the drilling operation of boring machine, occurs interfering the phenomenon of drilling operation.
Summary of the invention
It is an object of the present invention to provide a kind of digital control drilling machine gripper equipment, in order to fixing and conveying workpieces, avoid the bore position of workpiece to be restricted simultaneously.
Further object is that and a kind of method controlling the work of digital control drilling machine gripper equipment is provided.
For reaching this purpose, the present invention by the following technical solutions:
The present invention provides a kind of digital control drilling machine gripper equipment, including the gripper shoe that contiguous workbench arranges and can slide along the side of described workbench, in described gripper shoe, contiguous described workbench is provided with to draw the suction means of workpiece, and the upper surface of described suction means is parallel with the upper surface of described workbench;
Described gripper shoe is additionally provided with handgrip pressing plate, described handgrip pressing plate is arranged at the described suction means side away from described workbench, described handgrip pressing plate drives it to move up and down by the first driving device, when described handgrip pressing plate moves the top to described suction means, described handgrip pressing plate and described suction means capture described workpiece jointly.
The present invention also provides for a kind of method controlling the work of digital control drilling machine gripper equipment, and digital control drilling machine can control the mode of operation of handgrip pressing plate according to the bore position of workpiece;
When described bore position is positioned near described handgrip pressing plate, digital control drilling machine controls described handgrip pressing plate and is snapped down to be close to described gripper shoe, fixes described workpiece by described sucker, reduces penetration rate simultaneously;
When described bore position is away from described handgrip pressing plate, digital control drilling machine controls to slide to above described sucker on described handgrip pressing plate, coordinates with described sucker with fixing described workpiece.
Beneficial effects of the present invention: in the digital control drilling machine gripper equipment of the present invention, the upper surface of suction means is concordant with the upper surface of workbench, while workpiece drawn by suction means, workpiece can be made as far as possible to keep smooth, it is to avoid run-off the straight between workpiece and suction means and affect the suction means absorption effect to workpiece; When handgrip pressing plate moves the top to suction means, handgrip pressing plate and suction means can grabbing workpiece jointly, increase the stability in workpiece conveying and the course of processing. In the method for the working in double modes of digital control drilling machine gripper equipment, digital control drilling machine can control the mode of operation of gripper equipment according to the bore position of workpiece.
Accompanying drawing explanation
Fig. 1 is the structural representation of digital control drilling machine gripper equipment when grabbing workpiece (handgrip pressing plate and sucker common) of the embodiment of the present invention.
Fig. 2 is that the A-A of Fig. 1 is to cross-sectional schematic.
Fig. 3 is the top view of the digital control drilling machine gripper equipment of the embodiment of the present invention.
Fig. 4 is the structural representation of the digital control drilling machine gripper equipment (when handgrip pressing plate is snapped down to be close to gripper shoe) of the embodiment of the present invention.
In Fig. 1��4:
1, gripper shoe; 2, sucker; 3, handgrip pressing plate; 4, groove; 5, cylinder; 51, piston rod; 6, by axle; 7, connecting plate; 8, guidance set; 81, guide rail; 82, track base; 83, slide block;
100, workbench; 200, workpiece.
Detailed description of the invention
Technical scheme is further illustrated below in conjunction with Fig. 1��4 and by specific embodiment.
In describing the invention, it will be appreciated that, orientation or the position relationship of the instruction such as term " length " are based on orientation shown in the drawings or position relationship, it is for only for ease of the description present invention and simplifies description, rather than instruction or hint indication device or element must have specific orientation, with specific azimuth configuration and operation, be therefore not considered as limiting the invention.
Additionally, term " first ", " second " are only for descriptive purposes, and it is not intended that indicate or imply relative importance or the implicit quantity indicating indicated technical characteristic. Thus, define " first ", the feature of " second " can express or implicitly include one or more these features.
In describing the invention, unless otherwise clearly defined and limited, term " connection ", " fixing " should be interpreted broadly, for instance, it is possible to it is fixing connection, it is also possible to be removably connect, or integral; Can be mechanically connected, it is also possible to be electrical connection; Can be joined directly together, it is also possible to be indirectly connected to by intermediary, it is possible to be connection or the interaction relationship of two parts of two components interior. For the ordinary skill in the art, it is possible to concrete condition understands above-mentioned term concrete meaning in the present invention.
In the present invention, unless otherwise clearly defined and limited, fisrt feature includes fisrt feature immediately below second feature and obliquely downward in the D score of second feature, " lower section ", or is merely representative of fisrt feature level height less than second feature. Fisrt feature second feature it " on ", " top " include fisrt feature directly over second feature and oblique upper, or be merely representative of fisrt feature level height more than second feature.
Fig. 1 is the present invention is a kind of digital control drilling machine gripper equipment of embodiment, Fig. 2 is that the A-A of Fig. 1 is to cross-sectional schematic, as shown in Figure 1, 2, the digital control drilling machine gripper equipment of the present embodiment includes the gripper shoe 1 that contiguous workbench 100 arranges and can slide along the side of workbench 100, in gripper shoe 1, contiguous workbench 100 is provided with to draw the suction means of workpiece 200, and the upper surface of suction means is parallel with the upper surface of workbench 100;Gripper shoe 1 is additionally provided with handgrip pressing plate 3, handgrip pressing plate 3 is arranged at the suction means side away from workbench 200, handgrip pressing plate 3 drives it to move up and down by the first driving device, when handgrip pressing plate 3 moves the top to suction means, handgrip pressing plate 3 and suction means capture described workpiece 200 jointly. In the present embodiment, the upper surface of suction means is parallel with the upper surface of workbench 100, suction means is drawn while workpiece 200, it is possible to make workpiece 200 keep smooth as far as possible, it is to avoid run-off the straight between workpiece 200 and suction means and affect the suction means absorption effect to workpiece 200; When handgrip pressing plate 3 moves the top to suction means, handgrip pressing plate 3 and suction means can grabbing workpiece 200 jointly, increase the stability in workpiece 200 course of conveying. The present embodiment can also increase the scope that handgrip pressing plate 3 moves up and down, to avoid the bore position of workpiece to be restricted.
As the preferred embodiment of the present invention, suction means is sucker 2, sucker 2 is provided with the groove 4 matched with handgrip pressing plate 3 near handgrip pressing plate 3 side, first driving device can drive handgrip pressing plate 3 to move down, so that handgrip pressing plate 3 is at least partially disposed in groove 4, and the upper surface of handgrip pressing plate 3 is not higher than the upper surface of sucker 2. When the bore position distance handgrip pressing plate 3 of workpiece 200 is close, now handgrip pressing plate 3 can limit the drilling operation of digital control drilling machine. The present embodiment by being provided with the groove 4 matched with handgrip pressing plate 3 at sucker 2 near handgrip pressing plate 3 side, when the bore position distance handgrip pressing plate 3 of workpiece 200 is close, first driving device driving handgrip pressing plate 3 is displaced downwardly to handgrip pressing plate 3 and is positioned at groove 4, and ensures the upper surface upper surface not higher than sucker 2 of handgrip pressing plate 3. As shown in Figure 4, when the first driving device driving handgrip pressing plate 3 is displaced downwardly to and is close to gripper shoe 1, the upper surface of handgrip pressing plate 3 is lower than the upper surface of sucker 2. When only fixing workpiece 200 drawn by sucker 2, in order to avoid workpiece 200 is moved, the feed speed of drill bit during boring, can be reduced.
In the present embodiment, sucker 2 is connected with vacuum pump by pipeline, and the workpiece realization being opposite to above sucker 2 by the vacuum action of vacuum pump is drawn fixing. The suction means of the present embodiment is not limited to sucker 2, it is also possible to is that other can provide the device of suction force, for instance electric magnet, is applicable to the workpiece of ferromagnetic material.
In the present embodiment, along the glide direction of gripper shoe 1, the length of sucker 2 is more than the length of handgrip pressing plate 3, and sucker 2 is positioned at the part of handgrip pressing plate 3 both sides relative to handgrip pressing plate 3 symmetry, to improve the absorption stability of workpiece 200.
As shown in figures 1-4, the first driving device in the present embodiment is cylinder 5, and cylinder 5 is fixed on the lower section of gripper shoe 1, and the piston rod 51 in cylinder 5 is connected through gripper shoe 1 with handgrip pressing plate 3. Moving up and down of handgrip pressing plate 3 can be controlled by the reciprocating motion of piston rod 51. The first driving device in the present embodiment is not limited to cylinder, it would however also be possible to employ other driving device such as motor.
In the present embodiment, gripper shoe 1 being additionally provided with at least two by axle 6, two lines by axle 6 are parallel to the side of workbench 100, by the upper surface of axle 6 higher than the upper surface of sucker 2. Adopt at least two the location of workpiece 200 can be made more accurate by axle 6; Two lines by axle 6 are parallel to the side of workbench 100, it is possible to make side and workbench 100 keeping parallelism of the workpiece behind location 200, facilitate drilling operation.
As the preferred embodiment of the present invention, by axle 6 between piston rod 51 and sucker 2, it is possible to come in contact with piston rod 51 when avoiding workpiece 200 to position, it is prevented that location and the moving up and down of handgrip pressing plate 3 of workpiece 200 are affected.
As further preferred embodiment of the present invention, being positioned at the lower section of handgrip pressing plate 3 by the junction of axle 6 with gripper shoe 1, and be provided with the through hole matched with by axle 6 on handgrip pressing plate 3, handgrip pressing plate 3 can slide along by axle 6. By axle 6 will be leaned on to fix through handgrip pressing plate 3 and gripper shoe 1, it is possible to while making to lean on axle 6 to implement its positioning function, moreover it is possible to moving up and down of handgrip pressing plate 3 is carried out guide effect, makes moving up and down of handgrip pressing plate 3 more smoothly.
Preferably, workbench 100 being provided with some first pores, the first pore is connected (not shown) by trachea with air pump. Workpiece 200 part is positioned on workbench 100, air is compressed toward input in the first pore by air pump, compression air through first pore output after between workbench 100 and workpiece 200, suspended state is kept while making workpiece 200 be fixed by sucker 2 and/or handgrip pressing plate 3 and between workbench 100, in the course of conveying of workpiece 200, the frictional resistance between workpiece 200 and workbench 100 can be reduced as far as possible on the one hand, the conveying making workpiece 200 is more smoothly, avoids the surface of workpiece 200 to produce cut simultaneously.
Preferably, the brill bag of digital control drilling machine is arranged below boring pressing plate, and boring pressing plate is provided with some second pores, and the second pore is connected (not shown) by trachea with air pump. Owing to the surface of some workpiece 200 is not as smooth, after workpiece 200 is fixing, bores the boring pressing plate that can pass through below when bag moves down and flatten workpiece 200, it is to avoid the angle in the hole bored offsets; Simultaneously some second pores being set on boring pressing plate, boring pressing plate can being avoided directly to contact with workpiece 200 by the second pore compression air out, thus avoiding, above workpiece 200, cut occurs.
The brill bag of the digital control drilling machine of the present embodiment includes organizing drill bit more, for instance horizontal drill bit, vertical drill bit etc.
As shown in Fig. 1,3,4, gripper shoe 1 is connected with guidance set 8 by connecting plate 7, guidance set 8 include guide rail 81, for install guide rail 81 track base 82 and can along guide rail 81 slide slide block 83, the length direction of guide rail 81 extends along the glide direction of gripper shoe 1, slide block 83 matches with guide rail 81, and fixing with connecting plate 7 is connected. Concrete, connecting plate 7 and gripper shoe 1 are fixed away from one end of workbench 100 and are connected, and connecting plate 7 is connected with guidance set 8 away from the side of workbench 100. Track base 82 in guidance set 8 maintains static, and it is vertically arranged at intervals with two horizontal guide rails 81 near the side of connecting plate 7, and each horizontal guide rail 81 is slidably connected respectively through slide block 83 and connecting plate 7, and slide block 83 is fixing with connecting plate 7 to be connected.
As another embodiment of the present invention, guide rail 81 can also be arranged on the top of track base 82, and two guide rail 81 parallel interval are arranged, it is possible to improve the sliding stability of gripper shoe 1.
In the present embodiment, connecting plate 7 and gripper shoe 1 are by being welded to connect.
The digital control drilling machine gripper equipment of the present embodiment also includes the second driving device directly driving gripper shoe 1 or connecting plate 7 to slide along guide rail 81, and the second driving device can be cylinder or motor, does not repeat them here.
The digital control drilling machine gripper equipment adopting the present invention can be used for the customization of furniture or other equipment.
The present embodiment also provides for a kind of method of digital control drilling machine gripper equipment working in double modes, and in the method, digital control drilling machine can control the mode of operation of handgrip pressing plate 3 according to the bore position of workpiece 200;
When bore position is positioned near handgrip pressing plate 3, handgrip pressing plate 3 is snapped down to be close to gripper shoe 1, fixes workpiece 200 by sucker 2, reduces boring feed speed simultaneously; Owing to the suction effect power of sucker 2 is relatively small, it is therefore desirable to reduce boring feed speed, to adapt to the suction effect power of sucker 2.
When bore position is away from handgrip pressing plate 3, handgrip pressing plate 3 slides to above sucker 2, coordinate with fixing workpiece 200 with sucker 2.
As the preferred embodiment of the present invention, being additionally provided with electronic recognition mark on workpiece 200, digital control drilling machine can judge the bore position of workpiece 200 according to the information of bar code. This electronic identification label can be bar code, Quick Response Code or other can the mark of electronic recognition. Electronic identification label in the present embodiment is bar code.
The mode of operation of digital control drilling machine gripper equipment can be automatically controlled by the method, different mode of operations can be selected for different bore positions.
In the description of this specification, specific features, structure, material or feature that the description of reference term " preferred implementation ", " preferred embodiment ", " further preferred embodiment " etc. means in conjunction with this embodiment or example describe are contained at least one embodiment or the example of the present invention. In this manual, the schematic representation of above-mentioned term is not necessarily referring to identical embodiment or example. And, the specific features of description, structure, material or feature can combine in an appropriate manner in any one or more embodiments or example.
Above content is only presently preferred embodiments of the present invention, for those of ordinary skill in the art, according to the thought of the present invention, all will change in specific embodiments and applications, and this specification content should not be construed as limitation of the present invention.
Claims (10)
1. a digital control drilling machine gripper equipment, it is characterized in that, including the gripper shoe (1) that contiguous workbench (100) arranges and can slide along the side of described workbench (100), the upper contiguous described workbench (100) of described gripper shoe (1) is provided with to draw the suction means of workpiece (200), and the upper surface of described suction means is parallel with the upper surface of described workbench (100);
Described gripper shoe (1) is additionally provided with handgrip pressing plate (3), described handgrip pressing plate (3) is arranged at the described suction means side away from described workbench (200), described handgrip pressing plate (3) drives it to move up and down by the first driving device, when the top of the mobile extremely described suction means of described handgrip pressing plate (3), described handgrip pressing plate (3) and described suction means capture described workpiece (200) jointly.
2. digital control drilling machine gripper equipment according to claim 1, it is characterized in that, described suction means is sucker (2), described sucker (2) is provided with, near described handgrip pressing plate (3) side, the groove (4) matched with described handgrip pressing plate (3), described first driving device can drive described handgrip pressing plate (3) to move down, so that described handgrip pressing plate (3) is at least partially disposed in described groove (4), and the upper surface of described handgrip pressing plate (3) is not higher than the upper surface of described sucker (2).
3. digital control drilling machine gripper equipment according to claim 2, it is characterized in that, described first driving device is cylinder (5), described cylinder (5) is fixed on the lower section of described gripper shoe (1), and the piston rod (51) in described cylinder (5) is connected through described gripper shoe (1) with described handgrip pressing plate (3).
4. digital control drilling machine gripper equipment according to claim 3, it is characterized in that, described gripper shoe (1) is additionally provided with at least two by axle (6), be parallel to the side of described workbench (100) described at least two by the line of axle (6), the described upper surface by axle (6) is higher than the upper surface of described sucker (2).
5. digital control drilling machine gripper equipment according to claim 4, it is characterised in that described be positioned between described piston rod (51) and described sucker (2) by axle (6).
6. digital control drilling machine gripper equipment according to claim 4, it is characterized in that, the described junction by axle (6) Yu described gripper shoe (1) is positioned at the lower section of described handgrip pressing plate (3), and described handgrip pressing plate (3) is provided with and the described through hole matched by axle (6), described handgrip pressing plate (3) can be slided along described by axle (6).
7. the digital control drilling machine gripper equipment according to any one of claim 1 to 6, it is characterised in that be provided with some first pores on described workbench (100), described first pore is connected with air pump by trachea.
8. the digital control drilling machine gripper equipment according to any one of claim 1 to 6, it is characterized in that, the brill bag of digital control drilling machine is arranged below boring pressing plate, and described boring pressing plate is provided with some second pores, and described second pore is connected with air pump by trachea.
9. the digital control drilling machine gripper equipment according to any one of claim 2 to 6, it is characterized in that, described gripper shoe (1) is connected with guidance set (8) by connecting plate (7), described guidance set (8) includes guide rail (81), for installing the track base (82) of described guide rail (81), and the slide block (83) that can slide along described guide rail (81), the length direction of described guide rail (81) extends along the glide direction of described gripper shoe (1), described slide block (83) matches with described guide rail (81), and fixing with described connecting plate (7) be connected.
10. the method for gripper equipment working in double modes of the digital control drilling machine described in an any one of claim 2 to 9, it is characterised in that digital control drilling machine can control the mode of operation of gripper equipment according to the bore position of workpiece (200):
When described bore position is positioned near described handgrip pressing plate (3), digital control drilling machine controls described handgrip pressing plate (3) and is snapped down to be close to described gripper shoe (1), by the fixing described workpiece (200) of described sucker (2), reduce boring feed speed simultaneously;
When described bore position is away from described handgrip pressing plate (3), digital control drilling machine controls to slide to described sucker (2) top on described handgrip pressing plate (3), coordinates with described sucker (2) with fixing described workpiece (200).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610186118.7A CN105643349B (en) | 2016-03-29 | 2016-03-29 | The method of digital control drilling machine gripper equipment and its working in double modes |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610186118.7A CN105643349B (en) | 2016-03-29 | 2016-03-29 | The method of digital control drilling machine gripper equipment and its working in double modes |
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| Publication Number | Publication Date |
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| CN105643349A true CN105643349A (en) | 2016-06-08 |
| CN105643349B CN105643349B (en) | 2018-09-21 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610186118.7A Active CN105643349B (en) | 2016-03-29 | 2016-03-29 | The method of digital control drilling machine gripper equipment and its working in double modes |
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| CN (1) | CN105643349B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112877923A (en) * | 2020-12-25 | 2021-06-01 | 珞石（山东）智能科技有限公司 | Deformable gripper for cut piece alignment and sewing |
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| Publication number | Publication date |
|---|---|
| CN105643349B (en) | 2018-09-21 |
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Effective date of registration: 20200929 Address after: No. 201, building 1, No. 3, Yunkai Road, YUNPU Industrial Zone, Huangpu District, Guangzhou City, Guangdong Province Patentee after: Guangzhou maste Intelligent Equipment Co.,Ltd. Address before: The YUNPU Industrial Zone Whampoa District Guangzhou road 510530 Guangdong province No. 3 Patentee before: GUANGZHOU KDT MACHINERY Co.,Ltd. |
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Effective date of registration: 20221026 Address after: No. 1307, Wangding Business Building, No. 96, Longzhou West Road, Wenhua Community, Longjiang Town, Shunde District, Foshan City, Guangdong Province, 528318 Patentee after: Guangdong Dehong Heavy Industry Co.,Ltd. Address before: No. 201, building 1, No. 3, Yunkai Road, YUNPU Industrial Zone, Huangpu District, Guangzhou City, Guangdong Province, 510530 Patentee before: Guangzhou maste Intelligent Equipment Co.,Ltd. |