CN115674240B - Single piece taking and placing mechanism - Google Patents
Single piece taking and placing mechanism Download PDFInfo
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- CN115674240B CN115674240B CN202211704093.7A CN202211704093A CN115674240B CN 115674240 B CN115674240 B CN 115674240B CN 202211704093 A CN202211704093 A CN 202211704093A CN 115674240 B CN115674240 B CN 115674240B
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Abstract
The invention relates to the technical field of workpiece clamping, in particular to a single-piece picking and placing mechanism which comprises a first clamping seat, a second clamping seat and a limiting block, wherein the first clamping seat is arranged on the first clamping seat; the first clamping end of the first clamping seat and the second clamping end of the second clamping seat can be oppositely arranged in a way of being relatively close to or far away from each other, a clamping area for clamping a workpiece is formed between the first clamping end of the first clamping seat and the second clamping end of the second clamping seat, one side of the clamping area is a clamping opening, the other side of the clamping area is fixedly provided with the limiting block, and one side of the limiting block, which is close to the clamping opening, is provided with a guide surface; the invention enables the workpiece to move towards the clamping opening and be discharged out of the clamping area when being pressed through the design of the guide surface, and simultaneously the constraint surface of the hook part can prevent a single workpiece contacted with the hook part from moving towards the clamping opening, so that only the wire rod contacted with the constraint surface can be remained in the clamping area and clamped by the first clamping end and the second clamping end, thereby realizing the single clamping of the workpiece, and the invention has the advantages of no influence of the length of the wire rod and whether the wire head is used for clamping a terminal, small structure, easy debugging, reasonable design, low manufacturing cost and the like.
Description
Technical Field
The invention relates to the technical field of workpiece clamping, in particular to a single-piece picking and placing mechanism.
Background
The modern industrial digital electronic products are popularized on a large scale, the global demand for the digital electronic products is continuously increased along with the diversified development of product types, and the consumption of electronic wires is increased. Increasing the work efficiency is a trend for improvement of the automation equipment, and the cost of the manufacturing equipment cannot be ignored even if the work efficiency of the automation equipment is increased.
The workpiece clamping device can be generally used for downwards clamping a wire to be taken, one single clamping device is used for carrying or placing the workpiece to a position to be processed, manual sorting and gripper clamping are carried out in the conventional mode at present, the workpiece clamping device is low in working efficiency for manual work, the structure of the gripper on the market is complex, and the manufacturing cost is high.
In view of the above, the present invention provides a pick-and-place mechanism for single-piece products, which has a simple structure, is convenient to assemble and debug, and has a low cost.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: in order to solve the defects in the prior art, a single-piece picking and placing mechanism is provided, the single-piece picking and placing mechanism solves the automation problem of single electronic wire grabbing in the industry, the structure is simplified to the maximum extent, single grabbing is met, the structure is easy to debug, the design is reasonable, the cost is low, and a solution is provided for improving the automation efficiency and reducing the personnel cost.
The technical scheme adopted by the invention for solving the technical problems is as follows: a single piece picking and placing mechanism comprises a first clamping seat, a second clamping seat and a limiting block;
the first clamping end of the first clamping seat and the second clamping end of the second clamping seat can be oppositely arranged in a way of relatively approaching to or separating from each other, a clamping area for clamping a workpiece is formed between the first clamping end and the second clamping end, one side of the clamping area is a clamping opening, the other side of the clamping area is fixedly provided with the limiting block, and one side of the limiting block, which is close to the clamping opening, is provided with a guide surface;
a hook part facing the second clamping end protrudes from one side, close to the clamping opening, of the end face of the first clamping end, and the surface of one side, close to the guide surface, of the hook part is a constraint surface;
the hook part is used for restraining a single workpiece between the restraining surface and the guide surface, the restraining surface can only be in contact with the single workpiece, and the guide surface is used for generating acting force on the workpiece in the clamping area when the first clamping end and the second clamping end are closed, so that the workpiece moves towards the clamping opening.
Further, the first clamping end and the second clamping end are arranged to approach or depart from each other along a linear track;
the guide surface is gradually inclined towards the clamping opening along a straight track from the first clamping end to the second clamping end.
Furthermore, one side of the end surface of the second clamping end, which is close to the clamping opening, is provided with a guide surface;
the guide surface inclines gradually towards the limiting block from the second clamping end to the first clamping end along a straight line track.
Further, the restriction surface gradually inclines towards the clamping opening from the first clamping end to the second clamping end.
Further, the device also comprises a driving unit;
the driving unit is provided with a first output end and a second output end which can be close to or far away from each other along a straight line track, the first output end is connected with the first clamping seat, the second output end is connected with the second clamping seat, and the limiting block is fixedly connected with the driving unit.
Furthermore, the first clamping seat is arranged on the first output end along the direction position from the limiting block to the clamping opening in an adjustable mode, and the second clamping seat is arranged on the second output end along the direction position from the limiting block to the clamping opening in an adjustable mode.
Furthermore, the device also comprises a stroke limiting structure;
the stroke limiting structure is used for limiting the maximum distance between the first clamping end and the second clamping end on a straight line track and limiting the minimum distance between the first clamping end and the second clamping end on the straight line track.
Further, the stroke limiting structure comprises an outer limiting part and an inner limiting part;
the outer limiting piece is provided with a limiting part, a first fixing structure for fixing the outer limiting piece and one of the first clamping seat and the second clamping seat is arranged between the outer limiting piece and the first clamping seat, the other one of the first clamping seat and the second clamping seat is positioned between the limiting part and the first fixing structure, and the other one of the first clamping seat and the second clamping seat is blocked when contacting with the end part of the limiting part so as to limit the maximum distance between the first clamping end and the second clamping end on a straight line track;
and a second fixing structure for fixing the first clamping seat and the second clamping seat with each other is arranged between one of the first clamping seat and the second clamping seat and one end of the inner limiting part, the other one of the first clamping seat and the second fixing structure are respectively positioned at two sides of the other end of the inner limiting part, and the other one of the first clamping seat and the second fixing structure is blocked when contacting with the end part of the other end of the inner limiting part so as to limit the minimum distance between the first clamping end and the second clamping end on a straight line track.
Further, the first fixing structure is arranged to allow the installation position of the outer limiting member to be adjusted along a straight track;
the second fixing structure is arranged to allow the installation position of the inner limiting member to be adjusted along a linear track.
Furthermore, the driving unit adopts a pneumatic finger, the pneumatic finger comprises a body and two parallel clamping jaws movably installed on the body, the two parallel clamping jaws are respectively a first output end and a second output end, and the limiting block is fixedly installed on the body of the pneumatic finger.
The beneficial effects of the invention are: the single-piece pick-and-place mechanism enables the workpiece to move towards the clamping opening and be discharged out of the clamping area when the workpiece is pressed through the design of the guide surface, and meanwhile, the constraint surface of the hook part can prevent the single workpiece contacted with the constraint surface from moving towards the clamping opening, so that only the wire rod contacted with the constraint surface can be remained in the clamping area and clamped by the first clamping end and the second clamping end, and the single clamping of the workpiece is realized.
Drawings
The invention is further illustrated with reference to the following figures and examples.
FIG. 1 is a three-dimensional schematic view of one side of a single piece pick and place mechanism of the present invention;
FIG. 2 is an enlarged partial schematic view of A of FIG. 1;
FIG. 3 is a three-dimensional schematic view of the other side of the single piece pick and place mechanism of the present invention;
FIG. 4 is a three-dimensional schematic view of the single pick and place mechanism of the present invention gripping a workpiece;
FIG. 5 is a schematic front view of the single pick and place mechanism of the present invention gripping a workpiece;
FIG. 6 is an enlarged partial schematic view of B in FIG. 5;
FIG. 7 is a schematic view of a plurality of workpieces entering a clamping zone;
FIG. 8 is a schematic view of a single workpiece being gripped;
FIG. 9 is a schematic view of the connection of the first holder with the first output and the second holder with the second output;
fig. 10 is a schematic view of a travel limit structure.
In the figure: 1. the clamping device comprises a first clamping seat 11, a first clamping end 111, a hook part 112, a constraint surface 12, a first sliding groove 13 and a first sliding hole;
2. the second clamping seat 21, the second clamping end 211, the guide surface 22, the second sliding groove 23 and the second sliding hole;
3. a stopper 31, a guide surface;
4. a clamping area 41, a clamping opening;
5. the device comprises a driving unit 51, a first output end 52, a second output end 53, a first pressure regulating air pipe joint 54 and a second pressure regulating air pipe joint;
6. a linear trajectory;
7. an outer limiting piece 71, a limiting part 72 and a first fixing structure;
8. a nut;
9. an inner limiting piece 91 and a second fixing structure;
10. a workpiece;
alpha is an included angle between the guide surface and the straight track;
beta is the included angle between the guide surface and the straight track.
Detailed Description
The present invention will now be described in further detail with reference to the accompanying drawings. The drawings are simplified schematic diagrams illustrating the basic structure of the present invention only in a schematic manner, and thus show only the constitution related to the present invention, and directions and references (e.g., upper, lower, left, right, etc.) may be used only to help the description of the features in the drawings. The following detailed description is, therefore, not to be taken in a limiting sense, and the scope of the claimed subject matter is defined only by the appended claims and equivalents thereof.
As shown in fig. 1-6, a single piece picking and placing mechanism includes a first clamping seat 1, a second clamping seat 2 and a limiting block 3;
the first clamping end 11 of the first clamping seat 1 and the second clamping end 21 of the second clamping seat 2 can be oppositely arranged and can be relatively close to or far away from each other, and a clamping area 4 for clamping the workpiece 10 is formed between the first clamping seat 11 and the second clamping seat 21; or the first clamping seat 1 moves and the second clamping seat 2 does not move, so that the first clamping end 11 and the second clamping end 21 are relatively close to or far away from each other; or, the first clamping seat 1 and the second clamping seat 2 synchronously move simultaneously to realize that the first clamping end 11 and the second clamping end 21 relatively approach or move away, so that the central position of the clamped workpiece 10 is always kept at a fixed position and the positions are uniform, and the fixed-point clamping of the workpiece 10 is facilitated;
one side of the clamping area 4 is provided with a clamping opening 41, the other side is fixedly provided with a limiting block 3, and one side of the limiting block 3 close to the clamping opening 41 is provided with a guide surface 31;
a hook part 111 facing the second clamping end 21 is protruded from one side of the end surface of the first clamping end 11 close to the clamping opening 41, and a surface of one side of the hook part 111 close to the guide surface 31 is a constraint surface 112;
the hook 111 is used to restrain the single workpiece 10 between the restraining surface 112 and the guide surface 31, and the restraining surface 112 can only contact the single workpiece 10, and the guide surface 31 is used to generate a force to the workpiece 10 in the clamping area 4 when the first clamping end 11 and the second clamping end 21 are closed, so that the workpiece 10 moves towards the clamping opening 41.
The workpiece 10 in this embodiment may be a workpiece 10 having a circular, elliptical, or approximately circular cross section, or may be a wire or a shaft;
when the single-piece pick and place mechanism is applied to stably taking out a single workpiece 10 from a stack of workpieces 10, the clamping area 4 between the first clamping end 11 and the second clamping end 21 initially clamps a plurality of workpieces 10, different workpieces 10 in contact with the guide surface 31 are pressed against each other along with the mutual approaching of the first clamping end 11 and the second clamping end 21, the guide surface 31 exerts an acting force on the workpieces 10 in the pressing process, so that the workpieces 10 move towards the clamping opening 41 and are discharged out of the clamping area 4, meanwhile, the restraining surface 112 of the hook part 111 is in contact with one workpiece 10 which is closest to the first clamping end 11 and is in contact with the guide surface 31, so that the restraining surface 112 prevents the single workpiece 10 in contact with the workpiece 10 from moving towards the clamping opening 41, and finally, only the workpiece 10 in contact with the restraining surface 112 is left in the clamping area 4 and is clamped by the first clamping end 11 and the second clamping end 21, and the single workpiece 10 is clamped;
the single wire rod can be guaranteed to be clamped at a time, the automatic wire rod clamping device is mainly applied to electronic wire welding automation equipment in the 3C digital electronic industry, and the automatic wire rod clamping device has the advantages of being small in structure, easy to debug, reasonable in design and low in manufacturing cost.
In some examples, the first and second gripper ends 11, 21 are arranged to move toward or away from each other along the linear trajectory 6;
the guide surface 31 is gradually inclined toward the clamping opening 41 along the straight track 6 from the first clamping end 11 to the second clamping end 21, and the guide surface 31 can be embodied as a slope, a paraboloid, a circular arc surface or the like; the guide surface 31 arranged obliquely can guide the redundant workpiece 10 in the clamping area 4 except the single workpiece 10 contacted with the constraint surface 112, so that the redundant workpiece 10 in the clamping area 4 is discharged out of the clamping area 4 from the clamping opening 41 along the guide surface 31, thereby realizing that when the first clamping end 11 and the second clamping end 21 are closed and pressed on the workpiece 10 in the clamping area 4, the guide surface 31 generates acting force on the workpiece 10, so that the workpiece 10 moves towards the clamping opening 41; the situation that when the guide surface 31 is horizontal, a plurality of workpieces 10 are side by side and are pressed by the first clamping end 11 and the second clamping end 21, so that the workpieces 10 are damaged is avoided;
for example, the clamping opening 41 of the clamping area 4 faces downward, the first clamping end 11 may be located at the left end of the clamping area 4, the second clamping end 21 may be located at the right end of the clamping area 4, a part of the end surface of the first clamping end 11 may be a first vertical plane for pressing the workpiece 10, a part of the end surface of the second clamping end 21 may be a second vertical plane for pressing the workpiece 10, the linear track 6 is in the left-right direction, and may be parallel to the horizontal plane and perpendicular to the first vertical plane and the second vertical plane; the guide surface 31 may be a slope inclined downward from left to right.
In some examples, the side of the end surface of the second clamping end 21 close to the clamping opening 41 has a guide surface 211;
the guide surface 211 gradually inclines towards the limiting block 3 from the second clamping end 21 to the first clamping end 11 along the linear track 6, and the guide surface 211 can be embodied as an inclined surface, a paraboloid or an arc surface, so that when the first clamping end 11 to the second clamping end 21 are relatively closed to press the workpiece 10, the workpiece 10 is contacted with the guide surface 211, and the guide surface 211 generates an acting force for moving the workpiece 10 to the clamping opening 41, so that the redundant workpiece 10 in the clamping area 4 is favorably discharged;
as shown in fig. 6, both the guide surface 31 and the guide surface 211 are inclined surfaces, and the included angle α between the guide surface 31 and the linear track 6 is less than the included angle β between the guide surface 211 and the linear track 6; in this way, the guide surface 211 is facilitated to discharge the workpiece 10 on the side of the clamping opening 41 outward;
wherein, when the workpiece 10 is clamped by the first clamping end 11 to the second clamping end 21, the horizontal clamping force F is applied, the guide surface 31 is generated on the workpiece 10, so that the acting force F for moving the workpiece 10 towards the clamping opening 41 is generated α ，F α =Fsinα。
In some embodiments, the constraining surface 112 gradually inclines towards the clamping opening 41 from the first clamping end 11 to the second clamping end 21, and is designed to: the workpiece 10 can be tangent to two surfaces of the first clamping end 11 at the same time, wherein one surface is the constraint surface 112, and the other surface is a part between the guide surface 31 and the constraint surface 112 on the end surface of the first clamping end 11; secondly, a guiding function can be generated on the workpiece 10, so that the workpiece 10 can easily and smoothly reach between the constraint surface 112 and the guide surface 31 when the first clamping end 11 and the second clamping end 21 are close to each other, and the condition that the workpiece 10 is squeezed together and stuck and cannot reach between the constraint surface 112 and the guide surface 31 is prevented; the constraining surface 112 may be embodied as a bevel, a paraboloid, a circular arc, or the like.
In some embodiments, a drive unit 5;
as shown in fig. 1, 3, 4 and 5, the driving unit 5 has a first output end 51 and a second output end 52 that can be close to or far away from each other along a linear track 6, the first output end 51 is connected with the first holder 1, the second output end 52 is connected with the second holder 2, and the limiting block 3 is fixedly connected with the driving unit 5;
the driving unit 5 is a pneumatic finger, the pneumatic finger comprises a body and two parallel clamping jaws movably mounted on the body, the two parallel clamping jaws are respectively a first output end 51 and a second output end 52, and the limiting block 3 can be fixedly mounted on the body of the pneumatic finger through screws; two pipe joint mounting openings are formed in the upper end of one side of the pneumatic finger body, a first pressure regulating air pipe joint 53 and a second pressure regulating air pipe joint 54 are detachably mounted at the two pipe joint mounting openings respectively, the first pressure regulating air pipe joint 53 is located above the second pressure regulating air pipe joint 54, and the first pressure regulating air pipe joint 53 and the second pressure regulating air pipe joint 54 are arranged in parallel, so that the concentrated supply and remote conveying of compressed air are realized; the pneumatic fingers can control the clamping force and the clamping speed; in addition, the pneumatic fingers synchronously drive the first clamping seat 1 and the second clamping seat 2 to relatively approach to each other to clamp the workpiece 10, so that the central position is always kept at a fixed position, the positions are uniform, and the fixed-point clamping of the workpiece 10 is facilitated.
Or, the driving unit 5 includes cylinders arranged in parallel, the cylinder bodies of the two cylinders and the limiting block 3 are fixed together, and the output ends of the two cylinders are the first output end 51 and the second output end 52 respectively;
or, the driving unit 5 includes electric push rods arranged in parallel, the bodies of the two electric push rods and the limiting block 3 are fixed together, and the output ends of the two electric push rods are respectively a first output end 51 and a second output end 52;
or, the driving unit 5 includes linear modules arranged in parallel, the bodies of the two linear modules and the limiting block 3 are fixed together, and the output ends of the two linear modules are the first output end 51 and the second output end 52 respectively.
In some examples, as shown in fig. 9, the first holder 1 is mounted on the first output end 51 with adjustable position along the direction from the limiting block 3 to the clamping opening 41, and the second holder 2 is mounted on the second output end 52 with adjustable position along the direction from the limiting block 3 to the clamping opening 41; it is worth noting that the position of the limiting block 3 can be adjusted and installed on the driving unit 5, so that the limiting block 3 can be further matched with the size of the constraint surface 112 through fine adjustment up and down, and the wire rod is suitable for different wire rods; for example, the limiting block 3 is provided with a fixing hole, a fixing screw penetrates through the fixing hole and then is in threaded connection with the driving unit 5, and a gap is reserved between the fixing screw and the fixing hole, so that the limiting block 3 can be finely adjusted up and down when the fixing screw is unscrewed; when the fixing screw is tightened, the limiting block 3 is fixed;
for example, as shown in fig. 9, a first sliding groove 12 may be disposed on a first holder 1, a first output end 51 is embedded in the first sliding groove 12 and is connected to the first sliding groove 12 in a vertically sliding manner, meanwhile, the first holder 1 may be fixedly connected to the first output end 51 by using a first locking screw, a first sliding hole 13 is disposed on the first holder 1, the first locking screw penetrates through the first sliding hole 13 and is then connected to the first output end 51 in a threaded manner, when the first locking screw is loosened in a using process, a head of the first locking screw is separated from the first holder 1, the first holder 1 may slide vertically within a range constrained by the first sliding hole 13, after a position of the first locking screw is adjusted, the first locking screw is screwed, a rod portion of the first locking screw is screwed into the first output end 51, and a head of the first locking screw abuts against the first holder 1, so that the first holder 1 is fixed on the first output end 51;
similarly, as shown in fig. 9, a second sliding groove 22 may be disposed on the second holder 2, the second output end 52 is embedded in the second sliding groove 22 and is connected to the second sliding groove 22 in a vertically sliding manner, meanwhile, the second holder 2 may be fixedly connected to the second output end 52 by using a second locking screw, a second sliding hole 23 is disposed on the second holder 2, the second locking screw passes through the second sliding hole 23 and is then connected to the second output end 52 in a threaded manner, when the second locking screw is unscrewed in the using process, the head of the second locking screw is separated from the second holder 2, the second holder 2 may slide vertically within a range constrained by the second sliding hole 23, after the position of the second locking screw is adjusted, the second locking screw is screwed, the rod of the second locking screw is screwed into the second output end 52, and the head of the second locking screw abuts against the second holder 2, so that the second holder 2 is fixed on the second output end 52.
In some examples, as shown in fig. 10, further includes a travel limit feature;
the stroke limiting structure is used for limiting the maximum distance between the first clamping end 11 and the second clamping end 21 on the straight track 6 and limiting the minimum distance between the first clamping end 11 and the second clamping end 21 on the straight track 6; thereby realizing that the number of the workpieces 10 which can be clamped between the first clamping end 11 and the second clamping end 21 can be reduced as much as possible; and can prevent the situation that the first clamping end 11 and the second clamping end 21 are too close to each other to crush the single workpiece 10;
specifically, as shown in fig. 10, the stroke limiting structure includes an outer limiting member 7 and an inner limiting member 9;
the specific structure of the outer limiting member 7 is as follows:
the outer limiting piece 7 is provided with a limiting part 71, a first fixing structure 72 for fixing the outer limiting piece 7 and one of the first holder 1 and the second holder 2 is arranged between the outer limiting piece 7 and the other one of the first holder 1 and the second holder 2, the other one of the first holder and the second holder is positioned between the limiting part 71 and the first fixing structure 72, and the other one of the first holder and the second holder is blocked when contacting with the end part of the limiting part 71 so as to limit the maximum distance between the first clamping end 11 and the second clamping end 21 on the linear track 6;
the first fixing structure 72 is arranged to allow the mounting position of the outer limiting member 7 to be adjusted along the linear trajectory 6 to match workpieces 10 of different sizes;
the outer limiting part 7 can specifically adopt a screw and can adopt the following mounting structure:
first, the first fixing structure 72 is a first threaded hole opened on the second holder 2, the head of the screw is a limiting part 71, the rod part of the outer limiting part 7 is in threaded connection with the first threaded hole on the second holder 2, the outer limiting part 7 can be in threaded connection with the nut 8, meanwhile, the nut 8 is abutted against the second holder 2 to play a role in preventing looseness, the outer limiting part 7 penetrates through the first holder 1, the first holder 1 is located between the limiting part 71 and the second holder 2, when the first holder 1 is contacted with the limiting part 71 on the outer limiting part 7, the distance between the first clamping end 11 and the second clamping end 21 reaches a maximum limit value, and the mounting position of the outer limiting part 7 can be adjusted along the linear track 6 by screwing the outer limiting part 7, so that the maximum limit value of the distance between the first clamping end 11 and the second clamping end 21 is changed, the matching of workpieces 10 with different sizes is realized, and the single workpiece 10 can be prevented from being pressed to be damaged due to the large approach range of the first clamping end 11 and the second clamping end 21;
secondly, the first fixing structure 72 is a first threaded hole formed in the first clamping seat 1, the head of the screw is a limiting part 71, the rod part of the outer limiting piece 7 is in threaded connection with the first threaded hole in the first clamping seat 1, the outer limiting piece 7 can be in threaded connection with the nut 8, meanwhile, the nut 8 abuts against the first clamping seat 1 to play a role in preventing looseness, the outer limiting piece 7 penetrates through the second clamping seat 2, the second clamping seat 2 is located between the limiting part 71 and the first clamping seat 1, and when the second clamping seat 2 is in contact with the limiting part 71 in the outer limiting piece 7, the distance between the first clamping end 11 and the second clamping end 21 reaches the maximum limit value;
the specific structure of the inner stopper 9 is as follows:
as shown in fig. 10, a second fixing structure 91 is disposed between one of the first holder 1 and the second holder 2 and one end of the inner limiting member 9 for fixing the two holders to each other, the other one and the second fixing structure 91 are respectively located at two sides of the other end of the inner limiting member 9, and the other one is blocked when contacting with the end of the other end of the inner limiting member 9, so as to limit the minimum distance between the first clamping end 11 and the second clamping end 21 on the straight track 6;
the second fixing structure 91 is arranged to allow the mounting position of the inner limiting member 9 to be adjusted along the linear trajectory 6 to match workpieces 10 of different sizes;
the inner limiting part 9 can specifically adopt a screw and can adopt the following mounting structure:
the first fixing structure 91 and the second fixing structure 91 are second threaded holes formed in the second clamping base 2, one end of the inner limiting piece 9 is in threaded connection with the second threaded holes, the inner limiting piece 9 can be further in threaded connection with the nut 8, meanwhile, the nut 8 abuts against the second clamping base 2 to play a role in preventing looseness, the other end of the inner limiting piece 9 is located between the first clamping base 1 and the second clamping base 2, when the first clamping base 1 is in contact with the other end of the inner limiting piece 9, the distance between the first clamping end 11 and the second clamping end 21 reaches a minimum limit value, the inner limiting piece 9 is screwed to adjust the installation position of the inner limiting piece 9 along the linear track 6, and therefore the minimum limit value of the distance which can be reached between the first clamping end 11 and the second clamping end 21 is changed, matching of workpieces 10 of different sizes is achieved, and the workpieces 10 can be prevented from being excessively extruded;
secondly, the second fixing structure 91 is a second threaded hole formed in the first clamping base 1, one end of the inner limiting part 9 is in threaded connection with the second threaded hole, the inner limiting part 9 can be further in threaded connection with the nut 8, meanwhile, the nut 8 abuts against the first clamping base 1 to play a role in preventing looseness, the other end of the inner limiting part 9 is located between the first clamping base 1 and the second clamping base 2, and when the second clamping base 2 contacts with the other end of the inner limiting part 9, the distance between the first clamping end 11 and the second clamping end 21 reaches a minimum limit value.
Taking the workpiece 10 as a wire as an example, the working principle of the single-piece pick-and-place mechanism is as follows:
firstly, the driving unit 5 moves the first clamping seat 1 and the second clamping seat 2 away from each other until the distance between the first clamping end 11 and the second clamping end 21 reaches the maximum limit value, so that a plurality of wires can enter the clamping area 4 simultaneously;
as shown in fig. 7, the clamping mouth 41 of the pick-and-place mechanism is then moved toward the wire material stacking point, in the process, the guide surface 211 on the second clamping seat 2 can play a role of guiding, so that the wire material at the wire material stacking point can easily enter the clamping area 4 through the guide of the guide surface 211, and the guide surface 31 on the limiting block 3 can also play a role of guiding, so that the wire material at the clamping area 4 reaches between the restraining surface 112 of the hook 111 and the guide surface 211;
as shown in fig. 8, the driving unit 5 drives the first clamping seat 1 and the second clamping seat 2 to approach each other, the clamping area 4 gradually shrinks, different workpieces 10 in contact with the guide surface 31 can be pressed against each other, the guide surface 31 generates a force on the workpieces 10 during the pressing process, so that the workpieces 10 move towards the clamping opening 41 and are discharged out of the clamping area 4, the restraining surface 112 of the hook portion 111 can be in contact with one workpiece 10 closest to the first clamping end 11 and in contact with the guide surface 31, so that the restraining surface 112 prevents the single workpiece 10 in contact therewith from moving towards the clamping opening 41, and finally, only the wire in contact with the restraining surface 112 remains in the clamping area 4 and is clamped by the first clamping end 11 and the second clamping end 21, thereby achieving the purpose of clamping and taking out the single wire.
In light of the foregoing description of the preferred embodiment of the present invention, it is to be understood that numerous changes and modifications may be made without departing from the spirit and scope of the invention as defined by the appended claims. The technical scope of the present invention is not limited to the content of the specification, and must be determined according to the scope of the claims.
Claims (10)
1. A pick and place mechanism for singlets, comprising: comprises a first clamping seat (1), a second clamping seat (2) and a limiting block (3);
the first clamping end (11) of the first clamping seat (1) and the second clamping end (21) of the second clamping seat (2) can be arranged oppositely and relatively close to or far away from each other, a clamping area (4) for clamping a workpiece (10) is formed between the first clamping end and the second clamping end, one side of the clamping area (4) is a clamping opening (41), the other side of the clamping area is fixedly provided with the limiting block (3), and one side, close to the clamping opening (41), of the limiting block (3) is provided with a guide surface (31);
a hook part (111) facing the second clamping end (21) protrudes from one side, close to the clamping opening (41), of the end surface of the first clamping end (11), and the surface of one side, close to the guide surface (31), of the hook part (111) is a constraint surface (112);
the hook part (111) is used for restraining a single workpiece (10) between the restraining surface (112) and the guide surface (31), the restraining surface (112) can only be contacted with the single workpiece (10), the guide surface (31) is used for generating acting force on the workpiece (10) in the clamping area (4) when the first clamping end (11) and the second clamping end (21) are closed, so that the workpiece (10) moves towards the clamping opening (41), the restraining surface (112) prevents the single workpiece (10) contacted with the restraining surface (112) from moving towards the clamping opening (41), and finally, only the workpiece (10) contacted with the restraining surface (112) is left in the clamping area (4) and clamped by the first clamping end (11) and the second clamping end (21), and therefore the single workpiece (10) can be clamped and taken out.
2. The pick and place mechanism of claim 1, wherein: the first clamping end (11) and the second clamping end (21) are arranged to approach or move away from each other along a linear track (6);
the guide surface (31) is inclined gradually towards the clamping opening (41) along a straight line track (6) from the first clamping end (11) to the second clamping end (21).
3. The pick and place mechanism of claim 2, wherein: the end surface of the second clamping end (21) is provided with a guide surface (211) at one side close to the clamping opening (41);
the guide surface (211) inclines gradually towards the limiting block (3) along the direction from the second clamping end (21) to the first clamping end (11) along the linear track (6).
4. The singulator pick and place mechanism of claim 1, wherein: the restriction surface (112) gradually inclines towards the clamping opening (41) from the first clamping end (11) to the second clamping end (21).
5. The pick and place mechanism of claim 2, wherein: further comprising a drive unit (5);
the driving unit (5) is provided with a first output end (51) and a second output end (52) which can be close to or far away from each other along a straight line track (6), the first output end (51) is connected with the first clamping seat (1), the second output end (52) is connected with the second clamping seat (2), and the limiting block (3) is fixedly connected with the driving unit (5).
6. The singulator pick and place mechanism of claim 5, wherein: the first clamping seat (1) is arranged on the first output end (51) along the direction and the position of the limiting block (3) to the clamping opening (41) in an adjustable mode, and the second clamping seat (2) is arranged on the second output end (52) along the direction and the position of the limiting block (3) to the clamping opening (41) in an adjustable mode.
7. The singulator pick and place mechanism of claim 6, wherein: the device also comprises a stroke limiting structure;
the stroke limiting structure is used for limiting the maximum distance between the first clamping end (11) and the second clamping end (21) on the straight line track (6) and limiting the minimum distance between the first clamping end (11) and the second clamping end (21) on the straight line track (6).
8. The pick and place mechanism of claim 7, wherein: the stroke limiting structure comprises an outer limiting piece (7) and an inner limiting piece (9);
the outer limiting piece (7) is provided with a limiting part (71), a first fixing structure (72) which enables the first fixing structure and the second fixing structure to be mutually fixed is arranged between one of the first clamping seat (1) and the second clamping seat (2) and the outer limiting piece (7), the other fixing structure is arranged between the limiting part (71) and the first fixing structure (72), and the other fixing structure is blocked when contacting with the end part of the limiting part (71) so as to limit the maximum distance between the first clamping end (11) and the second clamping end (21) on the linear track (6);
a second fixing structure (91) which enables the first clamping seat (1) and the second clamping seat (2) to be fixed with each other is arranged between one end of the inner limiting part (9) and one of the first clamping seat (1) and the second clamping seat (2), the other fixing structure and the second fixing structure (91) are respectively located on two sides of the other end of the inner limiting part (9), and the other fixing structure is blocked when contacting with the end portion of the other end of the inner limiting part (9) so as to limit the minimum distance between the first clamping end (11) and the second clamping end (21) on the linear track (6).
9. The singulator pick and place mechanism of claim 8, wherein: the first fixing structure (72) is arranged to allow the installation position of the outer limiting member (7) to be adjusted along the linear track (6);
the second fixing structure (91) is arranged to allow adjustment of the mounting position of the inner limiting member (9) along the linear trajectory (6).
10. The singulator pick and place mechanism of claim 5, wherein: the pneumatic finger is adopted in the driving unit (5), the pneumatic finger comprises a body and two parallel clamping jaws movably installed on the body, the two parallel clamping jaws are respectively a first output end (51) and a second output end (52), and the limiting block (3) is fixedly installed on the body of the pneumatic finger.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211704093.7A CN115674240B (en) | 2022-12-29 | 2022-12-29 | Single piece taking and placing mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211704093.7A CN115674240B (en) | 2022-12-29 | 2022-12-29 | Single piece taking and placing mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN115674240A CN115674240A (en) | 2023-02-03 |
| CN115674240B true CN115674240B (en) | 2023-03-28 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211704093.7A Active CN115674240B (en) | 2022-12-29 | 2022-12-29 | Single piece taking and placing mechanism |
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| CN (1) | CN115674240B (en) |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07246565A (en) * | 1994-03-10 | 1995-09-26 | Tadashi Takano | Holding structure using vise, and vise |
| CN103639784B (en) * | 2013-12-09 | 2016-01-27 | 江苏富丽华通用设备有限公司 | A kind of axial workpiece clamping tool |
| CN203611254U (en) * | 2013-12-20 | 2014-05-28 | 杭州远方光电信息股份有限公司 | Mechanical grabbing device |
| CN207240242U (en) * | 2017-04-14 | 2018-04-17 | 东莞市仁搏电子有限公司 | A kind of adjustable parallel type pneumatic-finger of stroke applied to common-mode filter assembling |
| CN108971873A (en) * | 2018-10-24 | 2018-12-11 | 珠海格力智能装备有限公司 | Fixture |
| CN111230908A (en) * | 2020-02-25 | 2020-06-05 | 无锡多恩多自动化有限公司 | Novel mechanical gripper |
| CN214293179U (en) * | 2020-12-21 | 2021-09-28 | 昆山颖泰辰机械科技有限公司 | Multifunctional manipulator clamping jaw jig |
| CN113843739B (en) * | 2021-10-13 | 2023-01-13 | 潍坊新松机器人自动化有限公司 | Arched sheet carrying robot |
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