CN105729216A - Reciprocating type workpiece feeding device - Google Patents

Reciprocating type workpiece feeding device Download PDF

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Publication number
CN105729216A
CN105729216A CN201610277020.2A CN201610277020A CN105729216A CN 105729216 A CN105729216 A CN 105729216A CN 201610277020 A CN201610277020 A CN 201610277020A CN 105729216 A CN105729216 A CN 105729216A
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CN
China
Prior art keywords
rod
gripping
jaw
cam
hinged
Prior art date
Application number
CN201610277020.2A
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Chinese (zh)
Other versions
CN105729216B (en
Inventor
朱啸天
Original Assignee
桐乡市红旗塑料包装袋厂
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Priority to CN201610277020.2A priority Critical patent/CN105729216B/en
Publication of CN105729216A publication Critical patent/CN105729216A/en
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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23QDETAILS, 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
    • B23Q7/00Arrangements 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
    • B23Q7/04Arrangements 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
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23QDETAILS, 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
    • B23Q7/00Arrangements 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
    • B23Q7/04Arrangements 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
    • B23Q7/046Handling workpieces or tools
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00Gripping heads and other end effectors
    • B25J15/02Gripping heads and other end effectors servo-actuated
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00Gripping heads and other end effectors
    • B25J15/02Gripping heads and other end effectors servo-actuated
    • B25J15/0253Gripping heads and other end effectors servo-actuated comprising parallel grippers
    • B25J15/0266Gripping heads and other end effectors servo-actuated comprising parallel grippers actuated by articulated links
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00Gripping heads and other end effectors
    • B25J15/02Gripping heads and other end effectors servo-actuated
    • B25J15/0253Gripping heads and other end effectors servo-actuated comprising parallel grippers
    • B25J15/028Gripping heads and other end effectors servo-actuated comprising parallel grippers actuated by cams

Abstract

The invention provides a reciprocating type workpiece feeding device, and belongs to the technical field of machining. The reciprocating type workpiece feeding device comprises a clamping mechanism and a feeding mechanism. A main cam and an auxiliary cam of the feeding mechanism are symmetrically arranged, the upper end of a second rocker is hinged onto a framework, an auxiliary roller is rotatably arranged on the second rocker and is positioned in an auxiliary cam groove, the lower end of the second rocker is hinged to the right end of a third connecting rod, the upper end of a first rocker is hinged onto the formwork, the lower end of the first rocker is hinged to the left end of the third connecting rod and the lower end of a second connecting rod, a main roller is rotatably arranged on the second connecting rod and is positioned in a main cam groove, the upper end of the second connecting rod is hinged to one end of a first connecting rod, the other end of the first connecting rod is hinged to a slider, a left clamping jaw and a right clamping jaw of the clamping mechanism are symmetrically and rotatably arranged on a clamping bearing frame, and a left incomplete gear and a right incomplete gear mesh with each other. The reciprocating type workpiece feeding device has the advantages that workpieces can be quickly fed by the reciprocating type workpiece feeding device in a reciprocating manner, and the reciprocating type workpiece feeding device is large in stroke and high in practicality.

Description

A kind of reciprocating workpiece pay-off
Technical field
The present invention relates to Machining Technology field, particularly to a kind of reciprocating workpiece pay-off.
Background technology
Machining refers to by the process that a kind of plant equipment overall dimensions to workpiece or performance are changed.Machining and pressure processing can be divided into by the difference on processing mode.Technical process can be divided into again the technical processs such as casting, forging, punching press, welding, machining, assembling, and technical process is made up of one or several tactic operations again, and an operation is formed by by several work steps.The machinery that processing needs is by digital display milling machine, digital display form grinder, digital display lathe, electric discharge machine, grinding machine of universal, machining center, cylindrical grinder, internal grinder, fine turning lathe etc., the processing such as the car of precision component, milling, plane, mill can be carried out, the processing such as the car of precision component, milling, plane, mill are good at by this type of machinery, can processing various irregularly shaped part, machining accuracy is high.In workpiece process, it is necessary to workpiece is delivered to appointment station, is processed.At present, the feeding of workpiece is typically all and relies on a dead lift to realize, and labor intensity is big, and efficiency is low.Also there is feeder equipment in the market, common workpiece pay-off is typically all to rely on to carry to bring and realizes feeding, position inaccurate, reliability is poor, currently also there is the pay-off utilizing rocking bar, connecting rod and slide block type, the pin joint position of one end of rocking bar is all fixing, so causes that ram travel is less, and the suitability is poor.
Summary of the invention
It is an object of the invention to provide a kind of reciprocating workpiece pay-off, quickly realize the reciprocating feeding to workpiece, stroke is big, and the suitability is strong.
The technical solution adopted for the present invention to solve the technical problems is:
nullA kind of reciprocating workpiece pay-off,It includes frame、Gripping body、Feed mechanism,Described feed mechanism includes drive motor、Main cam、Auxiliary cam、First connecting rod、Second connecting rod、Main roller、Auxiliary wheel、Slide block、Guide rail、Prop up bearing、First rocking bar、Second rocking bar、Third connecting rod,Described main cam and auxiliary cam are all rotatably provided in frame,Main cam and auxiliary cam are symmetrical arranged,Described main cam is provided with main cam groove,Described auxiliary cam is provided with auxiliary cam groove,Described drive motor and main cam、Auxiliary cam connects,The upper end thereof of described second rocking bar is in frame,Described auxiliary wheel is rotatably provided on the second rocking bar,Auxiliary wheel is positioned at auxiliary cam groove,The lower end of described second rocking bar and the right-hand member of third connecting rod are hinged,The upper end of described first rocking bar is also articulated in frame,The lower end of described first rocking bar and the left end of third connecting rod、The lower end of second connecting rod is hinged,Described main roller is rotatably provided on second connecting rod,Main roller is positioned at main cam groove,The upper end of described second connecting rod and one end of first connecting rod are hinged,The other end and the slide block of described first connecting rod are hinged,Described slide block can horizontally slip and be arranged on guide rail,Described guide rail is horizontally set in frame,Described bearing is fixed on slide block,Described gripping body is arranged on the upper end of a bearing,Described gripping body includes gripping cylinder、Gripping bearing support、Left jaw、Right jaw、Left partial gear、Right partial gear、Oscillating cylinder、Left supporting bar、Right supporting bar、Left bearing pin、Right bearing pin,Described gripping cylinder is fixed in frame,The piston-rod lower end of gripping cylinder connects gripping bearing support,Described left jaw and right jaw are symmetrical and are rotatably provided on gripping bearing support,Described left partial gear is arranged on left jaw,Described right partial gear is arranged on right jaw,Described left partial gear and right partial gear engage each other,Described oscillating cylinder and left partial gear are coaxially connected,One end of described left supporting bar is hinged on gripping bearing support,The other end of described left supporting bar is provided with left U-type groove,Described left bearing pin is arranged on left jaw,Left bearing pin is positioned at left U-type groove,One end of described right supporting bar is hinged on gripping bearing support,The other end of described right supporting bar is provided with right U-type groove,Described right bearing pin is arranged on right jaw,Right bearing pin is positioned at right U-type groove.
Further, described main roller and auxiliary wheel are all rubber roll.
Further, the inner side of described left jaw and right jaw is both provided with rubber blanket.
Compared to the prior art the present invention, has the following advantages and effect: feed mechanism realizes the quick feeding to workpiece, and gripping body realizes the quick gripping to workpiece.Drive motor drives main cam and auxiliary cam continuous rotary, main cam drives second connecting rod to swing back and forth by main roller, second connecting rod is slidably reciprocated along guide rail by first connecting rod band movable slider, simultaneously, auxiliary cam drives the second rocking bar to swing back and forth by auxiliary wheel, and the second rocking bar drives the first rocking bar to swing by third connecting rod, and the pin joint thus achieving second connecting rod lower end floats, this pin joint is total contrary with the direction of motion of slide block, thus slide block can obtain bigger stroke.When a bearing reaches limit on the right-right-hand limit position, grip cylinder downward actuation, oscillating cylinder action simultaneously, drive left jaw and right jaw inwardly to swing, it is achieved the gripping to workpiece, after gripping, grip cylinder upwards action.Left supporting bar and right supporting bar improve the stability to left jaw and right jaw.Main roller and auxiliary wheel are all rubber roll, decrease the abrasion with main cam and auxiliary cam, long service life.The inner side of left jaw and right jaw is both provided with rubber blanket, effectively prevent gripping power when gripping excessive and workpiece is caused damage.The present invention quickly realizes the reciprocating feeding to workpiece, and stroke is big, and the suitability is strong.
Accompanying drawing explanation
Fig. 1 is the structural representation of the present invention.
Fig. 2 is the partial enlarged drawing A of Fig. 1 of the present invention.
In figure: 1. frame, 2. gripping body, 3. feed mechanism, 4. drive motor, 5. main cam, 6. auxiliary cam, 7. first connecting rod, 8. second connecting rod, 9. main roller, 10. auxiliary wheel, 11. slide block, 12. guide rail, 13. a bearing, 14. the first rocking bar, 15. the second rocking bar, 16. third connecting rod, 17. main cam groove, 18. auxiliary cam groove, 19. gripping cylinder, 20. gripping bearing support, 21. left jaw, 22. right jaw, 23. left partial gear, 24. right partial gear, 25. oscillating cylinder, 26. left supporting bar, 27. right supporting bar, 28. left bearing pin, 29. right bearing pin, 30. left U-type groove, 31. right U-type groove, 32. rubber blanket.
Detailed description of the invention
Below in conjunction with accompanying drawing and by embodiment, the present invention is described in further detail, and following example are explanation of the invention and the invention is not limited in following example.
As depicted in figs. 1 and 2, a kind of reciprocating workpiece pay-off, it includes frame 1, gripping body 2, feed mechanism 3, and feed mechanism 3 realizes the quick feeding to workpiece, and gripping body 2 realizes the quick gripping to workpiece.nullDescribed feed mechanism 3 includes drive motor 4、Main cam 5、Auxiliary cam 6、First connecting rod 7、Second connecting rod 8、Main roller 9、Auxiliary wheel 10、Slide block 11、Guide rail 12、Prop up bearing 13、First rocking bar 14、Second rocking bar 15、Third connecting rod 16,Described main cam 5 and auxiliary cam 6 are all rotatably provided in frame 1,Main cam 5 and auxiliary cam 6 are symmetrical arranged,Described main cam 5 is provided with main cam groove 17,Described auxiliary cam 6 is provided with auxiliary cam groove 18,Described drive motor 4 and main cam 5、Auxiliary cam 6 connects,The upper end thereof of described second rocking bar 15 is in frame 1,Described auxiliary wheel 10 is rotatably provided on the second rocking bar 15,Auxiliary wheel 10 is positioned at auxiliary cam groove 18,The lower end of described second rocking bar 15 and the right-hand member of third connecting rod 16 are hinged,The upper end of described first rocking bar 14 is also articulated in frame 1,The lower end of described first rocking bar 14 and the left end of third connecting rod 16、The lower end of second connecting rod 8 is hinged,Described main roller 9 is rotatably provided on second connecting rod 8,Main roller 9 is positioned at main cam groove 17,Described main roller 9 and auxiliary wheel 10 are all rubber roll,Decrease and the abrasion of main cam 5 and auxiliary cam 6,Long service life.The upper end of described second connecting rod 8 and one end of first connecting rod 7 are hinged, the other end and the slide block 11 of described first connecting rod 7 are hinged, described slide block 11 can horizontally slip and be arranged on guide rail 12, and described guide rail 12 is horizontally set in frame 1, and described bearing 13 is fixed on slide block 11.nullDescribed gripping body 2 is arranged on the upper end of a bearing 13,Described gripping body 2 includes gripping cylinder 19、Gripping bearing support 20、Left jaw 21、Right jaw 22、Left partial gear 23、Right partial gear 24、Oscillating cylinder 25、Left supporting bar 26、Right supporting bar 27、Left bearing pin 28、Right bearing pin 29,Described gripping cylinder 19 is fixed in frame 1,The piston-rod lower end of gripping cylinder 19 connects gripping bearing support 20,Described left jaw 21 and right jaw 22 are symmetrical and are rotatably provided on gripping bearing support 20,Described left partial gear 23 is arranged on left jaw 21,Described right partial gear 24 is arranged on right jaw 22,Described left partial gear 23 and right partial gear 24 engage each other,Described oscillating cylinder 25 and left partial gear 23 are coaxially connected,One end of described left supporting bar 26 is hinged on gripping bearing support 20,The other end of described left supporting bar 26 is provided with left U-type groove 30,Described left bearing pin 28 is arranged on left jaw 21,Left bearing pin 28 is positioned at left U-type groove 30,One end of described right supporting bar 27 is hinged on gripping bearing support 20,The other end of described right supporting bar 27 is provided with right U-type groove 31,Described right bearing pin 29 is arranged on right jaw 22,Right bearing pin 29 is positioned at right U-type groove 31.The inner side of described left jaw 21 and right jaw 22 is both provided with rubber blanket 32, effectively prevent gripping power when gripping excessive and workpiece is caused damage.
Pass through technique scheme, when one reciprocating workpiece pay-off of the present invention uses, drive motor 4 drives main cam 5 and auxiliary cam 6 continuous rotary, main cam 5 drives second connecting rod 8 to swing back and forth by main roller 9, second connecting rod 8 is slidably reciprocated along guide rail 12 by first connecting rod 7 band movable slider 11, simultaneously, auxiliary cam 6 drives the second rocking bar 15 to swing back and forth by auxiliary wheel 10, second rocking bar 15 drives the first rocking bar 14 to swing by third connecting rod 16, the pin joint thus achieving second connecting rod 8 lower end floats, this pin joint is total contrary with the direction of motion of slide block 11, thus slide block 11 can obtain bigger stroke.When a bearing 13 reaches limit on the right-right-hand limit position, grip cylinder 19 downward actuation, oscillating cylinder 25 action simultaneously, drive left jaw 21 and right jaw 22 inwardly to swing, it is achieved the gripping to workpiece, after gripping, grip cylinder 19 upwards action.Left supporting bar 26 and right supporting bar 27 improve the stability to left jaw 21 and right jaw 22.The present invention quickly realizes the reciprocating feeding to workpiece, and stroke is big, and the suitability is strong.
Above content described in this specification is only illustration made for the present invention.Described specific embodiment can be made various amendment or supplements or adopt similar mode to substitute by those skilled in the art; without departing from the content of description of the present invention or surmount the scope that present claims book is defined, protection scope of the present invention all should be belonged to.

Claims (3)

  1. null1. a reciprocating workpiece pay-off,It is characterized in that: it includes frame、Gripping body、Feed mechanism,Described feed mechanism includes drive motor、Main cam、Auxiliary cam、First connecting rod、Second connecting rod、Main roller、Auxiliary wheel、Slide block、Guide rail、Prop up bearing、First rocking bar、Second rocking bar、Third connecting rod,Described main cam and auxiliary cam are all rotatably provided in frame,Main cam and auxiliary cam are symmetrical arranged,Described main cam is provided with main cam groove,Described auxiliary cam is provided with auxiliary cam groove,Described drive motor and main cam、Auxiliary cam connects,The upper end thereof of described second rocking bar is in frame,Described auxiliary wheel is rotatably provided on the second rocking bar,Auxiliary wheel is positioned at auxiliary cam groove,The lower end of described second rocking bar and the right-hand member of third connecting rod are hinged,The upper end of described first rocking bar is also articulated in frame,The lower end of described first rocking bar and the left end of third connecting rod、The lower end of second connecting rod is hinged,Described main roller is rotatably provided on second connecting rod,Main roller is positioned at main cam groove,The upper end of described second connecting rod and one end of first connecting rod are hinged,The other end and the slide block of described first connecting rod are hinged,Described slide block can horizontally slip and be arranged on guide rail,Described guide rail is horizontally set in frame,Described bearing is fixed on slide block,Described gripping body is arranged on the upper end of a bearing,Described gripping body includes gripping cylinder、Gripping bearing support、Left jaw、Right jaw、Left partial gear、Right partial gear、Oscillating cylinder、Left supporting bar、Right supporting bar、Left bearing pin、Right bearing pin,Described gripping cylinder is fixed in frame,The piston-rod lower end of gripping cylinder connects gripping bearing support,Described left jaw and right jaw are symmetrical and are rotatably provided on gripping bearing support,Described left partial gear is arranged on left jaw,Described right partial gear is arranged on right jaw,Described left partial gear and right partial gear engage each other,Described oscillating cylinder and left partial gear are coaxially connected,One end of described left supporting bar is hinged on gripping bearing support,The other end of described left supporting bar is provided with left U-type groove,Described left bearing pin is arranged on left jaw,Left bearing pin is positioned at left U-type groove,One end of described right supporting bar is hinged on gripping bearing support,The other end of described right supporting bar is provided with right U-type groove,Described right bearing pin is arranged on right jaw,Right bearing pin is positioned at right U-type groove.
  2. 2. a kind of reciprocating workpiece pay-off according to claim 1, it is characterised in that: described main roller and auxiliary wheel are all rubber roll.
  3. 3. a kind of reciprocating workpiece pay-off according to claim 1, it is characterised in that: the inner side of described left jaw and right jaw is both provided with rubber blanket.
CN201610277020.2A 2016-04-30 2016-04-30 A kind of reciprocating workpiece feed device Active CN105729216B (en)

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CN201610277020.2A CN105729216B (en) 2016-04-30 2016-04-30 A kind of reciprocating workpiece feed device
CN201710949523.4A CN107671591A (en) 2016-04-30 2016-04-30 A kind of reciprocating workpiece feed device

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107398517A (en) * 2017-09-08 2017-11-28 合肥宁致信息技术有限公司 A kind of computer motherboard foot cut device
CN108263432A (en) * 2016-12-30 2018-07-10 比亚迪股份有限公司 The turnout junction girder driving device and Riding-type Monorail Switch of Riding-type Monorail Switch
CN108584401A (en) * 2018-04-28 2018-09-28 重庆维庆液压机械有限公司 a kind of hydraulic device

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110253550A (en) * 2019-06-29 2019-09-20 南京奥灵克物联网科技有限公司 A kind of multi-functional dexterous handgrip of robot for grabbing workpiece

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KR20090058432A (en) * 2007-12-04 2009-06-09 엄만용 Transfer and loading device for products
CN103449209A (en) * 2013-09-22 2013-12-18 浙江通业印刷机械有限公司 Paper transfer mechanism of paper feeding head
CN104528383A (en) * 2014-11-10 2015-04-22 重庆山能仪表有限公司 Electromagnetic type conveying device for blades
CN204444207U (en) * 2015-01-23 2015-07-08 金吉南 A kind of bulking machine
CN205630103U (en) * 2016-04-30 2016-10-12 桐乡市红旗塑料包装袋厂 Reciprocating type work piece material feeding unit

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20090058432A (en) * 2007-12-04 2009-06-09 엄만용 Transfer and loading device for products
CN201214301Y (en) * 2008-07-16 2009-04-01 曾岐松 Pen ironing machine
CN103449209A (en) * 2013-09-22 2013-12-18 浙江通业印刷机械有限公司 Paper transfer mechanism of paper feeding head
CN104528383A (en) * 2014-11-10 2015-04-22 重庆山能仪表有限公司 Electromagnetic type conveying device for blades
CN204444207U (en) * 2015-01-23 2015-07-08 金吉南 A kind of bulking machine
CN205630103U (en) * 2016-04-30 2016-10-12 桐乡市红旗塑料包装袋厂 Reciprocating type work piece material feeding unit

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108263432A (en) * 2016-12-30 2018-07-10 比亚迪股份有限公司 The turnout junction girder driving device and Riding-type Monorail Switch of Riding-type Monorail Switch
CN107398517A (en) * 2017-09-08 2017-11-28 合肥宁致信息技术有限公司 A kind of computer motherboard foot cut device
CN108584401A (en) * 2018-04-28 2018-09-28 重庆维庆液压机械有限公司 a kind of hydraulic device
CN108584401B (en) * 2018-04-28 2020-03-13 重庆维庆液压机械有限公司 Hydraulic device

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