CN116787477B - Grabbing device and grabbing method for annular workpiece - Google Patents
Grabbing device and grabbing method for annular workpiece Download PDFInfo
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- CN116787477B CN116787477B CN202311096836.1A CN202311096836A CN116787477B CN 116787477 B CN116787477 B CN 116787477B CN 202311096836 A CN202311096836 A CN 202311096836A CN 116787477 B CN116787477 B CN 116787477B
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- 230000006835 compression Effects 0.000 description 9
- 238000007906 compression Methods 0.000 description 9
- 238000001125 extrusion Methods 0.000 description 6
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- 238000004519 manufacturing process Methods 0.000 description 4
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Classifications
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- 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
- B25J15/0033—Gripping heads and other end effectors with gripping surfaces having special shapes
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
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Abstract
The application discloses a grabbing device and a grabbing method for annular workpieces, and mainly relates to the technical field of grabbing equipment. Including setting up the fixture that cooperation annular work piece used on the arm, fixture is equipped with the spout including setting up the fixing base on the arm, the both sides of fixing base are along longitudinal symmetry, sliding connection has the slider in the spout, the tip of slider rotates to be connected with the clamp that contacts with annular work piece side, be equipped with first spring between clamp and the slider, the sliding connection of fixing base one side symmetry has the clamp splice, two clamp splice contacts with annular work piece's both sides respectively, be equipped with drive arrangement on the fixing base, drive arrangement drives clamp and clamp splice simultaneously and annular work piece contacts. The application has the beneficial effects that: the clamping device solves the problem that an existing clamping device cannot effectively clamp an annular workpiece, and guarantees the quality of finished products after the annular workpiece is machined.
Description
Technical Field
The application relates to the technical field of grabbing equipment, in particular to a grabbing device and a grabbing method for annular workpieces.
Background
Along with the continuous development of scientific technology, the industrial level is continuously improved, the production efficiency is also continuously improved, and more fields begin to adopt automatic mechanical production to replace the traditional manual production mode, so that a large number of manipulators are generated according to market demands, and the production efficiency is greatly improved.
The feeding structure is a key structure which is necessary to be matched with the manipulator, most of the manipulators on the market at present are convenient to solve the feeding problem of square workpieces, annular workpieces are generally clamped by symmetrically arranged annular clamps, the inner diameter of each clamp is generally larger than the outer diameter of each annular workpiece, the contact part of each clamp and each annular workpiece is always a line or a point, the influence of axial force on the annular workpiece is counteracted by friction force generated by contact of each clamp and each annular workpiece, the friction force depends on the extrusion force between each clamp and each annular workpiece, and when the extrusion force is overlarge, the surfaces of the annular workpieces are easily extruded and deformed due to smaller contact areas of the clamps and the annular workpieces, so that the quality of finished products after the annular workpieces are processed is influenced; when the extrusion force is too small, the friction force between the clamp and the annular workpiece is small, and the annular workpiece cannot be effectively fixed. Therefore, the existing clamping device cannot effectively clamp the annular workpiece, and the overall structure needs to be further optimized.
Disclosure of Invention
The application aims to provide a grabbing device and a grabbing method for an annular workpiece, which solve the problem that the existing clamping device cannot effectively clamp the annular workpiece and ensure the quality of finished products after the annular workpiece is processed.
The application aims to achieve the aim, and the application is realized by the following technical scheme:
the utility model provides a grabbing device of annular work piece, includes the fixture that sets up on the arm cooperation annular work piece and use, fixture is including setting up the fixing base on the arm, the both sides of fixing base are equipped with the spout along longitudinal symmetry, sliding connection has the slider in the spout, the tip rotation of slider is connected with the clamp that contacts with annular work piece side, be equipped with first spring between clamp and the slider, the sliding connection of fixing base one side symmetry has the clamp splice, two the clamp splice contacts with annular work piece's both sides respectively, be equipped with drive arrangement on the fixing base, drive arrangement drives clamp and clamp splice simultaneously and annular work piece contacts.
Further, the driving device comprises a pushing block which is in sliding connection with the base, a first connecting rod and a second connecting rod are symmetrically arranged between the pushing block and the sliding block, two ends of the first connecting rod are respectively in rotational connection with the pushing block and the sliding block, two ends of the pushing block are respectively in sliding connection with a connecting block, and two ends of the second connecting rod are respectively in rotational connection with the sliding block and the connecting block.
Further, a third connecting rod is symmetrically arranged between the pushing block and the clamping block, two ends of the third connecting rod are respectively connected with the pushing block and the clamping block in a rotating mode, two driven spiral gears are connected to the pushing block in a rotating mode, a driving spiral gear connected with a fixed seat in a rotating mode is arranged between the driven spiral gears, the driving spiral gears are meshed with the two driven spiral gears at the same time, a fourth connecting rod is connected to the clamping block in a rotating mode, the fourth connecting rod is connected with the driven spiral gears, the fourth connecting rod is arranged in parallel with the third connecting rod, and the lengths of the third connecting rod and the fourth connecting rod are equal.
Further, a driving plate is connected to the fixing base in a sliding manner in the transverse direction, first guide rods are symmetrically arranged on one side of the driving plate, first through holes for the first guide rods to pass through are formed in the pushing blocks, stop blocks in contact with the driving plate are arranged at the end parts of the first guide rods, and second springs are arranged between the pushing blocks and the driving plate.
Further, a cylinder for driving the driving plate to slide is arranged on the fixing seat, a screw rod rotationally connected with the fixing seat is arranged on one side of the driving spiral gear, and a threaded hole in threaded connection with the screw rod is formed in the driving plate.
Further, the sliding block is connected with an adjusting block in a threaded mode, the first spring is arranged between the adjusting block and the clamp, and one side of the adjusting block is provided with scale marks.
Further, an arc-shaped clamping part is arranged on the clamp, a plurality of elastic protrusions are arranged on the clamping part and are in contact with the annular workpiece, and the inner diameter of the clamping part is larger than the outer diameter of the annular workpiece.
Further, a second through hole is vertically formed in the clamping block, a second guide rod is connected in the second through hole in a sliding mode, the second guide rod is elastic, a clamping plate which is in contact with the annular workpiece is arranged at the end portion of the second guide rod, and a third spring is arranged between the clamping plate and the clamping block.
Further, the clamping block is provided with a pressure sensor matched with the air cylinder.
A gripping method of a gripping device for an annular workpiece, comprising the steps of:
s1, installing a clamping mechanism, connecting a fixed seat with the output end of a mechanical arm in a transmission way, and starting to use after the connection is completed;
s2, adjusting the position of the adjusting block according to the shape and the material of the annular workpiece, and adjusting the clamping force range of the clamp;
s3, after a sensor on the tool detects that the clamping device is in place, the control system drives the air cylinder to drive the driving plate to transversely slide, pushes the pushing block to transversely slide, drives the clamp to contact with the side face of the annular workpiece, drives the screw to rotate until the clamp block contacts with the two sides of the annular workpiece, and controls the air cylinder to stop after the pressure sensor senses that the annular workpiece is in place;
and S4, after the clamping action is completed, the whole displacement of the mechanical arm drives the annular workpiece to move, and after the annular workpiece is in place, the cylinder drives the clamp and the clamping block to reset and loosen the annular workpiece.
Compared with the prior art, the application has the beneficial effects that:
1. the clamping mechanism is driven to move through the mechanical arm, so that the clamping mechanism moves to the outer side of the annular workpiece, the sliding block is driven to slide in the sliding groove through the pushing block, and the clamp arranged at the end part of the sliding block is driven to contact with the side surface of the annular workpiece, so that the arc-shaped side surface of the annular workpiece is clamped; meanwhile, the clamping blocks are driven to slide inwards through the pushing blocks until the two clamping blocks are respectively contacted with two sides of the annular workpiece, so that the clamping of the upper side surface and the lower side surface of the annular workpiece is realized, the vertical movement of the annular workpiece is limited, the annular workpiece is prevented from being driven to move by axial force, so that the annular workpiece is effectively fixed, meanwhile, the axial external force of the annular workpiece is not required to be counteracted by friction force generated between a clamp and the annular workpiece, the deformation of the annular workpiece caused by the fact that the clamping force is excessively large to extrude the surface of the annular workpiece is avoided, and the quality of the annular workpiece after processing is further ensured;
2. a first spring is arranged between the compression clamp and the sliding block, and the resilience force generated after the compression of the first spring is used as the clamping force of the clamp, so that the clamping force for clamping the annular workpiece is an elastic force, the clamp is prevented from extruding the surface of the annular workpiece, and the quality of the annular workpiece after processing is ensured;
3. the sliding blocks on two sides are driven to longitudinally and inwards slide on the fixing seat through the matching among the air cylinder, the driving plate, the first guide rod, the first through hole, the second spring, the first connecting rod, the pushing block and the sliding blocks, so that the clamp is clamped; in addition, through the cooperation between ejector pad, connecting block, the second connecting rod, strengthen the connection between ejector pad and the slider, guarantee holistic stability, the connecting block can slide on the ejector pad simultaneously, and then fine setting second connecting rod tip's position avoids whole card to die and leads to the ejector pad unable to drive the slider motion, further guarantees holistic stability;
4. when the driving plate transversely slides on the fixed seat, the driving plate, the threaded hole, the screw rod, the driving spiral gear and the driven spiral gear are matched to drive the fourth connecting rods on two sides to synchronously and reversely rotate on the push block so as to provide power for driving the clamping block to translate; in addition, as the fourth connecting rod is arranged in parallel with the third connecting rod, the lengths of the third connecting rod and the fourth connecting rod are equal, and the clamping blocks on two sides are driven to move and translate towards the inner side, so that the side surfaces of the clamping blocks are always parallel to the two sides of the annular block, the contact area between the clamping blocks and the annular block is increased, the annular workpiece is further clamped, the clamping blocks are prevented from extruding the surface of the annular workpiece, and the quality of finished products after the annular workpiece is processed is ensured;
5. when the clamp is contacted with the side surface of the annular workpiece, the air cylinder still drives the driving plate to slide on the base and further compresses the second spring, so that the driving plate moves relative to the pushing block and continuously drives the screw rod to rotate, so that the clamping block continuously translates until the clamping block is contacted with the two sides of the annular workpiece, the driving clamp and the clamping block share one power driving, and the cost and the installation space required by the power driving are reduced;
6. through the cooperation between slider, regulating block, the first spring, change clamp clamping force size, avoid clamp extrusion annular workpiece's surface, guarantee the quality of annular workpiece after the processing, simultaneously, through the screw thread between slider and the regulating block, realize the fixed of regulating block.
Drawings
Fig. 1 is a schematic diagram of the structure of the present application.
Fig. 2 is a schematic structural view of the fixing base of the present application.
Fig. 3 is a schematic view of the structure of the clamp of the present application.
FIG. 4 is a schematic diagram of the cooperation of the clamp and push block according to the present application
Fig. 5 is an enlarged view of a portion of the application at a of fig. 4.
Fig. 6 is a schematic view of the structure of the clamping block of the present application.
Fig. 7 is an enlarged view of a portion of the application at B in fig. 6.
Fig. 8 is a schematic structural view of the driving helical gear of the present application.
Fig. 9 is a schematic view of the structure of the clamping part of the present application.
The reference numbers shown in the drawings:
1. a mechanical arm; 2. a clamping mechanism; 3. a fixing seat; 4. a chute; 5. a slide block; 6. a clamp; 7. a first spring; 8. clamping blocks; 9. a pushing block; 10. a first link; 11. a second link; 12. a connecting block; 13. a third link; 14. a driven helical gear; 15. a drive helical gear; 16. a fourth link; 17. a driving plate; 18. a first guide bar; 19. a first through hole; 20. a stop block; 21. a second spring; 22. a cylinder; 23. a screw; 24. a threaded hole; 25. an adjusting block; 26. scale marks; 27. a clamping part; 28. a protrusion; 29. a second through hole; 30. a second guide bar; 31. a clamping plate; 32. a third spring; 33. a pressure sensor.
Detailed Description
The application will be further illustrated with reference to specific examples. It is to be understood that these examples are illustrative of the present application and are not intended to limit the scope of the present application. Further, it will be understood that various changes and modifications may be made by those skilled in the art after reading the teachings of the application, and equivalents thereof fall within the scope of the application as defined by the claims.
The application provides a gripping device for annular workpieces, which is shown in fig. 1 and 2, and comprises a clamping mechanism 2 arranged on a mechanical arm 1 and used with the annular workpieces, wherein the clamping mechanism 2 is driven to move by the mechanical arm 1, so that displacement of the clamping mechanism 2 in the XYZ direction is realized; the clamping mechanism 2 comprises a fixed seat 3 arranged on the mechanical arm 1 and used for connecting the clamping mechanism 2 and the mechanical arm 1, sliding grooves 4 are symmetrically arranged on two sides of the fixed seat 3 along the longitudinal direction, sliding blocks 5 are connected in the sliding grooves 4 in a sliding manner, the sliding direction of the sliding blocks 5 is limited, and the clamp 6 is guided; the end part of the sliding block 5 is rotationally connected with a clamp 6 which is contacted with the side surface of the annular workpiece and is used for clamping the arc-shaped side surface of the annular workpiece to limit the transverse and longitudinal movement of the annular workpiece, as shown in fig. 4 and 5, a first spring 7 is arranged between the clamp 6 and the sliding block 5, the resilience force generated after the compression of the first spring 7 is used as the clamping force of the clamp 6, so that the clamping force for clamping the annular workpiece is elastic force, the clamp 6 is prevented from extruding the surface of the annular workpiece, and the quality of the annular workpiece after the processing is ensured; the clamping blocks 8 are symmetrically and slidingly connected to one side of the fixed seat 3, the two clamping blocks 8 are respectively contacted with two sides of the annular workpiece and used for clamping the upper side and the lower side of the annular workpiece, so that the annular workpiece is limited to move vertically, the annular workpiece is prevented from being driven to move by axial force, the annular workpiece is effectively fixed, meanwhile, the axial external force of the annular workpiece is not required to be counteracted by friction force generated between the clamp 6 and the annular workpiece, the deformation caused by the fact that the clamping force extrudes the surface of the annular workpiece too much is avoided, and the quality of the annular workpiece after processing is further ensured; as shown in fig. 3 and 4, the fixing base 3 is provided with a driving device; the driving device drives the clamp 6 and the clamping block 8 to contact with the annular workpiece at the same time, and provides power for the clamp 6 and the clamping block 8 to clamp the annular workpiece.
Preferably, as shown in fig. 3 and fig. 4, the driving device includes a push block 9 slidably connected with the base, grooves are formed on two sides of the specific fixing seat 3 along a transverse direction, the push block 9 is slidably connected in the grooves, so as to limit a sliding direction of the push block 9, and a guiding effect is provided for sliding the push block 9, so that the push block 9 slides stably along the transverse direction, and a first connecting rod 10 and a second connecting rod 11 are symmetrically arranged between the push block 9 and the sliding block 5, so that the clamps 6 on two sides move symmetrically inwards or outwards, and the overall stability is ensured; the two ends of the first connecting rod 10 are respectively connected with the push block 9 and the slide block 5 in a rotating way, the transverse thrust of the push block 9 is converted into the longitudinal thrust of the slide block 5 through the first connecting rod 10, and the slide blocks 5 on two sides are driven to slide inwards or outwards along the longitudinal direction on the fixed seat 3, so that the clamp 6 is loosened and clamped; the both ends of ejector pad 9 all sliding connection has connecting block 12, the both ends of second connecting rod 11 rotate with slider 5 and connecting block 12 respectively and are connected for strengthen being connected between ejector pad 9 and the slider 5, guarantee holistic stability, connecting block 12 can slide on ejector pad 9 simultaneously, thereby fine setting second connecting rod 11 tip's position avoids whole card to die to lead to ejector pad 9 unable drive slider 5 motion, further guarantees holistic stability.
Preferably, as shown in fig. 6 and 8, a third connecting rod 13 is symmetrically arranged between the push block 9 and the clamping block 8, two ends of the third connecting rod 13 are respectively and rotatably connected with the push block 9 and the clamping block 8, so that the end part of the clamping block 8 moves circularly relative to the end part of the third connecting rod 13, two driven spiral gears 14 are rotatably connected to the push block 9, a driving spiral gear 15 which is rotatably connected with the fixed seat 3 is arranged between the two driven spiral gears 14, the driving spiral gear 15 is simultaneously meshed with the two driven spiral gears 14, and torque of the driving spiral gear 15 is transmitted to the driven spiral gears 14 at two sides to drive the driven spiral gears 14 at two sides to synchronously rotate reversely; the clamping block 8 is rotationally connected with a fourth connecting rod 16, the fourth connecting rod 16 is connected with a driven spiral gear 14, the fourth connecting rod 16 on two sides is driven to synchronously and reversely rotate on the push block 9, power is provided for driving the clamping block 8 to translate, the clamping blocks 8 on two sides are driven to synchronously translate towards the inner side or the outer side, the fourth connecting rod 16 and the third connecting rod 13 are arranged in parallel, the lengths of the third connecting rod 13 and the fourth connecting rod 16 are equal, the side surfaces of the clamping block 8 are always parallel to two sides of the annular block, the contact area of the clamping block 8 and the annular block is increased, an annular workpiece is further clamped, meanwhile, the clamping block 8 is prevented from extruding the surface of the annular workpiece, and the quality of a finished product after the annular workpiece is processed is ensured.
Preferably, as shown in fig. 3 and fig. 4, the fixing base 3 is slidably connected with a driving plate 17 along a transverse direction, and the driving plate is symmetrically arranged on the fixing base 3 to ensure overall balance, one side of the driving plate 17 is symmetrically provided with a first guide rod 18, the push block 9 is provided with a first through hole 19 for the first guide rod 18 to pass through, so that the sliding direction of the driving plate 17 is limited, and the driving plate 17 is guided to slide, so that the driving block slides along the transverse direction smoothly; the end part of the first guide rod 18 is provided with a stop block 20 which is in contact with the driving plate 17, so that the driving plate 17 is driven to slide leftwards to drive the clamp 6 and the clamping block 8 to reset; the second spring 21 is arranged between the push block 9 and the driving plate 17, the push block 9 is driven to move by the resilience force generated after the second spring 21 is compressed, so that the connection between the driving plate 17 and the push block 9 is elastic connection, that is, the driving plate 17 can drive the push block 9 to slide by the resilience force generated by the second spring 21, and the second spring 21 can be further compressed to move relative to the push block 9.
Preferably, as shown in fig. 3, fig. 4 and fig. 6, the fixed seat 3 is provided with a cylinder 22 for driving the driving plate 17 to slide, so as to provide power for the driving plate 17 to slide, and the cylinder 22 can be a TN biaxial cylinder; one side of the driving spiral gear 15 is provided with a screw rod 23 rotationally connected with the fixed seat 3, and the driving plate 17 is provided with a threaded hole 24 in threaded connection with the screw rod 23 for driving the driving spiral gear 15 to rotate, so that the driving clamp 6 and the clamping block 8 share one power driving mode, and the cost and the installation space required by the power driving mode are reduced.
Preferably, as shown in fig. 4 and 5, the slider 5 is screwed with an adjusting block 25, the first spring 7 is disposed between the adjusting block 25 and the clamp 6, and is used for changing the compression amount of the first spring 7, so as to change the clamping force of the clamp 6, avoid the clamp 6 from extruding the surface of the annular workpiece, ensure the quality of the annular workpiece after processing, and one side of the adjusting block 25 is provided with a scale mark 26, so that the compression amount of the first spring 7 is convenient to calculate.
Preferably, as shown in fig. 4 and 9, an arc-shaped clamping part 27 is arranged on the clamp 6, so that the annular workpiece is convenient to fix, a plurality of elastic protrusions 28 are arranged on the clamping part 27, the protrusions 28 are in contact with the annular workpiece, the friction force between the clamp 6 and the annular workpiece is increased, meanwhile, the clamp 6 is prevented from extruding the surface of the annular workpiece, the quality of the annular workpiece after processing is ensured, and the inner diameter of the clamping part 27 is larger than the outer diameter of the annular workpiece, so that the clamp 6 can fix the annular workpieces with different outer diameters.
Preferably, as shown in fig. 6 and 7, the clamping block 8 is vertically provided with a second through hole 29, a second guide rod 30 is slidably connected in the second through hole 29, the second guide rod 30 has elasticity, the end of the guide rod is provided with a clamping plate 31 contacting with the annular workpiece, the sliding direction of the clamping plate 31 is limited, the clamping plate 31 slides vertically, a third spring 32 is arranged between the clamping plate 31 and the clamping block 8, the extrusion force between the clamping block 8 and the annular workpiece is buffered, and meanwhile, the angle between the clamping plate 31 and the annular workpiece is slightly adjusted, so that the clamping plate 31 is attached to the annular workpiece, the clamping block 8 is prevented from wearing the outer surface of the annular workpiece, and the quality of the annular workpiece after processing is ensured.
Preferably, as shown in fig. 7, the clamping block 8 is provided with a pressure sensor 33 used in cooperation with the air cylinder 22, for detecting whether the annular workpiece is successfully clamped, and for controlling the opening and closing of the air cylinder 22, the model of the pressure sensor 33 can be referred to as MLC204E11.
On the basis of the above-mentioned grabbing device for annular workpieces, the application provides a grabbing method for the grabbing device for annular workpieces, which comprises the following steps:
s1, installing a clamping mechanism 2, connecting a fixed seat 3 with the output end of a mechanical arm 1 in a transmission way through a flange plate, and starting to use after the connection is completed;
s2, the whole displacement of the mechanical arm 1 drives the annular workpiece to move, after a sensor on the tool detects that the clamping device is in place, the sensor drives the air cylinder 22 to drive the driving plate 17 to transversely slide so as to push the push block 9 to transversely slide and drive the clamp 6 to contact with the side surface of the annular workpiece, and meanwhile, the screw 23 is driven to rotate until the clamp block 8 contacts with the two sides of the annular workpiece, and the pressure sensor 33 senses that the annular workpiece is in place and then controls the air cylinder 22 to stop;
s3, after the clamping action is completed, the whole displacement of the mechanical arm 1 drives the annular workpiece to move, and after the annular workpiece is in place, the control system controls the air cylinder 22 to drive the clamp 6 and the clamping block 8 to reset, and the annular workpiece is loosened, so that the feeding and the discharging of the annular workpiece are completed.
Example 1
The application provides a gripping device and a gripping method for an annular workpiece, as shown in figures 1, 2, 3, 4 and 5, the gripping device comprises a gripping mechanism 2 which is arranged on a mechanical arm 1 and matched with the annular workpiece for use, wherein the gripping mechanism 2 is driven by the mechanical arm 1 to move so as to enable the gripping mechanism 2 to move to the outer side of the annular workpiece, a driving device drives a sliding block 5 to slide in a sliding groove 4, a clamp 6 arranged at the end part of the sliding block 5 is driven to contact with the side surface of the annular workpiece, a first spring 7 is arranged between the clamp 6 and the sliding block 5 in a compression manner, the elastic force generated after the compression of the first spring 7 is used as the gripping force of the clamp 6, the gripping force for gripping the annular workpiece is elastic force, the clamp 6 is prevented from extruding the surface of the annular workpiece, and the quality of the annular workpiece after processing is ensured; simultaneously, the clamping blocks 8 symmetrically arranged on one side of the fixed seat 3 are driven to slide inwards by the driving device until the two clamping blocks 8 are respectively contacted with two sides of the annular workpiece, so that the upper side and the lower side of the annular workpiece are clamped, the vertical movement of the annular workpiece is limited, the annular workpiece is prevented from being driven to move by axial force, so that the annular workpiece is effectively fixed, meanwhile, the axial external force of the annular workpiece is not required to be counteracted by friction force generated between the clamp 6 and the annular workpiece, the deformation caused by the fact that the clamping force extrudes the surface of the annular workpiece too much is avoided, and the quality of the annular workpiece after processing is further ensured; after clamping is completed, the mechanical arm 1 drives the clamping mechanism 2 to move to a designated position, so that feeding and discharging of the annular workpiece are realized.
Example 2
On the basis of embodiment 1, as shown in fig. 3 and 4, the movable end of the air cylinder 22 is connected with the driving plate 17 to drive the driving plate 17 to slide transversely on the fixed seat 3, and the first guide rod 18 matched with the driving plate 17 slides in the first through hole 19 arranged on the push block 9 to limit the sliding direction of the driving plate 17, so as to guide the sliding of the driving plate 17 and enable the driving block to slide transversely and stably; the second spring 21 is compressed, the pushing block 9 is driven to slide by the resilience force generated after the second spring 21 is compressed, and as the two ends of the first connecting rod 10 are respectively connected with the pushing block 9 and the sliding block 5 in a rotating way, the transverse thrust of the pushing block 9 is converted into the longitudinal thrust of the sliding block 5 through the first connecting rods 10 on the two sides, the sliding blocks 5 on the two sides are driven to slide inwards on the fixed seat 3 along the longitudinal direction, so that the clamp 6 is clamped; in addition, the two ends of the push block 9 are both in sliding connection with the connecting blocks 12, and the two ends of the second connecting rod 11 are respectively in rotational connection with the sliding block 5 and the connecting blocks 12, so that the connection between the push block 9 and the sliding block 5 is enhanced, the overall stability is ensured, meanwhile, the connecting blocks 12 can slide on the push block 9, the position of the end part of the second connecting rod 11 is finely adjusted, and the situation that the push block 9 cannot drive the sliding block 5 to move due to overall blocking is avoided, and the overall stability is further ensured;
in addition, as shown in fig. 4, 6 and 8, when the driving plate 17 slides on the fixed seat 3 in the transverse direction, since the threaded hole 24 formed on the driving plate 17 is in threaded connection with the screw 23 formed on the base, the screw 23 is driven to rotate on the base, the driving helical gear 15 formed at the end of the driving plate is driven to rotate, and since the driving helical gear 15 is meshed with the driven helical gears 14 formed on two sides, the torque of the driving helical gear 15 is transmitted to the driven helical gears 14 on two sides, and the driven helical gears 14 on two sides are driven to synchronously and reversely rotate, so that the fourth connecting rods 16 on two sides are driven to synchronously and reversely rotate on the push block 9, power is provided for driving the clamping block 8 to translate, the third connecting rods 13 are symmetrically arranged between the push blocks 9 and the clamping blocks 8, two ends of each third connecting rod 13 are respectively in rotary connection with the push blocks 9 and the clamping blocks 8, so that the ends of the clamping blocks 8 do circular motion relative to the ends of the third connecting rods 13 to drive the clamping blocks 8 on two sides to move inwards;
as shown in fig. 4, after the clamp 6 contacts with the side surface of the annular workpiece, the air cylinder 22 still drives the driving plate 17 to slide on the base and further compresses the second spring 21, so that the driving plate 17 moves relative to the push block 9 and continuously drives the screw 23 to rotate, so that the clamp block 8 continuously translates until the clamp block contacts with the two sides of the annular workpiece, the driving clamp 6 and the clamp block 8 share one power driving, and the cost and the installation space required by the power driving are reduced;
as shown in fig. 4, when the clamp 6 and the clamp block 8 need to be reset, the cylinder 22 drives the driving plate 17 to slide leftwards, so that the stop block 20 arranged at the end part of the second guide rod 30 contacts with one side of the push block 9, and drives the push block 9 to slide rightwards, thereby resetting the clamp 6 and the clamp block 8.
Example 3
On the basis of embodiment 1, as shown in fig. 4 and 5, when the shape and the material of the annular workpiece are changed, by rotating the adjusting block 25 on the sliding block 5, the sliding block 5 is in threaded connection with the adjusting block 25, so that the adjusting block 25 is driven to move on the sliding block 5 to change the compression amount of the first spring 7, thereby changing the clamping force of the clamp 6, avoiding the clamp 6 from extruding the surface of the annular workpiece, ensuring the quality of the annular workpiece after processing, and simultaneously, realizing the fixation of the adjusting block 25 through the threads between the sliding block 5 and the adjusting block 25; in addition, one side of the adjusting block 25 is provided with a scale mark 26, and the compression amount of the first spring 7 is calculated through the protection of the side surface of the recording slider 5 at the position of the scale mark 26, so that the clamping force of the clamp 6 is calculated conveniently.
Example 4
On the basis of embodiment 1, as shown in fig. 4 and 9, an arc-shaped clamping part 27 is arranged on a clamp 6, so that an annular workpiece is conveniently fixed, a plurality of elastic protrusions 28 are arranged on the clamping part 27, the protrusions 28 are in contact with the annular workpiece, the friction force between the clamp 6 and the annular workpiece is increased, meanwhile, the clamp 6 is prevented from extruding the surface of the annular workpiece, the quality of the annular workpiece after processing is ensured, the inner diameter of the clamping part 27 is larger than the outer diameter of the annular workpiece, and the clamp 6 can fix the annular workpieces with different outer diameters; as shown in fig. 7, the sliding connection between the second through hole 29 and the second guide rod 30 is used for limiting the sliding direction of the clamping plate 31, so that the clamping plate 31 slides vertically, the clamping plate 31 arranged at the end part of the guide rod can completely attach to the annular workpiece due to the elasticity of the second guide rod 30, the third spring 32 is arranged between the clamping plate 31 and the clamping block 8, the extrusion force between the clamping block 8 and the annular workpiece can be buffered, and meanwhile, the angle between the clamping plate 31 and the annular workpiece is slightly adjusted, so that the clamping plate 31 attaches to the annular workpiece, the clamping block 8 is prevented from wearing the outer surface of the annular workpiece, and the quality of the annular workpiece after processing is ensured.
Claims (6)
1. The utility model provides a grabbing device of annular work piece, includes fixture (2) that sets up cooperation annular work piece use on arm (1), its characterized in that: the clamping mechanism (2) comprises a fixed seat (3) arranged on the mechanical arm (1), sliding grooves (4) are symmetrically arranged on two sides of the fixed seat (3) along the longitudinal direction, sliding blocks (5) are connected in the sliding grooves (4), the end parts of the sliding blocks (5) are rotationally connected with clamp clamps (6) which are contacted with the side surfaces of annular workpieces, first springs (7) are arranged between the clamp clamps (6) and the sliding blocks (5), clamping blocks (8) are symmetrically connected with one side of the fixed seat (3) in a sliding manner, the two clamping blocks (8) are respectively contacted with two sides of the annular workpieces, driving devices are arranged on the fixed seat (3) and simultaneously drive the clamp clamps (6) to be contacted with the annular workpieces, each driving device comprises a pushing block (9) which is rotationally connected with the fixed seat (3), a first connecting rod (10) and a second connecting rod (11) are symmetrically arranged between each pushing block (9) and each sliding block (5), two ends of each first connecting rod (10) are respectively connected with the pushing block (9) and the sliding blocks (5), two ends of each pushing block (12) are respectively connected with the two connecting blocks (12) in a sliding manner, the utility model discloses a novel structure of a spring, which is characterized in that a third connecting rod (13) is symmetrically arranged between a pushing block (9) and a clamping block (8), two ends of the third connecting rod (13) are respectively connected with the pushing block (9) and the clamping block (8) in a rotating way, two driven spiral gears (14) are rotationally connected on the pushing block (9), a driving spiral gear (15) rotationally connected with a fixed seat (3) is arranged between the two driven spiral gears (14), the driving spiral gear (15) is simultaneously meshed with the two driven spiral gears (14), a fourth connecting rod (16) is rotationally connected on the clamping block (8), the fourth connecting rod (16) is connected with the driven spiral gears (14), the fourth connecting rod (16) is parallel to the third connecting rod (13), the lengths of the third connecting rod (13) and the fourth connecting rod (16) are equal, a driving plate (17) is connected on the fixed seat (3) in a transversely sliding way, a first guide rod (18) is symmetrically arranged on one side of the driving plate (17), a first guide rod (18) is arranged on the pushing block (9) and is provided with a first guide rod (18) which is in a way of penetrating through a first guide rod (17) and a first stop block (17) and a second guide rod (20) is arranged between the first guide rod (18) and the first guide rod (17) and the first stop block (20), the fixed seat (3) is provided with a cylinder (22) for driving the driving plate (17) to slide, one side of the driving spiral gear (15) is provided with a screw (23) rotationally connected with the fixed seat (3), and the driving plate (17) is provided with a threaded hole (24) in threaded connection with the screw (23).
2. The gripping device for an endless workpiece according to claim 1, wherein: the sliding block (5) is connected with an adjusting block (25) in a threaded mode, the first spring (7) is arranged between the adjusting block (25) and the clamp (6), and one side of the adjusting block (25) is provided with a scale mark (26).
3. The gripping device for an endless workpiece according to claim 1, wherein: the clamp is characterized in that an arc-shaped clamping part (27) is arranged on the clamp (6), a plurality of elastic protrusions (28) are arranged on the clamping part (27), the protrusions (28) are in contact with the annular workpiece, and the inner diameter of the clamping part (27) is larger than the outer diameter of the annular workpiece.
4. The gripping device for an endless workpiece according to claim 1, wherein: the clamping block (8) is vertically provided with a second through hole (29), a second guide rod (30) is connected in a sliding manner in the second through hole (29), the second guide rod (30) is elastic, the end part of the second guide rod (30) is provided with a clamping plate (31) which is contacted with the annular workpiece, and a third spring (32) is arranged between the clamping plate (31) and the clamping block (8).
5. The gripping device for an endless workpiece according to claim 1, wherein: the clamping block (8) is provided with a pressure sensor (33) matched with the air cylinder (22).
6. The gripping method of the gripping device for an annular workpiece according to claim 5, wherein: the method comprises the following steps:
s1, installing a clamping mechanism (2), connecting a fixed seat (3) with the output end of a mechanical arm (1) in a transmission way, and starting to use after the connection is completed;
s2, the whole displacement of the mechanical arm (1) drives the annular workpiece to move, after a sensor on the tool detects that the clamping device is in place, the control system drives the air cylinder (22) to drive the driving plate (17) to transversely slide, the pushing block (9) is pushed to transversely slide, the clamp (6) is driven to contact with the side face of the annular workpiece, the screw (23) is driven to rotate until the clamping block (8) contacts with the two sides of the annular workpiece, and the air cylinder (22) is controlled to stop after the pressure sensor (33) senses that the annular workpiece is in place;
and S3, after the clamping action is completed, the whole displacement of the mechanical arm (1) drives the annular workpiece to move, and after the annular workpiece is in place, the cylinder (22) drives the clamp (6) and the clamping block (8) to reset and loosen the annular workpiece.
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| CN202311096836.1A CN116787477B (en) | 2023-08-29 | 2023-08-29 | Grabbing device and grabbing method for annular workpiece |
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| CN202311096836.1A CN116787477B (en) | 2023-08-29 | 2023-08-29 | Grabbing device and grabbing method for annular workpiece |
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| CN118049906B (en) * | 2024-04-16 | 2024-06-25 | 山东荣升重型机械股份有限公司 | Auxiliary positioning device of ring rolling mill |
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| CN116787477A (en) | 2023-09-22 |
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