CN116352490A - Automatic feeding and discharging clamp for circular ring parts - Google Patents
Automatic feeding and discharging clamp for circular ring parts Download PDFInfo
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- CN116352490A CN116352490A CN202211668810.5A CN202211668810A CN116352490A CN 116352490 A CN116352490 A CN 116352490A CN 202211668810 A CN202211668810 A CN 202211668810A CN 116352490 A CN116352490 A CN 116352490A
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- workpiece
- optical axis
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- 238000007599 discharging Methods 0.000 title claims abstract description 21
- 230000007246 mechanism Effects 0.000 claims abstract description 41
- 230000007704 transition Effects 0.000 claims abstract description 24
- 230000003287 optical effect Effects 0.000 claims description 33
- 230000006835 compression Effects 0.000 claims description 11
- 238000007906 compression Methods 0.000 claims description 11
- 230000000149 penetrating effect Effects 0.000 claims description 2
- 230000003139 buffering effect Effects 0.000 description 2
- 238000003754 machining Methods 0.000 description 2
- 238000001179 sorption measurement Methods 0.000 description 2
- 241000252254 Catostomidae Species 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
- B23Q7/04—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of grippers
- B23Q7/043—Construction of the grippers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
- B25J15/0683—Details of suction cup structure, e.g. grooves or ridges
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Jigs For Machine Tools (AREA)
Abstract
The invention discloses an automatic feeding and discharging clamp for circular ring parts, which relates to the technical field of clamps and comprises a robot transition plate, a mounting plate, a pneumatic three-jaw chuck and three groups of vacuum chuck positioning mechanisms, wherein one side of the robot transition plate is connected with an external robot arm, the other side of the robot transition plate is connected with the mounting plate, the three groups of vacuum chuck positioning mechanisms are uniformly and fixedly arranged on one circle of the side wall of the mounting plate, and the pneumatic three-jaw chuck is fixedly connected with the bottom surface of the mounting plate; the vacuum chuck positioning mechanism can position and adsorb the upper surface of a workpiece, and the pneumatic three-jaw chuck can perform centering alignment and auxiliary clamping when closed; according to the invention, the workpiece is centered and clamped in an auxiliary manner by starting the three-jaw chuck, the upper surface of the workpiece is adsorbed by the vacuum chuck positioning mechanism, the deformation and falling of the workpiece are avoided, the quality of the workpiece is improved, and the clamping stability is ensured.
Description
Technical Field
The invention relates to the technical field of clamps, in particular to an automatic feeding and discharging clamp for circular ring parts.
Background
At present, in the field of machining automation, automatic feeding and discharging is an important automatic transferring step, and has important significance for improving the transferring efficiency and stability of workpieces. In the prior art, the automatic feeding and discharging of the circular ring parts is mostly realized by adopting an independent centering mechanism for clamping, but the mode is difficult to ensure the controllability of the pressure on which the circular ring parts are grabbed, the circular ring parts deform due to overlarge strength, the circular ring parts are easy to drop due to overlarge strength, and the stability of the workpiece is influenced.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides the automatic feeding and discharging clamp for the ring-shaped part, the workpiece is centered and clamped in an auxiliary manner by starting the three-jaw chuck, the upper surface of the workpiece is adsorbed by the vacuum chuck positioning mechanism, the deformation and falling-off of the workpiece are avoided, the quality of the workpiece is improved, and the clamping stability is ensured.
In order to achieve the above purpose, the invention is realized by the following technical scheme: the automatic feeding and discharging clamp for the circular ring parts comprises a robot transition plate, a mounting plate, a pneumatic three-jaw chuck and three groups of vacuum chuck positioning mechanisms, wherein one side of the robot transition plate is connected with an external robot arm, the other side of the robot transition plate is connected with the mounting plate, the three groups of vacuum chuck positioning mechanisms are uniformly and fixedly arranged on one circle of the side wall of the mounting plate, and the pneumatic three-jaw chuck is fixedly connected with the bottom surface of the mounting plate; the vacuum chuck positioning mechanism can position and adsorb the upper surface of a workpiece, and the pneumatic three-jaw chuck can perform centering alignment and auxiliary clamping when closed.
Preferably, each group of vacuum chuck positioning mechanism comprises a pair of support rods, a plurality of through plate pneumatic connectors and a plurality of chucks, wherein one ends of the support rods are fixedly connected with the side wall of the mounting plate, a fixing plate is fixedly arranged on the side wall close to the other ends of the support rods, a plurality of through holes are uniformly formed in the fixing plate, the plurality of through plate pneumatic connectors penetrate through the through holes respectively and are fixedly connected with the fixing plate, the lower ends of the plurality of through plate pneumatic connectors are fixedly connected with the plurality of chucks respectively, and the upper ends of the plurality of through plate pneumatic connectors are connected with external vacuum sucking equipment through air pipes.
Preferably, the side surface of each threading pneumatic connector is provided with threads, nuts are respectively screwed on the threading pneumatic connectors and correspond to the upper surface and the lower bottom surface of the fixing plate, and the threading pneumatic connectors are fixed on the fixing plate by screwing the two nuts.
Preferably, the lower ends of the pair of support rods are connected with the positioning plate and used for aligning the workpiece, and the vacuum chuck ensures that the positioning plate is completely attached to the workpiece.
Preferably, the robot transition plate is connected with the mounting plate through a buffer mechanism.
Preferably, the buffer mechanism comprises a screw, a retainer ring, a linear bearing, an optical axis and a compression spring, wherein the linear bearing penetrates through the transition plate of the robot, the optical axis penetrates through the inner ring of the linear bearing and is in sliding connection with the linear bearing along the axial lead direction, one end of the optical axis is fixedly connected with the upper surface of the mounting plate, the other end of the optical axis is limited on the top surface of the linear bearing through a clamping piece, and the compression spring is sleeved at a position which is arranged on the optical axis and corresponds to the position between the linear bearing and the mounting plate.
Preferably, the clamping piece comprises a screw and a check ring, the diameter of the outer ring of the check ring is larger than the inner diameter of the linear bearing, the diameter of the inner ring of the check ring is larger than the diameter of a screw head of the screw, the check ring is fixed at the top of the optical axis through the screw, and the check ring can limit the optical axis to prevent the optical axis from slipping off the linear bearing.
The invention provides an automatic feeding and discharging clamp for circular ring parts, which has the following beneficial effects:
1. according to the invention, the workpiece is centered and clamped in an auxiliary manner by starting the three-jaw chuck, the upper surface of the workpiece is adsorbed by the vacuum chuck positioning mechanism, the deformation and falling of the workpiece are avoided, the quality of the workpiece is improved, and the clamping stability is ensured.
2. According to the invention, the buffer mechanism is connected with the cylinder and the mounting plate through the linear bearing and the compression spring, and can play a role in buffering when contacting a workpiece and compressing and adsorbing, and the vacuum chuck positioning mechanism can adsorb more firmly when compressing.
Drawings
FIG. 1 is a schematic perspective view of an automatic feeding and discharging gripper for circular ring parts according to the present invention;
FIG. 2 is a cross-sectional view of a buffer mechanism for an automatic loading and unloading gripper for circular ring parts according to the present invention;
fig. 3 is a cross-sectional view of a vacuum chuck positioning mechanism of an automatic feeding and discharging clamp for circular ring parts.
In the figure: 1. a robot transition plate; 2. a buffer mechanism; 3. a mounting plate; 4. a pneumatic three-jaw chuck; 5. a vacuum chuck positioning mechanism; 6. a workpiece; 21. a screw; 22. a retainer ring; 23. a linear bearing; 24. an optical axis; 25. a compression spring; 51. a support rod; 52. a pneumatic connector for threading; 53. a nut; 54. a fixing plate; 55. a positioning plate; 56. and a sucking disc.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
As shown in fig. 1-3, an automatic feeding and discharging clamp for circular ring parts comprises a robot transition plate 1, a mounting plate 3, a pneumatic three-jaw chuck 4 and three groups of vacuum chuck positioning mechanisms 5, wherein one side of the robot transition plate 1 is connected with an external robot arm, the other side of the robot transition plate is connected with the mounting plate 3, the three groups of vacuum chuck positioning mechanisms 5 are uniformly and fixedly arranged on one circle of the side wall of the mounting plate 3, and the pneumatic three-jaw chuck 4 is fixedly connected with the bottom surface of the mounting plate 3; the vacuum chuck positioning mechanism 5 can position and adsorb the upper surface of the workpiece 6, and the pneumatic three-jaw chuck 4 can perform centering alignment and auxiliary clamping when closed; each group of vacuum chuck positioning mechanisms 5 comprises a pair of support rods 51, a plurality of through plate pneumatic connectors 52 and a plurality of chucks 56, one end of each support rod 51 is fixedly connected with the side wall of the mounting plate 3, a fixed plate 54 is fixedly arranged on the side wall close to the other end of each support rod 51, a plurality of through holes are uniformly formed in the fixed plate 54, the plurality of through plate pneumatic connectors 52 respectively penetrate through the through holes and are fixedly connected with the fixed plate 54, the lower ends of the plurality of through plate pneumatic connectors 52 are respectively fixedly connected with the plurality of chucks 56, and the upper ends of the plurality of through plate pneumatic connectors are connected with external vacuum sucking equipment through air pipes; screw threads are arranged on the side surface of each threading pneumatic connector 52, nuts 53 are respectively screwed on the threading pneumatic connectors 52 and correspond to the upper surface and the lower bottom surface of the fixing plate 54, and the threading pneumatic connectors 52 are fixed on the fixing plate 54 by screwing the two nuts 53; the lower ends of the pair of support rods 51 are respectively connected with a positioning plate 55 for aligning the workpiece 6; the robot transition plate 1 is connected with the mounting plate 3 through a buffer mechanism 2; the buffer mechanism 2 comprises a screw 21, a retainer ring 22, a linear bearing 23, an optical axis 24 and a compression spring 25, wherein the linear bearing 23 penetrates through the robot transition plate 1, the optical axis 24 penetrates through the inner ring of the linear bearing 23 and is in sliding connection with the linear bearing 23 along the axial line direction, one end of the optical axis 24 is fixedly connected with the upper surface of the mounting plate 3, the other end of the optical axis is limited on the top surface of the linear bearing 23 through a clamping piece, and the compression spring 25 is sleeved on the optical axis 24 and corresponds to the position between the linear bearing 23 and the mounting plate 3; the clamping piece comprises a screw 21 and a check ring 22, the diameter of the outer ring of the check ring 22 is larger than the inner diameter of the linear bearing 23, the diameter of the inner ring of the check ring 22 is larger than the diameter of the screw head of the screw 21, the check ring 22 is fixed at the top of the optical axis 24 through the screw 21, and the check ring 22 can limit the optical axis 24 to prevent the optical axis from slipping off the linear bearing 23.
The detailed connection means are known in the art, and the following mainly introduces the working principle and process, specifically as follows:
according to the invention, the cylinder in the pneumatic three-jaw chuck 4 is connected with an external air compressor through an air pipe, one side of the robot transition plate 1 is connected with an external robot arm, and a plurality of suckers 56 are connected with external vacuum sucking equipment through a plate penetrating pneumatic connector 52 and the air pipe, and the connection mode is in the prior art and is not repeated.
According to the description and the attached drawings 1-3, when the automatic feeding and discharging device is used, firstly, an external robot arm is connected to automatically feed and discharge a circular part to move above a workpiece 6 to be transported, the external robot arm drives a robot transition plate 1, a mounting plate 3, an air three-jaw chuck 4 and three groups of vacuum chuck positioning mechanisms 5 to move towards the workpiece 6, and when the three groups of vacuum chuck positioning mechanisms 5 are contacted with the upper surface of the workpiece 6, the external robot arm stops moving; then the pneumatic three-jaw chuck 4 is controlled to close the chuck to position and clamp the workpiece 6, so that the workpiece 6 is more accurately aligned with the adsorption ends of the three groups of vacuum chuck positioning mechanisms 5, and the closing force of the pneumatic three-jaw chuck 4 is not used as the main clamping force, and only positioning centering or moderate auxiliary clamping can be realized; then, the three groups of vacuum chuck positioning mechanisms 5 adsorb the workpiece 6 through external vacuum sucking equipment; and finally, transferring the workpiece 6 clamped by adsorption through an external mechanical arm and feeding and discharging the workpiece to machining equipment. According to the invention, the workpiece 6 is centered and clamped in an auxiliary manner by starting the three-jaw chuck, and the upper surface of the workpiece 6 is adsorbed by the vacuum chuck positioning mechanism 5, so that the deformation and falling-off of the workpiece 6 are avoided, the quality of the workpiece 6 is improved, and the clamping stability is ensured
In one possible implementation manner, each group of vacuum chuck positioning mechanisms 5 comprises a pair of support rods 51, a plurality of through board pneumatic joints 52 and a plurality of chucks 56, one end of each support rod 51 is fixedly connected with the side wall of the mounting plate 3, a fixing plate 54 is arranged on the side surface of the other end of each support rod 51, the plurality of through board pneumatic joints 52 respectively penetrate through holes of the fixing plate 54, and the plurality of chucks 56 at the lower ends of the plurality of through board pneumatic joints 52 can be attached to the surface of the workpiece 6; when in use, after the sucker 56 is contacted with the surface of the workpiece 6, the external vacuum sucking equipment works, and the sucker 56 sucks the workpiece 6 through the threading pneumatic connector 52 and the air pipe. The pneumatic threading connector 52 is provided with threads on its side surface, and the pneumatic threading connector 52 is screwed up and down by a pair of nuts 53 so as to be fixed to a fixing plate 54. The lower ends of the pair of support rods 51 are respectively connected with a positioning plate 55, and the positioning plates 55 are attached to the surface of the workpiece 6 for alignment.
In one possible embodiment, the robot transition plate 1 is connected to the mounting plate 3 via a damping mechanism 2. Specifically, the buffer mechanism 2 comprises a screw 21, a retainer ring 22, a linear bearing 23, an optical axis 24 and a compression spring 25, wherein the linear bearing 23 is fixedly arranged on the robot transition plate 1, the optical axis 24 penetrates through the linear bearing 23 in a sliding manner along the axial line direction of the linear bearing 23, one end of the optical axis 24 is fixedly connected with the upper surface of the mounting plate 3, the other end of the optical axis is limited on the top surface of the linear bearing 23 through a clamping piece, the compression spring 25 is sleeved on the optical axis 24, and the mounting plate 3 and the robot transition plate 1 have a buffer function through the compression spring 25. When the vacuum chuck positioning mechanism 5 contacts the workpiece 6, a buffering effect can be achieved, and when the workpiece is pressed and adsorbed, the vacuum chuck positioning mechanism 5 can be adsorbed more firmly. The clamping piece comprises a screw 21 and a retainer ring 22, the diameter of the outer ring of the retainer ring 22 is larger than the diameter of the linear bearing 23, the diameter of the inner ring of the retainer ring 22 is larger than the diameter of the screw head of the screw 21, and the retainer ring 22 is fixed at the top of the optical axis 24 through the screw 21, so that the retainer ring 22 can limit the optical axis 24 to prevent the optical axis from slipping off the linear bearing 23.
Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (7)
1. The automatic feeding and discharging clamp for the circular ring parts is characterized by comprising a robot transition plate (1), a mounting plate (3), a pneumatic three-jaw chuck (4) and three groups of vacuum chuck positioning mechanisms (5), wherein one side of the robot transition plate (1) is connected with an external robot arm, the other side of the robot transition plate is connected with the mounting plate (3), the three groups of vacuum chuck positioning mechanisms (5) are uniformly and fixedly arranged on one circle of the side wall of the mounting plate (3), and the pneumatic three-jaw chuck (4) is fixedly connected with the bottom surface of the mounting plate (3); the vacuum chuck positioning mechanism (5) can position and adsorb the upper surface of a workpiece (6), and the pneumatic three-jaw chuck (4) can perform centering alignment and auxiliary clamping when closed.
2. The automatic feeding and discharging clamp for the circular ring parts according to claim 1, wherein each group of vacuum chuck positioning mechanisms (5) comprises a pair of support rods (51), a plurality of through plate pneumatic connectors (52) and a plurality of chucks (56), one end of each support rod (51) is fixedly connected with the side wall of the mounting plate (3), a fixing plate (54) is fixedly arranged on the side wall close to the other end of each support rod (51), a plurality of through holes are uniformly formed in each fixing plate (54), the plurality of through plate pneumatic connectors (52) penetrate through the through holes respectively and are fixedly connected with the fixing plate (54), the lower ends of the plurality of through plate pneumatic connectors (52) are fixedly connected with the plurality of chucks (56) respectively, and the upper ends of the plurality of through plate pneumatic connectors are connected with external vacuum sucking equipment through air pipes.
3. The automatic feeding and discharging clamp for the circular ring parts according to claim 2, wherein threads are arranged on the side surface of each threading pneumatic connector (52), nuts (53) are respectively screwed on the threading pneumatic connectors (52) and correspond to the upper surface and the lower bottom surface of the fixing plate (54), and the threading pneumatic connectors (52) are fixed on the fixing plate (54) by screwing the nuts (53).
4. The automatic feeding and discharging clamp for the circular ring parts according to claim 2, wherein the lower ends of the pair of support rods (51) are connected with the positioning plate (55) for aligning the workpiece (6), and the vacuum chuck (56) ensures that the positioning plate (55) is completely attached to the workpiece (6).
5. The automatic feeding and discharging clamp for the circular ring parts according to claim 1 is characterized in that the robot transition plate (1) is connected with the mounting plate (3) through the buffer mechanism (2).
6. The automatic feeding and discharging clamp for the circular ring type parts according to claim 5, wherein the buffer mechanism (2) comprises a screw (21), a retainer ring (22), a linear bearing (23), an optical axis (24) and a compression spring (25), the linear bearing (23) is arranged on the robot transition plate (1) in a penetrating mode, the optical axis (24) penetrates through the inner ring of the linear bearing (23) and is in sliding connection with the linear bearing (23) along the axial lead direction, one end of the optical axis (24) is fixedly connected with the upper surface of the mounting plate (3), the other end of the optical axis is limited on the top surface of the linear bearing (23) through a clamping piece, and the compression spring (25) is sleeved at a position which is arranged on the optical axis (24) and corresponds to the position between the linear bearing (23) and the mounting plate (3).
7. The automatic feeding and discharging clamp for the circular ring type parts according to claim 6, wherein the clamping piece comprises a screw (21) and a retainer ring (22), the outer ring diameter of the retainer ring (22) is larger than the inner diameter of the linear bearing (23), the inner ring diameter of the retainer ring (22) is larger than the diameter of a screw head of the screw (21), the retainer ring (22) is fixed at the top of an optical axis (24) through the screw (21), and the retainer ring (22) can limit the optical axis (24) to prevent the optical axis from slipping off the linear bearing (23).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211668810.5A CN116352490A (en) | 2022-12-24 | 2022-12-24 | Automatic feeding and discharging clamp for circular ring parts |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211668810.5A CN116352490A (en) | 2022-12-24 | 2022-12-24 | Automatic feeding and discharging clamp for circular ring parts |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116352490A true CN116352490A (en) | 2023-06-30 |
Family
ID=86939512
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211668810.5A Pending CN116352490A (en) | 2022-12-24 | 2022-12-24 | Automatic feeding and discharging clamp for circular ring parts |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116352490A (en) |
-
2022
- 2022-12-24 CN CN202211668810.5A patent/CN116352490A/en active Pending
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