CN115070494A

CN115070494A - Flexible tongs of lathe material loading and unloading

Info

Publication number: CN115070494A
Application number: CN202210710463.1A
Authority: CN
Inventors: 吴灏; 吴坤泽
Original assignee: Zhejiang Senyang Pneumatic Co ltd
Current assignee: Zhejiang Senyang Pneumatic Co ltd
Priority date: 2022-06-22
Filing date: 2022-06-22
Publication date: 2022-09-20

Abstract

The invention relates to a flexible gripping device for feeding and discharging of a machine tool, which comprises an installation block, wherein a first gripping component and a second gripping component are arranged on the installation block, the first gripping component and the second gripping component are positioned on the adjacent side surfaces of the installation block, the first gripping component and the second gripping component respectively comprise a flexible compensation device, a gripping cylinder and a gripping clamp thereof, the flexible compensation device is connected with the gripping cylinder through an installation plate, the gripping clamp is fixed on the gripping cylinder, an auxiliary material ejecting module is further arranged on the gripping cylinder, and the auxiliary material ejecting module is used for supporting the gripping clamp. The invention has the beneficial effects that: aiming at the high-precision positioning of the feeding and discharging of a workpiece processed by CNC, the problems that the robot is complicated in programming, the point teaching difficulty is high, and a follow-up robot possibly generates other forces in the action process are solved.

Description

Flexible tongs of lathe material loading and unloading

Technical Field

The invention relates to the technical field of automatic production equipment, in particular to a flexible feeding and discharging gripper for a machine tool.

Background

The existing CNC machine tool needs to meet the requirements for feeding and discharging of workpieces in the machining process, particularly, high-precision positioning must be achieved for workpieces such as gears during feeding and discharging, so that the problems that follow-up robots generate different forces in the action process and the like are solved, and the existing feeding and discharging gripper cannot meet the requirements.

Disclosure of Invention

The invention aims to provide a flexible gripper for feeding and discharging materials on a machine tool, which aims at high-precision positioning of feeding and discharging materials on a workpiece processed by CNC (computer numerical control), and solves the problems that a robot is complicated in programming, point position teaching difficulty is high, a follow-up robot possibly generates different strength in the action process, and the like.

In order to achieve the purpose, the invention provides the following technical scheme:

the utility model provides a flexible tongs of unloading on lathe, its characterized in that, includes the installation piece, be provided with first tongs subassembly and second tongs subassembly on the installation piece, first tongs subassembly and second tongs subassembly are located the adjacent side of installation piece, first tongs subassembly and second tongs subassembly all include flexible compensation arrangement, tongs cylinder and grab material anchor clamps thereof, flexible compensation arrangement with connect through the mounting panel between the tongs cylinder, grab the material anchor clamps and fix on the tongs cylinder, still be provided with supplementary liftout module on the tongs cylinder, supplementary liftout module is used for supporting and grabs the material anchor clamps.

The invention is further provided with an air pipe collecting port arranged on the first side surface of the mounting block, a flange piece is arranged on the second side surface opposite to the first side surface, a sleeve piece is arranged between the flange pieces, and an air pipe outlet is arranged on the sleeve piece.

The invention is further provided that the flexibility compensation device is a six-degree-of-freedom flexibility compensation device or a three-degree-of-freedom flexibility compensation device.

The invention further provides that the first gripper assembly is located on a third side of the mounting block, the second gripper assembly is located on a fourth side of the mounting block, and the third side and the fourth side are adjacent.

The invention further provides that a machine tool scrap blowing nozzle is arranged on one side of the first gripper assembly and is fixed on the mounting block.

The invention further provides that the three-degree-of-freedom flexible compensation device is provided with a centering air port, an optional position locking air port and a flexible compensation air port.

The six-degree-of-freedom flexible compensation device is further provided with a centering air port.

The invention is further provided with a dust blowing air port, a clamping jaw opening air port and a clamping jaw closing air port which are arranged on the gripper air cylinder.

The invention has the beneficial effects that: aiming at the high-precision positioning of the feeding and discharging of a workpiece processed by CNC, the problems that the robot is complicated in programming, the point teaching difficulty is high, and a follow-up robot possibly generates other forces in the action process are solved.

Drawings

The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:

fig. 1 is an exploded view of an embodiment of the present invention.

Fig. 2 is a perspective view of an embodiment of the present invention.

Fig. 3 is a schematic diagram of a six-degree-of-freedom flexibility compensation device according to an embodiment of the present invention.

Fig. 4 is a schematic diagram of a three-degree-of-freedom flexible compensation apparatus according to an embodiment of the present invention.

The reference numerals are used to designate the same elements,

10. mounting blocks; 20. a first gripper assembly; 30. a second gripper assembly; 40. a flexibility compensation device; 50. a gripper cylinder; 60. a material grabbing clamp; 70. mounting a plate; 80. an auxiliary material ejecting module; 90. a flange member; 100. a sleeve; 1001. an outlet of the trachea; 110. a trachea collection port; 120. a chip blowing nozzle of the machine tool; 130. centering the air port; 140. locking the air ports at any position; 150. a flexible compensation gas port; 160. a dust blowing port; 170. a clamping jaw air opening; 180. the clamping jaw closes the air port; 190. a cylinder body; 200. a movable cover; 210. a spring seat; 220. installing a panel; 230. a cavity; 240. a piston; 250. a piston rod; 260. an upper cover; 270. a module housing; 280. a movable body; 290. a base; 300. a first piston bore; 310. a second piston bore;

Detailed Description

The embodiments of the present application will be described in detail with reference to the drawings and examples, so that how to implement the technical means for solving the technical problems and achieving the technical effects of the present application can be fully understood and implemented.

As shown in fig. 1-2, the invention relates to a flexible gripping device for loading and unloading of a machine tool, which comprises a mounting block 10, wherein a first gripping assembly 20 and a second gripping assembly 30 are arranged on the mounting block 10, the first gripping assembly 20 and the second gripping assembly 30 are positioned on adjacent side surfaces of the mounting block 10, the first gripping assembly 20 and the second gripping assembly 30 both comprise a flexible compensation device 40, a gripping cylinder 50 and a gripping clamp 60 thereof, the flexible compensation device 40 is connected with the gripping cylinder 50 through a mounting plate 70, the gripping clamp 60 is fixed on the gripping cylinder 50, an auxiliary material ejecting module 80 is further arranged on the gripping cylinder 50, and the auxiliary material ejecting module 80 is used for supporting the gripping clamp 60. The gear machining is taken as an example, when the gear needs to be installed into a CNC clamp, positioning needs to be achieved through the teeth, when CNC feeding is conducted, the flexible air port of the six-degree-of-freedom flexible compensation device is opened, and at the moment, flexible compensation is movable. When the robot is used for clamping, the sixth shaft rotates clockwise and anticlockwise back and forth and is used for simulating hands to adapt to positioning between teeth, and therefore the gear can smoothly slide into the clamp.

In the material taking process, the flexible air port is opened firstly, and the flexible compensation can move in 6 degrees of freedom at the moment. When the robot pulls the gear out of the clamp, hard scratch cannot be caused on the gear surface.

Wherein the first gripper assembly 20 is used for taking material and the second gripper assembly 30 is used for feeding material.

The trachea collection port 110 has been seted up to the first side of installation piece 10, is provided with flange spare 90 on the second side that sets up opposite with the first side, be provided with sleeve 100 between the flange spare 90, be provided with trachea export 1001 on the sleeve 100, trachea collection port 110 and trachea export 1001 are used for placing and collecting the trachea.

The flexibility compensation device 40 is a six-degree-of-freedom flexibility compensation device 40 or a three-degree-of-freedom flexibility compensation device 40.

The six-degree-of-freedom flexible compensation device 40 is preferably used in the first gripper assembly 20, the three-degree-of-freedom flexible compensation device 40 is preferably used in the second gripper assembly 30, and the selection can be performed according to requirements, that is, the three-degree-of-freedom flexible compensation device 40 can also be used in the first gripper assembly 20, and the six-degree-of-freedom flexible compensation device 40 can also be used in the second gripper assembly 30.

The first hand grip assemblies 20 are located on a third side of the mounting block 10, and the second hand grip assemblies 30 are located on a fourth side of the mounting block 10, the third side and the fourth side being adjacent.

A machine tool scrap blowing nozzle 120 is arranged on one side of the first gripper assembly 20, the machine tool scrap blowing nozzle 120 is fixed on the mounting block 10, and the mounting surface of the machine tool scrap blowing nozzle is an opposite surface of the fourth side surface.

The three-degree-of-freedom flexible compensation device 40 is provided with a centering air port 130, an optional position locking air port 140 and a flexible compensation air port 150, the six-degree-of-freedom flexible compensation device 40 is provided with the centering air port 130, and the gripper cylinder 50 is provided with a dust blowing air port 160, a gripper opening air port 170 and a gripper closing air port 180.

As shown in fig. 3, the six-degree-of-freedom flexibility compensation device 40 adopted in the present invention has the following structure: the flexible compensation device 40 with six degrees of freedom comprises a cylinder body 190, a movable cover 200, a spring seat 210 and a mounting panel 220 used for being connected with a manipulator, wherein a cavity 230 is formed in the cylinder body 190, a piston 240 is arranged in the cavity 230, one end of the piston 240 is connected with a piston rod 250, the piston rod 250 penetrates through the movable cover 200 and is arranged opposite to an ejector pin arranged in the spring seat 210, an air inlet hole (namely an air centering hole 130) is formed in the cylinder body 190, the air inlet hole is communicated with the cavity 230, and the piston 240 moves to one side of the piston rod 250 through the action of gas.

The principle of the six-degree-of-freedom flexibility compensation device 40 is as follows: when the air inlet hole is filled with air, the air acts on the piston 240, the piston rod 250 is pushed, and the movable cover 200 is driven to move towards one side of the spring seat 210 until the ejector pin and the piston rod 250 are abutted and centered; after ventilation is not performed, the movable plate is reset under the action of the spring, free swing is realized, and flexible compensation on six degrees of freedom is realized. The above structure is described in detail in the patent name "a six-degree-of-freedom compliance compensator 40" of the present application; and will not be described further herein.

As shown in fig. 4, the present invention is a three-degree-of-freedom flexible compensation device 40, including an upper cover 260, a module cover body 270, a movable body 280, and a base 290, which are sequentially disposed from top to bottom, wherein the movable body 280 is movably connected to the base 290, a cavity 230 is formed between the upper cover 260 and the module cover body 270, the movable body 280 is located between the base 290 and the module cover body 270, the movable body 280 is movably disposed on the base 290, a first piston hole 300 and a second piston hole 310 are disposed in the module cover body 270, the first piston hole 300 and the second piston hole 310 are symmetrically disposed, a first piston 240 is disposed in the first piston hole 300, a second piston 240 is disposed in the second piston hole 310, an air inlet hole a (i.e., a centering air port 130) and an air inlet hole B (i.e., an arbitrary position locking air port 140) are disposed on a side surface of the module cover body 270, and the air inlet hole a drives the first piston 240 and the second piston 240 to move downward and act on the movable body 280 to enable the movable body 280 to move The base 290 moves downwards, and the air inlet holes B drive the first piston 240 and the second piston 240 to move upwards when air enters and act on the movable body 280 to move the base 290 upwards. The above structure is described in detail in the patent name "a three-degree-of-freedom flexible compensation device 40" of the present application; will not be described in more detail

The working principle of the three-degree-of-freedom flexible compensation device 40 is as follows: when the air inlet hole A is used for air inlet, the device is locked by downward movement of the first piston 240 and the second piston 240; when the air intake holes B are supplied, unlocking of the device is achieved, and the base 290 and the movable body 280 can achieve movement in the X/Y direction and rotation in the X/Y plane.

As used in the specification and in the claims, certain terms are used to refer to particular components. As one skilled in the art will appreciate, manufacturers may refer to a component by different names. This specification and claims do not intend to distinguish between components that differ in name but not function. In the following description and in the claims, the terms "include" and "comprise" are used in an open-ended fashion, and thus should be interpreted to mean "include, but not limited to. "substantially" means within an acceptable error range, and a person skilled in the art can solve the technical problem within a certain error range to substantially achieve the technical effect.

It is noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a good or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such good or system. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a commodity or system that includes the element.

The foregoing description shows and describes several preferred embodiments of the invention, but as aforementioned, it is to be understood that the invention is not limited to the forms disclosed herein, but is not to be construed as excluding other embodiments and is capable of use in various other combinations, modifications, and environments and is capable of changes within the scope of the inventive concept as expressed herein, commensurate with the above teachings, or the skill or knowledge of the relevant art. And that modifications and variations may be effected by those skilled in the art without departing from the spirit and scope of the invention as defined by the appended claims.

Claims

1. The utility model provides a flexible tongs of unloading on lathe, its characterized in that, includes the installation piece, be provided with first tongs subassembly and second tongs subassembly on the installation piece, first tongs subassembly and second tongs subassembly are located the adjacent side of installation piece, first tongs subassembly and second tongs subassembly all include flexible compensation arrangement, tongs cylinder and grab material anchor clamps thereof, flexible compensation arrangement with connect through the mounting panel between the tongs cylinder, grab the material anchor clamps and fix on the tongs cylinder, still be provided with supplementary liftout module on the tongs cylinder, supplementary liftout module is used for supporting and grabs the material anchor clamps.

2. The flexible machine tool feeding and discharging gripper as claimed in claim 1, wherein a first side surface of the mounting block is provided with an air pipe collecting opening, a second side surface opposite to the first side surface is provided with flange members, a sleeve member is arranged between the flange members, and an air pipe outlet is arranged on the sleeve member.

3. The flexible gripper for feeding and discharging materials on a machine tool as claimed in claim 2, wherein the flexible compensation device is a six-degree-of-freedom flexible compensation device or a three-degree-of-freedom flexible compensation device.

4. The machine blanking flexible hand grip of claim 3 wherein said first hand grip assembly is located on a third side of said mounting block and said second hand grip assembly is located on a fourth side of said mounting block, said third and fourth sides being adjacent.

5. The flexible machine tool loading and unloading gripper according to claim 4, wherein a machine tool scrap blowing nozzle is arranged on one side of the first gripper assembly and fixed on the mounting block.

6. The flexible gripping device for feeding and blanking of the machine tool as claimed in claim 5, wherein the three-degree-of-freedom flexible compensation device is provided with a centering air port, an arbitrary position locking air port and a flexible compensation air port.

7. The flexible gripper for feeding and discharging of a machine tool as claimed in claim 6, characterized in that the flexible compensation device with six degrees of freedom is provided with centering air ports.

8. The flexible machine tool feeding and discharging gripper according to claim 7, wherein the gripper cylinder is provided with a dust blowing air port, a gripper opening air port and a gripper closing air port.