CN116142779A - A gripping tool with a movable clamping mechanism - Google Patents

Abstract

The invention belongs to the technical field of tooling for automobile parts production. The patent provides a gripping tooling with a movable clamping mechanism, which is arranged at the lower part of the flange mounting plate of the robot, and includes a middle clamping mechanism, a translation sliding mechanism, a right clamping mechanism and The left clamping mechanism, the left clamping mechanism and the right clamping mechanism are symmetrically arranged on the left and right sides of the middle clamping mechanism, the middle clamping mechanism, the right clamping mechanism and the left clamping mechanism are used for component clamping, The translation sliding mechanism is arranged at the lower part of the intermediate clamping mechanism and is used for sliding of the intermediate clamping mechanism. The advantage of the present invention is that by clamping the product, the middle clamping mechanism is fixed, and the clamping mechanisms on both sides can move. Through the linear guide rail and the tension spring, the clamping mechanism can be reset after moving to ensure that the product workpiece does not deform when it is inserted into the mold. , improve the versatility of grabbing tooling, and improve the product qualification rate.

Description

A gripping tool with a movable clamping mechanism

technical field

The invention belongs to the technical field of production tooling for automobile parts, and relates to a grabbing tool with a movable clamping mechanism.

Background technique

In general, for water-cut door frame sealing strip products, manual punching or automatic punching can be used for production. Manual punching means that the operator inserts the product into the punching mold for production. Automatic punching means that the robot realizes automatic grabbing, clamping, and punching of water-cut products by grabbing tooling. The robot fixes the middle position of water-cut products by grabbing tooling. The length and rigidity of various water-cut products are quite different. When the product is too long or the rigidity is not enough, the punched section at both ends will bend under its own weight or the state will be unstable, resulting in the product being unable to insert into the mold cavity. Inner, or difficult to enter the mold, and finally can not realize automatic punching, large size deviation of automatic punching, insufficient stability and other problems.

Contents of the invention

The technical problem to be solved by the present invention is to provide a grabbing tool with a movable clamping mechanism that improves the versatility of the grabbing tool and improves the qualified rate of products in view of the current state of the prior art.

The technical solution adopted by the present invention to solve the above technical problems is: a grasping tool with a movable clamping mechanism, which is arranged at the lower part of the flange mounting plate of the robot, and is characterized in that it includes a middle clamping mechanism, a translation sliding mechanism, a right A side clamping mechanism and a left clamping mechanism, the left clamping mechanism and the right clamping mechanism are symmetrically arranged on the left and right sides of the middle clamping mechanism, the middle clamping mechanism, the right clamping mechanism and The left clamping mechanism is used for component clamping, and the translation sliding mechanism is arranged at the lower part of the intermediate clamping mechanism and is used for sliding of the intermediate clamping mechanism.

In the above grabbing tool with a movable clamping mechanism, the intermediate clamping mechanism includes an intermediate cylinder mounting plate, an intermediate clamping cylinder, a first clamping block mounting plate, and a second clamping block mounting plate , the first middle clamping block and the second middle clamping block, the intermediate cylinder mounting plate is installed under the flange mounting plate of the robot, the intermediate clamping cylinder is installed under the intermediate cylinder mounting plate, and the intermediate clamping cylinder is installed with The first clamping block mounting plate and the second clamping block mounting plate, the first middle clamping block is installed on the first clamping block mounting plate, and the second middle clamping block is installed on the second clamping block mounting plate.

In the above grabbing tool with a movable clamping mechanism, the translation sliding mechanism includes a first slider mounting plate, a second slider mounting plate, a first slider, a second slider, a linear guide rail and The guide rail mounting plate, the first slider mounting plate and the second slider mounting plate are installed under the robot flange mounting plate, the first slider is installed under the first slider mounting plate, and the second slider is installed under the second slider mounting plate. Below the slider installation plate, the linear guide rail is inserted into the first slider and the second slider, and the guide rail installation plate is installed on the linear guide rail.

In the above-mentioned grasping tool with a movable clamping mechanism, the translational sliding mechanism also includes a tension spring mounting plate, a tension spring and a bolt, the tension spring mounting plate is installed under the linear guide rail, and one side of the tension spring is connected On the tension spring mounting plate, connect the bolts on the other side.

In the above grabbing tool with movable clamping mechanism, the clamping mechanism on the right side includes a side cylinder mounting plate, a side clamping cylinder, and a side cylinder mounting plate, and the side cylinder mounting plate is installed on the guide rail mounting plate Below, the side clamping cylinder is installed under the side cylinder mounting plate, the first side clamping block mounting plate and the second side clamping block mounting plate are installed on the side clamping cylinder, and the first side clamping block is installed on the first side clamping On the mounting plate of the holding block, the second side clamping block is installed on the mounting plate of the second side holding block.

In the above grabbing tool with a movable clamping mechanism, the left clamping mechanism and the right clamping mechanism are arranged symmetrically.

Compared with the prior art, the advantage of the present invention is that by clamping the product, the middle clamping mechanism is fixed, and the clamping mechanisms on both sides can move, and the clamping mechanism can be reset after moving through the linear guide rail and the tension spring, ensuring The product workpiece does not deform when it is inserted into the mold, which improves the versatility of the grabbing tooling and improves the product qualification rate.

Description of drawings

Fig. 1 is a structural schematic diagram of the movable grabbing tool of the present clamping mechanism.

Detailed ways

The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Apparently, the described embodiments are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts fall within the protection scope of the present invention.

In the description of the present invention, it should be understood that the terms "center", "transverse", "longitudinal", "front", "rear", "left", "right", "upper", "lower", "vertical The orientations or positional relationships indicated by "straight", "horizontal", "top", "bottom", "inner" and "outer" are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the Describes, but does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore should not be construed as limiting the scope of the present invention.

In the figure, the robot flange mounting plate 100; the middle clamping mechanism 200; the middle clamping cylinder 201; the first clamping block mounting plate 202; the second clamping block mounting plate 203; the first middle clamping block 204; Middle clamping block 205; translation sliding mechanism 300; first slider mounting plate 301; second slider mounting plate 302; first slider 303; second slider 304; linear guide rail 305; Clamping mechanism 400; side cylinder mounting plate 401; side clamping cylinder 402; first side clamping block mounting plate 403; second side clamping block mounting plate 404; first side clamping block 405; second side clamping Block 406; left clamping mechanism 500; product workpiece 600; extension spring mounting plate 700; extension spring 800; bolt 900.

As shown in FIG. 1 , the movable grabbing tool of this clamping mechanism is arranged on the lower part of the robot flange mounting plate 100, and includes a middle clamping mechanism 200, a translation sliding mechanism 300, a right clamping mechanism 400 and a left clamping mechanism. The clamping mechanism 500, the left clamping mechanism 500 and the right clamping mechanism 400 are symmetrically arranged on the left and right sides of the middle clamping mechanism 200, the middle clamping mechanism 200, the right clamping mechanism 400 and the left clamping mechanism 500 are used for Component clamping, the translation sliding mechanism 300 is arranged at the lower part of the intermediate clamping mechanism 200 and is used for the sliding of the intermediate clamping mechanism 200. Here, this patent mainly utilizes the intermediate clamping mechanism 200, the right clamping mechanism 400 and the left clamping mechanism The mechanism 500 clamps the product workpiece 600, and the translational sliding mechanism 300 can make the intermediate clamping mechanism 200 move and reset, so that the intermediate clamping mechanism 200 can be close to the end of the product when inserted for a short time, thereby interfering with the punching die to ensure The product workpiece 600 is not deformed when inserted into the mold.

Specifically, as a further optimization, the intermediate clamping mechanism 200 includes an intermediate cylinder mounting plate, an intermediate clamping cylinder 201, a first clamping block mounting plate 202, a second clamping block mounting plate 203, a first middle clamping block 204 and the second clamping block 205, the middle cylinder mounting plate is installed below the robot flange mounting plate 100, the middle clamping cylinder 201 is installed below the middle cylinder mounting plate, and the first clamping block is installed on the middle clamping cylinder 201 The mounting plate 202 and the second clamping block mounting plate 203, the first middle clamping block 204 is installed on the first clamping block mounting plate 202, and the second middle clamping block 205 is installed on the second clamping block mounting plate 203 Here, the middle clamping cylinder 201 is used to drive the clamping block mounting plate to move, thereby driving the middle clamping block to carry out the clamping action. In order to make the middle clamping mechanism 200 move and reset, the middle clamping mechanism 200 can be inserted for a short time. Close to the end of the product, thereby interfering with the punching die to ensure that the product workpiece 600 is not deformed when inserted into the die, the translation sliding mechanism 300 includes a first slider mounting plate 301, a second slider mounting plate 302, a first slider 303, a second slider Two sliders 304, a linear guide rail 305 and a guide rail mounting plate 306, the first slider mounting plate 301 and the second slider mounting plate 302 are installed under the robot flange mounting plate 100, and the first slider 303 is installed on the first slider. Below the plate 301, the second slider 304 is installed under the second slider mounting plate 302, the linear guide rail 305 is inserted into the first slider 303 and the second slider 304, and the guide rail mounting plate 306 is installed on the linear guide rail 305. The mechanism 300 also includes a tension spring mounting plate 700, a tension spring 800 and a bolt 900. The tension spring mounting plate 700 is installed below the linear guide rail 305. One side of the tension spring 800 is connected to the tension spring mounting plate 700, and the other side is connected to the bolt 900. The bolt 900 is locked to the middle cylinder mounting plate. Here, when the right clamping mechanism 400 stops moving to the right and the product workpiece 600 continues to move to the right, the entire grabbing tooling is actually facing to the right, and the right clamping mechanism 400 is facing the grabbing tooling. Movement to the left. The linear guide rail 305 drives the clamping mechanism 400 on the right side to move to the left in the first slider 303 and the second slider 304, and at the same time stretches the extension spring 800. After the punching action is completed, the robot drives the entire grabbing tooling to the left Exit the punching die. In the process of withdrawing, the extension spring 800 gradually restores the original length, and the extension spring 800 pulls the linear guide rail 305 and the right clamping mechanism 400 to the right to restore the original position.

The right clamping mechanism 400 includes a side cylinder mounting plate 401, a side clamping cylinder 402, and a side cylinder mounting plate 401. The side cylinder mounting plate 401 is installed below the guide rail mounting plate 306, and the side clamping cylinder 402 is mounted on the side cylinder mounting plate. Below 401, the first side clamping block mounting plate 403 and the second side clamping block mounting plate 404 are installed on the side clamping cylinder 402, the first side clamping block 405 is installed on the first side clamping block mounting plate 403, The second side clamping block 406 is installed on the second side clamping block mounting plate 404 , the left clamping mechanism 500 and the right clamping mechanism 400 are symmetrically arranged, and the structural principle is the same as that of the right clamping mechanism 400 .

In the first step during work, the clamping cylinders in the left, middle and right three clamping mechanisms are in the clamping open state. The product workpiece 600 is placed in the center of the clamping block, the middle clamping cylinder 201 and the side clamping cylinder 402 are switched to the clamping and pressing state, and the product workpiece 600 is clamped, and the robot drives the entire grabbing tool to insert the product workpiece 600 into the punch. Cut into molds. After the front end of the product is successfully inserted into the guide module of the punching die, the side clamping cylinder 402 switches to the clamping open state; in the third step, the robot drives the entire grabbing tooling to continue to push the product workpiece 600 into the punching die. At this moment, the entire right clamping mechanism 400 will touch the punching die guide module, so that it cannot move to the right, but the product workpiece 600 will continue to move to the right until it reaches the punching position to complete the punching action; the right clamping mechanism 400 stops moving to the right. Right, the process that the product workpiece 600 continues to move to the right is actually a process in which the entire grabbing tool moves to the right and the right clamping mechanism 400 moves to the left relative to the grabbing tool. The linear guide rail 305 drives the clamping mechanism 400 on the right side to move to the left in the first slider 303 and the second slider 304, and at the same time stretches the extension spring 800. After the punching action is completed, the robot drives the entire grabbing tooling to the left Exit the punching die. During the withdrawal process, the tension spring 800 gradually returns to the original length, and the tension spring 800 pulls the linear guide rail 305 and the right clamping mechanism 400 to the right to restore the initial position. The movement process of the left clamping mechanism 500 is consistent with that of the right clamping mechanism 400. The entire operation process of the grabbing tool not only ensures that the left and right clamping mechanisms clamp to both ends of the product in a wider range, but also ensures that the middle clamping mechanism 200 avoids interference with the guide block of the punching die. In particular, the number of punching knives on one side of the workpiece product is usually 3-5 knives, and the length of the punching die is different. When the insertion is very short, the clamping mechanism can be close to the end of the product. When the insertion is very short, the clamping mechanism needs to be far away from the product end. Otherwise, the intermediate clamping mechanism 200 will interfere with the punching die, and the intermediate clamping mechanism 200 can be moved by the linear guide rail 305 and the tension spring 800, which can solve this problem well.

The specific embodiments described herein are merely illustrative of the spirit of the invention. Those skilled in the art to which the present invention pertains may make various modifications or supplements to the described specific embodiments, or replace them in similar ways, without departing from the scope defined by the spirit of the present invention.

Claims (6)

1. A grasping tool with a movable clamping mechanism, which is arranged on the lower part of the flange mounting plate of the robot, and is characterized in that it includes a middle clamping mechanism, a translation sliding mechanism, a right clamping mechanism and a left clamping mechanism, The left clamping mechanism and the right clamping mechanism are arranged symmetrically on the left and right sides of the middle clamping mechanism, and the middle clamping mechanism, the right clamping mechanism and the left clamping mechanism are used for component clamping, The translation sliding mechanism is arranged at the lower part of the intermediate clamping mechanism and is used for sliding of the intermediate clamping mechanism. 2. A grabbing tool with a movable clamping mechanism according to claim 1, wherein the intermediate clamping mechanism includes an intermediate cylinder mounting plate, an intermediate clamping cylinder, and a first clamping block installation plate, the second clamping block mounting plate, the first middle clamping block and the second middle clamping block, the intermediate cylinder mounting plate are installed under the flange mounting plate of the robot, and the intermediate clamping cylinder is installed on the intermediate cylinder mounting plate Below, the first clamping block mounting plate and the second clamping block mounting plate are installed on the middle clamping cylinder, the first middle clamping block is installed on the first clamping block mounting plate, and the second middle clamping block is installed on the The second clamping block is mounted on the plate. 3. A grabbing tool with movable clamping mechanism according to claim 2, characterized in that, the translation sliding mechanism comprises a first slider mounting plate, a second slider mounting plate, a first slider , the second slider, the linear guide rail and the guide rail mounting plate, the first slider mounting plate and the second slider mounting plate are installed under the flange mounting plate of the robot, and the first slider is installed under the first slider mounting plate , the second slider is installed under the second slider installation plate, the linear guide rail is inserted into the first slider and the second slider, and the guide rail installation plate is installed on the linear guide rail. 4. A grabbing tool with movable clamping mechanism according to claim 3, characterized in that, the translation sliding mechanism also includes a tension spring mounting plate, a tension spring and a bolt, and the tension spring mounting plate is installed on Below the linear guide rail, one side of the tension spring is connected to the tension spring mounting plate, and the other side is connected to the bolt. 5. A grabbing tool with a movable clamping mechanism according to claim 4, wherein the clamping mechanism on the right side includes a side cylinder mounting plate, a side clamping cylinder and a side cylinder mounting plate, The side cylinder mounting plate is installed under the guide rail mounting plate, the side clamping cylinder is installed under the side cylinder mounting plate, the first side clamping block mounting plate and the second side clamping block mounting plate are installed on the side clamping cylinder, the first side The clamping block is installed on the mounting plate of the clamping block at the first side, and the clamping block at the second side is installed on the mounting plate of the clamping block at the second side. 6 . The grabbing tool with a movable clamping mechanism according to claim 5 , wherein the left clamping mechanism and the right clamping mechanism are arranged symmetrically.

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