CN113910275A

CN113910275A - Two-shaft transfer device with clamping jaws

Info

Publication number: CN113910275A
Application number: CN202111253797.2A
Authority: CN
Inventors: 齐亚文; 冶生有; 王文喜; 徐静; 周景吉
Original assignee: Kocel Machine Tool Accessories Ltd
Current assignee: Kocel Machine Tool Accessories Ltd
Priority date: 2021-10-28
Filing date: 2021-10-28
Publication date: 2022-01-11

Abstract

The utility model relates to a diaxon of subsidiary clamping jaw moves and carries device, including device body, first actuating mechanism, second actuating mechanism, two clamping jaws and pneumatic control system, first actuating mechanism with second actuating mechanism all set up in on the device body, two the clamping jaw set up relatively in the bottom of device body, first actuating mechanism with second actuating mechanism all with the clamping jaw drive links to each other, first actuating mechanism is used for driving two the clamping jaw is relative or move in opposite directions, second actuating mechanism is used for the drive the clamping jaw is followed the axial direction of device body removes, pneumatic control system with first actuating mechanism with second actuating mechanism control links to each other, pneumatic control system is used for control first actuating mechanism with second actuating mechanism's drive power. This scheme can solve the problem that the actuating mechanism that present manipulator adopted has great potential safety hazard.

Description

Two-shaft transfer device with clamping jaws

Technical Field

The invention relates to the technical field of mechanical equipment, in particular to a two-shaft transfer device with clamping jaws.

Background

The manipulator is a mechanical device which realizes the robot replacing the robot by matching mechanical structure design with electrical program control, in the structural composition of the manipulator, the clamping jaw is a final action execution part, and after the manipulator moves to a designated position, the clamping jaw finishes clamping or loosening actions like a human finger so as to realize the operations of taking, placing, processing and the like of external parts; the functional design of the clamping jaws requires that they have two clamping parts which can be moved relative to one another, and that the two clamping parts are equipped with corresponding drive cylinders. Therefore, the conventional clamping jaw generally comprises 2 clamping blocks and 2 power mechanisms, wherein the two power mechanisms respectively and independently drive the two clamping blocks to move relatively to complete clamping or loosening.

In view of cost, the mechanical power is generally provided by a cylinder. According to the technical scheme, when the air cylinder is used for providing power for the driving mechanism, if pressure caused by loop air leakage is reduced or air source pressure is insufficient, the clamped claw is easy to loosen, so that the workpiece clamping position is changed or the workpiece is separated from the claw, and the fault shutdown is caused.

Disclosure of Invention

In view of this, it is necessary to provide a two-axis transfer apparatus with a gripper, which is directed to a problem that a driving mechanism used in a conventional robot has a large potential safety hazard.

In order to solve the problems, the invention adopts the following technical scheme:

the embodiment of the invention discloses a two-shaft transfer device with clamping jaws, which comprises a device body, a first driving mechanism, a second driving mechanism, two clamping jaws and a pneumatic control system, wherein the first driving mechanism and the second driving mechanism are arranged on the device body, the two clamping jaws are oppositely arranged at the bottom of the device body, the first driving mechanism and the second driving mechanism are in driving connection with the clamping jaws, the first driving mechanism is used for driving the two clamping jaws to move oppositely or oppositely, the second driving mechanism is used for driving the clamping jaws to move along the axial direction of the device body, the pneumatic control system is in control connection with the first driving mechanism and the second driving mechanism, and the pneumatic control system is used for controlling the driving force of the first driving mechanism and the second driving mechanism.

In one embodiment, the pneumatic control system comprises a gas source processing unit, a pneumatic control unit and a pneumatic execution unit which are connected, wherein the gas source processing unit is used for purifying gas source gas, controlling the gas pressure of a main loop and mixing gas oil mist, and the pneumatic control unit and the pneumatic execution unit are used for controlling the actions of the clamping jaws.

In one embodiment, the two clamping jaws are plate-shaped structural members, and the two plate-shaped structural members are symmetrically distributed relative to the axis of the device body.

In one embodiment, the bottom of each clamping jaw is provided with a bottom support, the bottom supports are arranged on the inner side surfaces of the clamping jaws, and the two bottom supports are distributed oppositely.

In one embodiment, the outer side surface of the shoe is a ramp, the lower side end of the ramp sloping along an axis proximate the device body.

In one embodiment, a first flexible cushion block is arranged on each of the two inclined surfaces.

In one embodiment, the inner side surfaces of the two plate-shaped structural members are provided with second flexible cushion blocks.

In one embodiment, at least one of the two clamping jaws is provided with a distance sensor for measuring the distance between the two clamping jaws.

In one embodiment, the first driving mechanism comprises a first air cylinder and a sliding block, the first air cylinder is arranged on the device body and is in driving connection with the sliding block, a guide rail is arranged on the device body, the sliding block is in sliding fit with the guide rail, and the clamping jaw is connected with the sliding block.

In one embodiment, the second driving mechanism includes a second cylinder and a guide, the second cylinder is connected to the device body, the driving end of the second cylinder passes through the device body and is connected to the clamping jaw, one end of the guide is connected to the clamping jaw, the other end of the guide is slidably disposed on the device body, and the sliding direction is the same as the moving direction of the driving end of the second cylinder.

The technical scheme adopted by the invention can achieve the following beneficial effects:

in the two-shaft transfer device with the clamping jaws disclosed by the embodiment of the invention, the first driving mechanism and the second driving mechanism are controlled by the pneumatic control system, so that the first driving mechanism and the second driving mechanism can provide more stable driving force for the clamping jaws, the clamping effect of the clamping jaws on a workpiece is better, the workpiece is prevented from being separated from the clamping jaws due to the change of the clamping position of the workpiece or the insufficient air pressure of a pneumatic circuit, and the safety is improved.

Drawings

Fig. 1 is a schematic structural view of a two-axis transfer apparatus according to an embodiment of the present invention;

FIG. 2 is a schematic view of the structure of FIG. 1 from another perspective;

fig. 3 is a schematic diagram of a pneumatic control system according to an embodiment of the disclosure.

Description of reference numerals:

100-device body, 200-first driving mechanism, 300-second driving mechanism, 310-second air cylinder, 320-guide piece, 400-clamping jaw, 410-bottom support, 420-second flexible cushion block, 430-distance sensor and 500-pneumatic control system.

Detailed Description

To facilitate an understanding of the invention, the invention will now be described more fully with reference to the accompanying drawings. Preferred embodiments of the present invention are shown in the drawings. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.

It will be understood that when an element is referred to as being "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. As used herein, the terms "vertical," "horizontal," "left," "right," "top," "bottom," "top," and the like are for illustrative purposes only and do not represent the only embodiments.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

As shown in fig. 1 to 3, the embodiment of the present invention discloses a two-axis transfer apparatus with a clamping jaw, which includes an apparatus body 100, a first driving mechanism 200, a second driving mechanism 300, two clamping jaws 400, and a pneumatic control system 500.

The device body 100 is a body component of a two-axis transfer device, the device body can provide mounting positions for other components of the two-axis transfer device, the first driving mechanism 200 and the second driving mechanism 300 are both arranged on the device body 100, the two clamping jaws 400 are oppositely arranged at the bottom of the device body 100, the first driving mechanism 200 and the second driving mechanism 300 are both in driving connection with the clamping jaws 400, namely the two clamping jaws 400 are slidably arranged at the bottom of the device body 100, and therefore the first driving mechanism 200 and the second driving mechanism 300 drive the two clamping jaws to move.

Specifically, the first driving mechanism 200 is used to drive the two clamping jaws 400 to move relatively or oppositely, so that the clamping jaws 400 function as clamping components, the second driving mechanism 300 is used to drive the clamping jaws 400 to move along the axial direction of the device body 100, and in practical application, the second driving mechanism 300 drives the two clamping jaws 400 to move upwards or downwards, so as to adjust the positions of the clamping jaws 400, or convey the components clamped in the clamping jaws 400 to preset positions. The pneumatic control system 500 is in control connection with the first driving mechanism 200 and the second driving mechanism 300, and the pneumatic control system 500 is used for controlling the driving force of the first driving mechanism 200 and the second driving mechanism 300 so as to enable the driving force generated by the first driving mechanism 200 and the second driving mechanism 300 on the clamping jaw 400 to be more stable.

As can be seen from the above, in the two-axis transfer apparatus with clamping jaws disclosed in the embodiment of the present invention, the pneumatic control system 500 controls the first driving mechanism 200 and the second driving mechanism 300, so that the first driving mechanism 200 and the second driving mechanism 300 can provide a more stable driving force to the clamping jaw 400, thereby improving the clamping effect of the clamping jaw 400 on a workpiece, and further preventing the workpiece from being separated from the clamping jaw 400 due to the change of the clamping position of the workpiece or the insufficient air pressure of the pneumatic circuit, so as to improve the safety.

Further, the pneumatic control system 500 may specifically include an air source processing unit, a pneumatic control unit, and a pneumatic execution unit, which are connected to each other, the air source processing unit may be configured to purge the air source, control the air pressure of the main loop, and mix the air oil mist, and the pneumatic control unit and the pneumatic execution unit may be configured to control the actions of the clamping jaws 400.

Specifically, referring to fig. 3, the gas source processing unit L1 may be composed of a filter + pressure reducing valve + oil mist sprayer, and mainly functions to mix the purge gas source gas, the gas pressure of the control circuit and the gas oil mist. A stop valve P2 is installed at the air inlet end of the air source processing unit, a stop valve P2 is used for manually controlling the on-off of the air source of the main loop, and an electronic pressure switch is connected to an air outlet end T1 of the air source processing unit and used for feeding back the loop pressure value to the control system in real time. The outlet end T2 of the air source processing unit is connected with a 3-position 5-way double-electric-control middle-discharge type electromagnetic valve V4, and the A, B port of the air source processing unit is respectively connected with an air inlet throttling type speed control valve F2 with a pilot-operated one-way valve and an exhaust throttling type speed control valve F3.

A T4 port is added at the air inlet end of a speed control valve F3, a pilot air inlet of the speed control valve F2 is connected, a pressure reducing valve L2 is connected at the air outlet of the speed control valve F3, the air outlet end of the speed control valve F3583 is connected with a rodless side air port of a cylinder A1, the air inlet of the speed control valve F2 is connected with a solenoid valve V4, and the air outlet of the speed control valve F2 is connected with a rodless side air port of the cylinder A1. One path of the outlet end T3 is connected with A3-position 5-way double-electric-control medium-pressure electromagnetic valve V3, the A, B port of the outlet end is respectively connected with an inlet throttle type speed control valve F4 and F5, and the outlets of the inlet throttle type speed control valve are respectively connected with air ports of a rod side and a rodless side of cylinders A2 and A3; the other path is connected with a 2-position 3-way direct-acting electromagnetic valve V4, and the outlet is connected with air locking ports of air cylinders A2 and A3. When the cylinder is vertically used, the rod end is loaded, and in order to prevent the workpiece from falling down caused by air break during operation, an integrated pilot check valve and a speed control valve are installed on the rod side, so that the cylinder can be temporarily stopped in the middle and the speed of the cylinder can be controlled.

In summary, the two-axis transfer apparatus disclosed in the embodiments of the present invention has the following operation sequence and control principle: during the process of gripping the workpiece by the clamping jaw 400, the pneumatic control system 500 controls the first driving mechanism 200 to drive the clamping jaw 400 to open, and then the first driving mechanism 200 drives the clamping jaw 400 to finish gripping the workpiece by controlling the second driving mechanism 300 to drive the clamping jaw 400 to move from the initial position to the gripping position. The clamping jaw 400 is pulled back over stroke to clamp workpieces with different diameters, so that locking effect on the first driving mechanism 200 is achieved when the pneumatic circuit is accidentally cut off or the pressure is reduced.

In the embodiment of the present invention, both the clamping jaws 400 may be plate-shaped structural members, and the two plate-shaped structural members may be symmetrically distributed with respect to the axis of the apparatus body 100. The clamping jaw 400 with the structure can be suitable for clamping workpieces with various specifications and sizes so as to realize one-jaw multi-purpose, thereby improving the practicability of the two-axis transfer device.

Further, the bottom of each jaw 400 may be provided with a shoe 410, the shoe 410 may be located on the inner side of the jaw 400, i.e., the shoes 410 may be located on the opposite inner sides of the two jaws 400, and the two shoes 410 may be distributed oppositely. In this case, the bottom support 410 can support the workpiece during the process of clamping the workpiece by the two clamping jaws 400, so as to prevent the workpiece from sliding off, thereby ensuring the safety of the clamping jaws 400 during operation.

In an alternative, the outer side of the shoe 410 may be a ramp, the lower side of which may be inclined along an axis near the device body 100. As shown in fig. 2, the bottom bracket 410 with such a structure can perform a better supporting function, so that the two-axis transfer device has safety performance.

Correspondingly, a first flexible cushion block can be arranged on each of the two inclined surfaces. In this case, under the condition that the clamping jaw 400 clamps the workpiece, the shoe 410 is in contact with the workpiece through the first flexible cushion block, so that the workpiece can be prevented from being in rigid contact with the shoe 410, and further the workpiece can be prevented from being damaged in the clamping process.

Likewise, the inner sides of both plate-like structures may be provided with a second flexible mat 420. Under the condition that the clamping jaw 400 clamps the workpiece, the clamping jaw 400 is contacted with the workpiece through the second flexible cushion block 420, so that the clamping jaw 400 can be prevented from being rigidly contacted with the bottom support 410, and further the workpiece can be prevented from being damaged in the clamping process. Meanwhile, the second flexible cushion block 420 can also play a role in skid resistance, so that the clamping effect of the clamping jaw 400 on the workpiece is better. Of course, the first flexible cushion block and the second flexible cushion block 420 may be made of flexible members such as rubber and sponge, which is not limited in this embodiment of the present invention.

In an embodiment of the invention, at least one of the two clamping jaws 400 may be provided with a distance sensor 430, which distance sensor 430 may be used to measure the distance between the two clamping jaws 400. The clamping jaw 400 can better clamp the workpiece through the distance sensor, so that the working efficiency can be improved. The distance sensor 430 may be a correlation sensor, or may be another type of sensor, which is not limited in this embodiment of the present invention.

In an embodiment of the present invention, the first driving mechanism 200 may include a first cylinder and a slider, the first cylinder may be disposed on the apparatus body 100, the first cylinder may be drivingly connected to the slider, the apparatus body 100 may be disposed with a guide rail, the slider and the guide rail may be slidably engaged, and the clamping jaw 400 may be connected to the slider. Compared with other driving mechanisms, the first driving mechanism 200 with the structure is not easy to deform, safe and reliable, and can provide larger driving force.

In the disclosed embodiment of the invention, the second driving mechanism 300 may include a second cylinder 310 and a guide 320, the second cylinder 310 may be connected to the apparatus body 100, that is, the seat body of the second cylinder 310 may be fixed to the apparatus body 100, the driving end of the second cylinder 310 may pass through the apparatus body 100 to be connected to the clamping jaw 400, one end of the guide 320 may be connected to the clamping jaw 400, the other end of the guide 320 may be slidably disposed on the apparatus body 100, and the sliding direction of the guide 320 is the same as the moving direction of the driving end of the second cylinder 310. The driving mechanism with the structure can provide larger and more stable driving force for the clamping jaw 400, so that workpieces with larger weight can be clamped, and the practicability of the whole device is improved. Moreover, the guide 320 can also play a role in guiding to ensure the driving direction of the clamping jaw 400, and accordingly, the guide 320 can be arranged on both sides of the second driving mechanism 300, so that the driving effect of the clamping jaw 400 can be better.

The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims

1. The two-axis transfer device with the clamping jaws is characterized by comprising a device body (100), a first driving mechanism (200), a second driving mechanism (300), two clamping jaws (400) and a pneumatic control system (500), wherein the first driving mechanism (200) and the second driving mechanism (300) are arranged on the device body (100), the two clamping jaws (400) are oppositely arranged at the bottom of the device body (100), the first driving mechanism (200) and the second driving mechanism (300) are in driving connection with the clamping jaws (400), the first driving mechanism (200) is used for driving the two clamping jaws (400) to move oppositely or oppositely, the second driving mechanism (300) is used for driving the clamping jaws (400) to move along the axial direction of the device body (100), and the pneumatic control system (500) is in control connection with the first driving mechanism (200) and the second driving mechanism (300), the pneumatic control system (500) is used for controlling the driving force of the first driving mechanism (200) and the second driving mechanism (300).

2. Two-axis transfer device according to claim 1, wherein said pneumatic control system (500) comprises a source gas processing unit for purging a source gas, controlling the gas pressure of the main circuit and the mixing of the gas and oil mist, and a pneumatic actuator unit for controlling the action of said jaws (400) connected thereto.

3. Two-axis transfer device according to claim 1, wherein both of the gripping jaws (400) are plate-shaped structures, the two plate-shaped structures being symmetrically arranged with respect to the axis of the device body (100).

4. Two-axis transfer device according to claim 3, characterized in that a bottom of each clamping jaw (400) is provided with a bottom support (410), the bottom supports (410) are arranged on the inner side surfaces of the clamping jaws (400), and the two bottom supports (410) are distributed oppositely.

5. Two-axis transfer device according to claim 4, characterized in that the outer side of the shoe (410) is a bevel, the lower side of which is inclined along the axis close to the device body (100).

6. Two-axis transfer apparatus according to claim 5, wherein a first flexible pad is provided on each of the two inclined surfaces.

7. Two-axis transfer device according to claim 3, characterised in that the inner side of both of the plate-like structures is provided with a second flexible pad (420).

8. Two-axis transfer device according to claim 1, characterized in that at least one of the two clamping jaws (400) is provided with a distance sensor (430), the distance sensor (430) being adapted to measure the distance between the two clamping jaws (400).

9. Two-axis transfer device according to claim 1, wherein the first driving mechanism (200) comprises a first cylinder and a slide block, the first cylinder is arranged on the device body (100), the first cylinder is connected with the slide block in a driving manner, the device body (100) is provided with a guide rail, the slide block is in sliding fit with the guide rail, and the clamping jaw (400) is connected with the slide block.

10. Two-axis transfer device according to claim 1, wherein the second driving mechanism (300) comprises a second cylinder (310) and a guide (320), the second cylinder (310) is connected to the device body (100), the driving end of the second cylinder (310) passes through the device body (100) and is connected to the clamping jaw (400), one end of the guide (320) is connected to the clamping jaw (400), the other end of the guide is slidably disposed on the device body (100), and the sliding direction is the same as the moving direction of the driving end of the second cylinder (310).