CN112047095A - Multi-dimensional self-limiting type gripping device for automatic production based on small workpieces - Google Patents
Multi-dimensional self-limiting type gripping device for automatic production based on small workpieces Download PDFInfo
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- CN112047095A CN112047095A CN202010761182.XA CN202010761182A CN112047095A CN 112047095 A CN112047095 A CN 112047095A CN 202010761182 A CN202010761182 A CN 202010761182A CN 112047095 A CN112047095 A CN 112047095A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/902—Devices for picking-up and depositing articles or materials provided with drive systems incorporating rotary and rectilinear movements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2207/00—Indexing codes relating to constructional details, configuration and additional features of a handling device, e.g. Conveyors
- B65G2207/08—Adjustable and/or adaptable to the article size
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Abstract
The invention discloses a multi-dimensional self-limiting type grabbing device for automatic production based on small workpieces, which comprises a supporting plate, wherein the bottom of the supporting plate is fixedly connected with a plurality of first hydraulic telescopic rods, the movable ends of the first hydraulic telescopic rods are fixedly connected with a first connecting sleeve, the bottom of the first connecting sleeve is fixedly connected with a threaded cover, the threaded cover is in threaded connection with a second connecting sleeve, the middle of the bottom end of the threaded cover is fixedly connected with a telescopic cylinder, the movable end of the telescopic cylinder is fixedly connected with a first movable block, the bottom of the first movable block is fixedly connected with a second movable block, the bottom of the side wall of the second connecting sleeve is provided with a plurality of openings, the bottom of the second connecting sleeve is fixedly connected with a limiting ring, the limiting ring is connected with a limiting rod through a first limiting mechanism, and the top of the supporting plate is connected with a. Has the advantages that: not only can realize snatching in batches small-size work piece, can avoid the work piece to drop at the in-process that snatchs simultaneously.
Description
Technical Field
The invention relates to the technical field of automatic instruments, in particular to a multi-dimensional self-limiting type gripping device for automatic production based on small workpieces.
Background
Production automation refers to a production process in which all or part of the processing of a product is accomplished by mechanical equipment, instrumentation, and automation devices without the need for direct human intervention. The wide application of various robots in the production process improves the automation, intelligence and industrialization of industrial production and promotes the industrialization process.
When the automatic production operation of the workpieces is carried out, the transfer of the workpieces is an indispensable part of the automatic production, and the workpieces are usually transferred by adopting a conveyor belt, but the conveyor belt can only realize the transfer on the same plane, and the angle of the workpieces is inconvenient to change, so that the transfer of the workpieces is realized by the cooperation of the conveyor belt and a grabbing instrument during the actual operation.
The removal that prior art mostly adopted manipulator and drive belt to realize the work piece shifts thereby realizes automatic flow, but the manipulator only can be directed against the single transfer of work piece, can't shift in batches the work piece, to small-size work piece, it influences machining efficiency to carry out single transfer through the manipulator, thereby can influence the course of working, although also there is the anchor clamps that shift in batches to the work piece, but more can only be directed against the work piece of single shape, can't adapt to the small-size work piece of different shapes, the change of work piece shape can lead to anchor clamps unable use, in addition, the condition that the work piece dropped appears easily at the in-process that shifts, influence the machining success rate of work piece.
An effective solution to the problems in the related art has not been proposed yet.
Disclosure of Invention
The invention aims to provide a multi-dimensional self-limiting type grabbing device for automatic production based on small workpieces, and the device is used for solving the problems in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme: a multi-dimensional self-limiting type grabbing device for automatic production based on small workpieces comprises a supporting plate, wherein two sides of the supporting plate are connected with a mounting plate through mounting blocks, the bottom of the supporting plate is fixedly connected with a plurality of first hydraulic telescopic rods, the movable ends of the first hydraulic telescopic rods are fixedly connected with a first connecting sleeve through connecting bolts, the bottom of the first connecting sleeve is fixedly connected with a threaded cover, the threaded cover is in threaded connection with a second connecting sleeve, the middle of the bottom end of the threaded cover is fixedly connected with a telescopic cylinder, the movable ends of the telescopic cylinder are fixedly connected with a first movable block, the bottom of the first movable block is fixedly connected with a second movable block, the bottom of the side wall of the second connecting sleeve is provided with a plurality of openings, the bottom of the second connecting sleeve is fixedly connected with a limiting ring, the limiting ring is connected with a limiting rod through a first limiting mechanism, and the port of, the utility model discloses a hydraulic telescopic link, including the gag lever post, the outer fixed surface of axis of rotation, the activity piece is two to be located the gag lever post is kept away from open-ended one side, the top fixedly connected with hydraulic telescopic rod two of backup pad, the expansion end fixedly connected with connecting box of hydraulic telescopic rod two, the middle part swing joint of connecting box has the axis of rotation, the rotatory lug of outer fixed surface of axis of rotation is connected with the fly leaf, the fly leaf pass through spring one with the inner wall connection of connecting box, the one end of axis of rotation is located the connecting box outside and be connected with slewing mechanism, the connecting box is kept away from one side both ends fixedly connected with solid fixed splint of hydraulic telescopic rod two, the fly leaf passes through coupling mechanism and is connected with movable clamp plate, movable clamp plate is located between.
In a further embodiment, the anti-falling mechanism comprises a first cavity, a second spring, a toothed plate, a first gear, a movable shaft, a pushing block, a third movable block, a concave-convex surface and an inclined surface, the first cavity is formed in the bottoms of the fixed clamping plate and the movable clamping plate, the second cavity is formed in the top of one end of the first cavity, the top of the second cavity is connected with the toothed plate through the second spring, a second limiting mechanism is connected between the toothed plate and the fixed clamping plate as well as between the toothed plate and the movable clamping plate, the toothed plate is meshed with the first gear, the circle center of the first gear is movably connected with the inner wall of the first cavity through the movable shaft, the pushing block is fixedly connected to one side of the first gear far away from the toothed plate, the first cavity is connected with the third movable block through the third limiting mechanism, the concave-convex surface matched with the pushing block is arranged on one side of, one side that the concave-convex face was kept away from to movable block three is provided with the inclined plane, the top of movable block three with be connected with canceling release mechanical system between the cavity one, can realize through preventing weighing down the mechanism that solid fixed splint and movable splint reduce the purpose that the work piece breaks away from solid fixed splint and movable splint when carrying out the centre gripping to the work piece to can improve the success rate of snatching the operation.
In a further embodiment, canceling release mechanical system includes connecting block one, connecting block two and spring three, cavity one is kept away from one side top fixedly connected with connecting block one of cavity two, the top fixedly connected with connecting block two of movable block three, connecting block two with connect through spring three between the connecting block one, can realize the three resets of movable block through canceling release mechanical system, can make movable block three reset when movable block three does not receive to promote the piece.
In a further embodiment, the second limiting mechanism comprises a second limiting block and a second limiting groove, the second limiting block is fixedly connected to one side, away from the first gear, of the toothed plate, the second limiting groove is formed in the positions, close to the second limiting block, of the fixed clamping plate and the movable clamping plate, the second limiting block is located in the second limiting groove and matched with the second limiting groove, the toothed plate can be limited through the second limiting mechanism, and therefore the toothed plate can only move up and down in the second cavity.
In a further embodiment, stop gear three includes stopper three and spacing groove three, three both sides fixedly connected with stoppers of movable block three, a cavity lateral wall just is close to three departments of stopper open there is spacing groove three, stopper three is located spacing inslot and with the spacing groove three-phase matches, not only can realize spacing to movable block three through stop gear three, can avoid movable block three to break away from in the cavity one simultaneously.
In a further embodiment, stop gear one includes stopper one, spacing groove one and spring four, open the bottom of gag lever post has spacing groove one, the top of spacing collar just is close to spacing groove one fixedly connected with stopper one, stopper one be located spacing groove one and through spring four with spacing groove fixed connection not only can carry out spacingly to the gag lever post through stop gear one, can realize the automatic re-setting of gag lever post simultaneously.
In a further embodiment, slewing mechanism includes motor, pivot, two gears and three gears, the axis of rotation is located connecting box outside fixedly connected with gear two, gear two and gear three-phase meshing, the middle part of gear three is connected with the output of motor through the pivot, the motor is fixed in the connecting box outside, slewing mechanism can realize the rotation to the axis of rotation to the operation that the realization promoted the fly leaf.
In a further embodiment, the connecting mechanism comprises a movable opening and a third connecting block, the bottom of the connecting box is provided with the movable opening, the third connecting block is arranged in the movable opening, the top of the third connecting block is fixedly connected with the movable plate, the bottom of the third connecting block is fixedly connected with the movable clamping plate, and the movable clamping plate can move along with the movable plate through the connecting mechanism.
In a further embodiment, the mounting plate is connected with the movable end of the linear sliding table module, and the front and back movement on the horizontal plane of the supporting plate can be realized through the linear sliding table module.
In a further embodiment, the bottom of the mounting block is movably connected with a movable rod, wherein the bottom of the movable rod is connected with the output end of the driving motor, the bottom of the movable rod is movably connected with a roller, and the rotating operation of the supporting plate taking the driving motor as the circle center can be realized through the matching of the movable rod, the driving motor and the roller.
Compared with the prior art, the invention has the following beneficial effects:
this grabbing device not only can realize snatching in batches to small-size work piece, can avoid the work piece to drop at the in-process that snatchs simultaneously, improve the success rate that snatchs, snatch the work piece in batches simultaneously and can improve machining efficiency, guarantee processing process, simultaneously can be connected with sharp slip table module or with driving motor etc. according to actual demand, thereby realize sharp transfer or rotatory transfer, and installation easy operation, simultaneously can adjust the backup pad according to actual demand, thereby make the work piece that the centre gripping subassembly in the backup pad can adapt to different shapes, thereby make the adaptability of improving device.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
FIG. 1 is a schematic structural view according to the present invention;
FIG. 2 is a schematic structural diagram of a linear sliding table module according to the present invention;
fig. 3 is a schematic view of a structure of a driving motor according to the present invention;
FIG. 4 is a schematic structural diagram of a first connecting sleeve and a second connecting sleeve according to the invention;
FIG. 5 is a schematic view of the internal structure of a second connecting sleeve according to the invention;
FIG. 6 is a top view of the interior of the junction box according to the present invention;
FIG. 7 is a schematic view of the construction of the coupling mechanism according to the present invention;
figure 8 is a schematic structural view of a tooth plate in a retracted state according to the present invention;
fig. 9 is a structural schematic view of a tooth plate in an extended state according to the present invention;
fig. 10 is a schematic structural view of a second limiting mechanism according to the invention.
Reference numerals:
1. a support plate; 2. mounting blocks; 3. mounting a plate; 4. a first hydraulic telescopic rod; 5. a connecting bolt; 6. a first connecting sleeve; 7. a threaded cap; 8. a second connecting sleeve; 9. a telescopic cylinder; 10. a first movable block; 11. a second movable block; 12. an opening; 13. a limiting ring; 14. a limiting rod; 15. a second hydraulic telescopic rod; 16. a connecting box; 17. a rotating shaft; 18. rotating the projection; 19. a movable plate; 20. a first spring; 21. fixing the clamping plate; 22. a movable splint; 23. a first cavity; 24. a second cavity; 25. a second spring; 26. a toothed plate; 27. a first gear; 28. a movable shaft; 29. a pushing block; 30. a third movable block; 31. a concave-convex surface; 32. a bevel; 33. a first connecting block; 34. a second connecting block; 35. a third spring; 36. a second limiting block; 37. a second limiting groove; 38. a third limiting block; 39. a third limiting groove; 40. a first limiting block; 41. a first limiting groove; 42. a fourth spring; 43. a motor; 44. a rotating shaft; 45. a second gear; 46. a third gear; 47. a movable opening; 48. connecting blocks III; 49. a linear sliding table module; 50. a movable rod; 51. a drive motor; 52. and a roller.
Detailed Description
The invention is further described with reference to the following drawings and detailed description:
the first embodiment is as follows:
referring to fig. 1 to 10, the multi-dimensional self-limiting gripping device for automatic production of small workpieces according to the embodiment of the invention comprises a supporting plate 1, wherein two sides of the supporting plate 1 are connected with a mounting plate 3 through mounting blocks 2, the mounting block 2 is provided with a hole capable of connecting a movable rod 50, the mounting plate 3 is provided with a hole capable of allowing a bolt to pass through the hole, the bottom of the supporting plate 1 is fixedly connected with a plurality of hydraulic telescopic rods one 4, the movable end of each hydraulic telescopic rod one 4 is fixedly connected with a connecting sleeve one 6 through a connecting bolt 5, the movable end of each hydraulic telescopic rod one 4 is provided with a hole capable of allowing the connecting bolt 5 to pass through, and the connecting sleeve one 6 is provided with a screw hole capable of being in threaded connection with the connecting bolt 5;
the bottom of the first connecting sleeve 6 is fixedly connected with a threaded cover 7, the threaded cover 7 is in threaded connection with a second connecting sleeve 8, a threaded path capable of being in threaded connection with the threaded cover 7 is arranged on the outer surface of the second connecting sleeve, a telescopic cylinder 9 is fixedly connected to the middle of the bottom end of the threaded cover 7, a movable block I10 is fixedly connected to the movable end of the telescopic cylinder 9, the bottom end of the movable block I10 is in a cone shape, a movable block II 11 is fixedly connected to the bottom of the movable block I10, the movable block II 11 is in a cylinder shape, a plurality of openings 12 are formed in the bottom of the side wall of the second connecting sleeve 8, the openings 12 are uniformly distributed in the side wall of the second connecting sleeve 8, a limiting ring 13 is fixedly connected to the bottom of the second connecting sleeve 8, the limiting ring 13 is connected with a limiting rod 14 through a limiting mechanism I, and the two ends of the limiting rod, on the other hand, the device is convenient to be matched with the first movable block 10, the port of the limiting rod 14 is positioned in the opening 12, and the second movable block 11 is positioned on one side of the limiting rod 14, which is far away from the opening 12;
the top of the supporting plate 1 is fixedly connected with a second hydraulic telescopic rod 15, the movable end of the second hydraulic telescopic rod 15 is fixedly connected with a connecting box 16, the middle part of the connecting box 16 is movably connected with a rotating shaft 17, the rotating shaft 17 is movably connected with the connecting box 16 through a bearing, a rotating lug 18 is fixedly connected to the outer surface of the rotating shaft 17, the rotating lug 18 is in a design that two ends are sharp and two ends are gentle, movable plates 19 are arranged on two sides of the rotating lug 18, the movable plates 19 are connected with the inner wall of the connecting box 16 through a first spring 20, and one end of the rotating shaft 17 is located on the outer side of the connecting box 16 and is connected with a;
the connecting box 16 is kept away from one side both ends fixedly connected with solid fixed splint 21 of two 15 of hydraulic telescoping rod, fly leaf 19 passes through coupling mechanism and is connected with movable splint 22, movable splint 22 is located between solid fixed splint 21, coupling mechanism includes movable opening 47 and three 48 of connecting block, open the bottom of connecting box 16 has movable opening 47, it is required to explain that, movable opening 47's quantity is a plurality of and for interval distribution, movable opening 47's inside is equipped with three 48 of connecting block, the top fixedly connected with of three 48 of connecting block fly leaf 19, the bottom of three 48 of connecting block with movable splint 22 fixed connection can make movable splint 22 remove along with fly leaf 19 through coupling mechanism, gu fixed splint 21 with movable splint 22's bottom all is provided with prevents weighing down the mechanism.
Example two:
referring to fig. 7-9, the anti-falling mechanism includes a first cavity 23, a second cavity 24, a second spring 25, a toothed plate 26, a first gear 27, a movable shaft 28, a pushing block 29, a third movable block 30, a concave-convex surface 31 and an inclined surface 32, the first cavity 23 is formed at the bottom of each of the fixed clamping plate 21 and the movable clamping plate 22, the second cavity 24 is formed at the top of one end of the first cavity 23, the top of the second cavity 24 is connected with the toothed plate 26 through the second spring 25, a second limiting mechanism is connected between the toothed plate 26 and the fixed clamping plate 21 and the movable clamping plate 22, the toothed plate 26 is engaged with the first gear 27, the circle center of the first gear 27 is movably connected with the inner wall of the first cavity 23 through the movable shaft 28, the pushing block 29 is fixedly connected to one side of the first gear 27 away from the toothed plate 26, and the first cavity 23 is connected with the third movable block 30 through the third limiting mechanism, three 30 of movable block are close to promote one side of piece 29 be provided with promote the unsmooth face 31 of piece 29 assorted, three 30 of movable block keep away from one side of unsmooth face 31 is provided with inclined plane 32, and inclined plane 32 sets up to the design of money under the last narrow, three 30 of movable block the top with be connected with canceling release mechanical system between cavity 23, can realize through anti-falling mechanism that solid fixed splint 21 and movable splint 22 reduce the purpose that the work piece breaks away from solid fixed splint 21 and movable splint 22 when carrying out the centre gripping to the work piece to can improve the success rate of snatching the operation
Example three:
referring to fig. 8-9, the resetting mechanism includes a first connecting block 33, a second connecting block 34 and a third spring 35, the first connecting block 33 is fixedly connected to the top of one side of the first cavity 23 away from the second cavity 24, the second connecting block 34 is fixedly connected to the top of the third movable block 30, the top of the second connecting block 34 contacts with the top of the first cavity, the second connecting block 34 is connected with the first connecting block 33 through the third spring 35, the resetting of the third movable block 30 can be realized through the resetting mechanism, and the third movable block 30 can be reset when the third movable block 30 is not pushed by the pushing block 29.
Example four:
referring to fig. 5 and 8-10, the second limiting mechanism includes a second limiting block 36 and a second limiting groove 37, one side of the toothed plate 26, which is far from the first gear 27, is fixedly connected with the second limiting block 36, the second limiting block 37 is formed at a position, which is close to the second limiting block 36, of the fixed clamping plate 21 and the movable clamping plate 22, the second limiting block 36 is located in the second limiting groove 37 and is matched with the second limiting groove 37, the toothed plate 26 can be limited by the second limiting mechanism, so that the toothed plate 26 can only move up and down in the second cavity 24, the third limiting mechanism includes a third limiting block 38 and a third limiting groove 39, two sides of the third movable block 30 are fixedly connected with third limiting blocks 38, a third limiting groove 39 is formed at a position, which is close to the third limiting block 38, the third limiting block 38 is located in the third limiting groove 39 and is matched with the third limiting groove 39, not only can realize spacing to three 30 of movable block through stop gear three, can avoid three 30 of movable block to break away from in the cavity 23 simultaneously, stop gear one includes stopper one 40, spacing groove one 41 and spring four 42, open the bottom of gag lever post 14 has spacing groove one 41, the top of spacing collar 13 just is close to spacing groove one 41 fixedly connected with stopper one 40, stopper one 40 is located in spacing groove one 41 and through spring four 42 with spacing groove one 41 fixed connection, not only can carry on spacingly to gag lever post 14 through stop gear one, can realize the automatic re-setting of gag lever post 14 simultaneously.
Example five:
referring to fig. 6, the rotating mechanism includes a motor 43, a rotating shaft 44, a second gear 45 and a third gear 46, the rotating shaft 17 is located outside the connecting box 16 and is fixedly connected with the second gear 45, the second gear 45 is meshed with the third gear 46, the diameter of the third gear 46 is far smaller than that of the second gear 45, the middle portion of the third gear 46 is connected with the output end of the motor 43 through the rotating shaft 44, the motor 43 is a forward and reverse motor, the motor 43 is fixed outside the connecting box 16, and the rotating mechanism can rotate the rotating shaft 17, so that the operation of pushing the movable plate 19 is realized.
Example six:
referring to fig. 2, the mounting plate 3 is connected to the movable end of the linear sliding table module 49, and the linear sliding table module 49 can move back and forth on the horizontal plane of the supporting plate 1.
Example seven:
referring to fig. 3, the bottom of the mounting block 2 is movably connected with a movable rod 50, wherein the bottom of the movable rod 50 is connected with an output end of a driving motor 51, the bottom end of the other movable rod 50 is movably connected with a roller 52, and the rotation operation of the support plate 1 with the driving motor 51 as a circle center can be realized through the cooperation of the movable rod 50, the driving motor 51 and the roller 52, when the rotation is required, the driving motor 51, the movable rod 50 and the roller 52 can be connected to the support plate 1, and then the driving motor 51 is fixed on a workbench, and the roller 52 is in contact with the workbench, so that the support plate 1 rotates with the driving motor as a center.
For the convenience of understanding the technical solutions of the present invention, the following detailed description will be made on the working principle or the operation mode of the present invention in the practical process.
In practical application, if linear transfer is needed, the mounting plate 3 on the support plate 1 can be connected with the linear sliding table module 49, the linear sliding table module 49 is supported and fixed at a proper position through a support assembly, if rotational transfer is needed, the movable rods 50 are connected with the mounting block 2, one movable rod 50 is connected with the driving motor 51, the driving motor 51 is fixed on a proper working table, the support plate 1 rotates by taking the driving motor 51 as a circle center, the idler wheel 52 at the bottom of the other movable rod 50 is contacted with the working table, so that the rotation of the support plate 1 is matched, the corresponding electronic device on the support plate 1 is connected with an industrial personal computer in an automatic system, and the electronic device on the support plate 1 is conveniently controlled;
usually, the support plate 1 is installed above a corresponding conveying belt, if a workpiece in a cone shape is processed, one end of the support plate 1, which is provided with a hydraulic telescopic rod one 4, is located above the workpiece, when the workpiece is conveyed below the hydraulic telescopic rod one 4, the hydraulic telescopic rod one 4 is extended, the connecting sleeve one 6 drives a connecting sleeve two 8 to move downwards, the bottom end of the connecting sleeve two 8 enters the inside of the workpiece in the cone shape, then a telescopic cylinder 9 is started, the telescopic cylinder 9 is extended to drive a movable block one 10 to descend, the movable block two 11 descends along with the movable block one 10, the movable block two 11 passes through a limiting ring 13, the movable block one 10 moves along with a limiting rod 14, the limiting rod 14 is extruded by the movable block one 10 to move outwards, a spring four 42 is in a compressed state, at the moment, the port of the limiting rod 14 passes through an opening 12 to be in contact with the inner wall of the workpiece in the, at the moment, the first hydraulic telescopic rod 4 contracts, the second connecting sleeve 8 can drive the workpiece to move together, the linear sliding table module 49 drives the supporting plate 1 to move, when the supporting plate moves to the material placing position, the first hydraulic telescopic rod 4 extends, then the telescopic cylinder 9 contracts, the limiting rod enters the second connecting sleeve 8 under the action of the second spring 25, the workpiece can fall to a corresponding position by separating from the second connecting sleeve 8, and the operation is repeated so as to transfer the workpiece;
when the workpiece is circular or rectangular, the position of the support plate 1 is adjusted, the connecting box 16 of the support plate 1 is positioned above the conveyor belt, when the workpiece is positioned below the support plate 1, the hydraulic telescopic rod two 15 extends to drive the connecting box 16 to move downwards, the toothed plate 26 is initially positioned at the outer sides of the fixed clamping plate 21 and the movable clamping plate 22, when the fixed clamping plate 21 and the movable clamping plate 22 are in contact with the conveyor belt, the toothed plate 26 moves upwards, the spring two 25 is compressed, the toothed plate 26 drives the gear one 27 to rotate, the gear one 27 drives the pushing block 29 to rotate, the pushing block 29 moves to the position where the concave-convex surface 31 is recessed, at the moment, the movable block three 30 enters the cavity one 23 under the action of the spring three 35, then the motor 43 is started, the motor 43 drives the gear three 46 to rotate through the rotating shaft 44, the gear three 46 drives the gear two 45 to rotate, so as to enable the rotating shaft 17, the rotating shaft 17 drives the rotating lug 18 to rotate, so that the movable plate 19 moves, the first spring 20 is compressed, the movable clamping plate 22 moves along with the movable plate 19 through the third connecting block 48, thereby leading the movable clamping plate 22 to approach the fixed clamping plate 21 to clamp the workpiece, leading the second hydraulic telescopic rod 15 to contract to drive the connecting box 16 to move upwards after clamping the workpiece, after the fixed clamping plate 21 and the movable clamping plate 22 are separated from the conveying belt, the toothed plate 26 moves downwards under the action of the second spring 25 and gravity to drive the first gear 27 to rotate, the pushing block 29 moves to the protruding part of the concave-convex surface 31 to push the third movable block 30 to move outwards, and the third movable block 30 can push the workpiece upwards due to the design of the inclined surface, therefore, the anti-falling operation is carried out on the workpiece, when the supporting plate 1 moves to the material placing position, the motor 43 rotates reversely so as to separate the movable clamping plate 22 from the workpiece, and the workpiece can be separated from the space between the fixed clamping plate 21 and the movable clamping plate 22;
this grabbing device not only can realize snatching in batches to small-size work piece, can avoid the work piece to drop at the in-process that snatchs simultaneously, improve the success rate that snatchs, snatch the work piece in batches simultaneously and can improve machining efficiency, guarantee processing process, simultaneously can be connected with sharp slip table module 49 or with driving motor 51 etc. according to actual demand, thereby realize sharp shift or rotatory transfer, and installation easy operation, simultaneously can adjust backup pad 1 according to actual demand, thereby make the centre gripping subassembly on the backup pad 1 can adapt to the work piece of different shapes, thereby make the adaptability of improving device.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (10)
1. The utility model provides a be based on small-size work piece automated production is with multidimension degree from spacing formula grabbing device, a serial communication port, including backup pad (1), the both sides of backup pad (1) are connected with mounting panel (3) through installation piece (2), the bottom fixedly connected with of backup pad (1) a plurality of hydraulic telescoping rod (4), the expansion end of hydraulic telescoping rod (4) passes through connecting bolt (5) and connecting sleeve (6) fixed connection, the bottom fixedly connected with screw cap (7) of connecting sleeve (6), screw cap (7) and connecting sleeve (8) threaded connection, the bottom middle part fixedly connected with telescopic cylinder (9) of screw cap (7), the expansion end fixedly connected with movable block (10) of telescopic cylinder (9), the bottom fixedly connected with movable block (11) of movable block (10), the bottom of the side wall of the second connecting sleeve (8) is provided with a plurality of openings (12), the bottom of the second connecting sleeve (8) is fixedly connected with a limiting ring (13), the limiting ring (13) is connected with a limiting rod (14) through a first limiting mechanism, a port of the limiting rod (14) is positioned in the opening (12), a second movable block (11) is positioned on one side of the limiting rod (14) far away from the opening (12), the top of the supporting plate (1) is fixedly connected with a second hydraulic telescopic rod (15), the movable end of the second hydraulic telescopic rod (15) is fixedly connected with a connecting box (16), the middle of the connecting box (16) is movably connected with a rotating shaft (17), the outer surface of the rotating shaft (17) is fixedly connected with a rotating lug (18), two sides of the rotating lug (18) are provided with movable plates (19), and the movable plates (19) are connected with the inner wall of the connecting box (16) through a first spring (20), the one end of axis of rotation (17) is located the connecting box (16) outside and be connected with slewing mechanism, keeping away from connecting box (16) one side both ends fixedly connected with solid fixed splint (21) of hydraulic telescoping rod two (15), fly leaf (19) are connected with activity splint (22) through coupling mechanism, activity splint (22) are located between solid fixed splint (21), gu fixed splint (21) with the bottom of activity splint (22) all is provided with prevents weighing down the mechanism.
2. The multi-dimensional self-limiting gripping device for automatic production of small workpieces based on claim 1 is characterized in that the anti-falling mechanism comprises a first cavity (23), a second cavity (24), a second spring (25), a toothed plate (26), a first gear (27), a movable shaft (28), a pushing block (29), a third movable block (30), a concave-convex surface (31) and an inclined surface (32), the first cavity (23) is formed at the bottoms of the fixed clamping plate (21) and the movable clamping plate (22), the second cavity (24) is formed at the top of one end of the first cavity (23), the top of the second cavity (24) is connected with the toothed plate (26) through the second spring (25), a second limiting mechanism is connected between the toothed plate (26) and the fixed clamping plate (21) and the movable clamping plate (22), and the toothed plate (26) is meshed with the first gear (27), the utility model discloses a tooth plate, including cavity (23), gear (27), pinion rack (26), pinion rack (27), gear (27) centre of a circle department through loose axle (28) with cavity (23) inner wall swing joint, gear (27) are kept away from one side fixedly connected with of pinion rack (26) promotes piece (29), be connected with loose piece three (30) through stop gear three in cavity (23), loose piece three (30) are close to promote one side of piece (29) be provided with promote piece (29) assorted concavo-convex face (31), loose piece three (30) are kept away from one side of concavo-convex face (31) is provided with inclined plane (32), the top of loose piece three (30) with be connected with canceling release mechanical system between cavity (23).
3. The multi-dimensional self-limiting gripping device for automatic production based on small workpieces as claimed in claim 2, wherein the resetting mechanism comprises a first connecting block (33), a second connecting block (34) and a third spring (35), the first connecting block (33) is fixedly connected to the top of the side, away from the second cavity (24), of the first cavity (23), the second connecting block (34) is fixedly connected to the top of the third movable block (30), and the second connecting block (34) is connected with the first connecting block (33) through the third spring (35).
4. The multi-dimensional self-limiting gripping device for automatic production of small workpieces as claimed in claim 3, wherein the second limiting mechanism comprises a second limiting block (36) and a second limiting groove (37), the second limiting block (36) is fixedly connected to one side of the toothed plate (26) far away from the first gear (27), the second limiting groove (37) is formed at a position, close to the second limiting block (36), of the fixed clamping plate (21) and the movable clamping plate (22), and the second limiting block (36) is located in the second limiting groove (37) and matched with the second limiting groove (37).
5. The multi-dimensional self-limiting gripping device for automatic production of small workpieces as claimed in claim 4, wherein the third limiting mechanism comprises a third limiting block (38) and a third limiting groove (39), the third limiting block (38) is fixedly connected to two sides of the third movable block (30), a third limiting groove (39) is formed in the side wall of the first cavity (23) and near the third limiting block (38), and the third limiting block (38) is located in the third limiting groove (39) and matched with the third limiting groove (39).
6. The small-sized workpiece automatic production-based multi-dimensional self-limiting type grabbing device is characterized in that the first limiting mechanism comprises a first limiting block (40), a first limiting groove (41) and a fourth spring (42), the first limiting groove (41) is formed in the bottom of the limiting rod (14), the first limiting block (40) is fixedly connected to the position, close to the first limiting groove (41), of the top of the limiting ring (13), and the first limiting block (40) is located in the first limiting groove (41) and is fixedly connected with the first limiting groove (41) through the fourth spring (42).
7. The automatic production multi-dimensional self-limiting gripping device based on small workpieces is characterized in that the rotating mechanism comprises a motor (43), a rotating shaft (44), a second gear (45) and a third gear (46), the rotating shaft (17) is located on the outer side of the connecting box (16) and is fixedly connected with the second gear (45), the second gear (45) is meshed with the third gear (46), the middle of the third gear (46) is connected with the output end of the motor (43) through the rotating shaft (44), and the motor (43) is fixed on the outer side of the connecting box (16).
8. The multi-dimensional self-limiting gripping device for automatic production of small workpieces as claimed in claim 1, wherein the connecting mechanism comprises a movable opening (47) and a third connecting block (48), the bottom of the connecting box (16) is provided with the movable opening (47), the third connecting block (48) is arranged inside the movable opening (47), the movable plate (19) is fixedly connected to the top of the third connecting block (48), and the bottom of the third connecting block (48) is fixedly connected to the movable clamping plate (22).
9. The multidimensional self-limiting gripping device based on the automatic production of the small workpieces as claimed in claim 1 is characterized in that the mounting plate (3) is connected with the movable end of the linear sliding table module (49).
10. The multi-dimensional self-limiting gripping device for automatic production of small workpieces as claimed in claim 1, wherein the bottom of the mounting block (2) is movably connected with a movable rod (50), wherein the bottom of the movable rod (50) is connected with the output end of a driving motor (51), and the bottom end of the other movable rod (50) is movably connected with a roller (52).
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010761182.XA CN112047095A (en) | 2020-07-31 | 2020-07-31 | Multi-dimensional self-limiting type gripping device for automatic production based on small workpieces |
| PCT/CN2021/094118 WO2022022012A1 (en) | 2020-07-31 | 2021-05-17 | Multi-dimensional self-limiting grabbing device for automatic production of small workpieces |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010761182.XA CN112047095A (en) | 2020-07-31 | 2020-07-31 | Multi-dimensional self-limiting type gripping device for automatic production based on small workpieces |
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| CN112047095A true CN112047095A (en) | 2020-12-08 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010761182.XA Pending CN112047095A (en) | 2020-07-31 | 2020-07-31 | Multi-dimensional self-limiting type gripping device for automatic production based on small workpieces |
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| Country | Link |
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| CN (1) | CN112047095A (en) |
| WO (1) | WO2022022012A1 (en) |
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Application publication date: 20201208 |