CN205394118U - Work piece grabbing device - Google Patents

Abstract

The utility model provides a work piece grabbing device, belong to the grabbing device field of transporting, it includes the controller, a machine support, linear guide and manipulator, the manipulator includes power device and robotic arm, robotic arm includes the arm frame, arm and hand claw, linear guide transversely sets up in the frame, the arm frame slides and sets up in linear guide, arm and arm frame fixed connection, the hand claw articulates in the arm, power device is fixed in the frame, power device is connected with the transmission of two arms frame and drives robotic arm along linear guide slip, power device is connected with the controller electricity. Through being connected robotic arm and automatic power device, when picking the work piece, power device drives two robotic arm and slides in opposite directions, and robotic arm catches the work piece from the both sides of work piece, and the rethread moves the transportation that the frame realized the work piece, behind the arrival destination, starts power device once more, and the work piece is decontroled to two reverse slips of robotic arm, and whole process has realized mechanizedly and automatic.

Description

A kind of workpiece gripper device

Technical field

This utility model relates to transhipment grabbing device field, and particularly to a kind of workpiece gripper device, is suitable for crawl and the carrying of lasso class workpiece, the particularly crawl of red heat workpiece when bearing internal external circle and gear quenching, transfer and release device.

Background technology

In modern industry, the mechanization of production process, automatization become prominent theme.In mechanical industry, each operation in processing, assembling is discontinuous, special purpose machine tool is the effective way producing automatization in enormous quantities, and the automated machine such as program controlled machine tool, Digit Control Machine Tool, machining center is the important way effectively solving Multi-varieties and Small-batch Production automatization.Additionally, also have the operations such as substantial amounts of handling, carrying, assembling, await realizing further mechanization.It is reported, the time that in intermetallic composite coating, part is really processed on lathe only accounts for the 5% of the part production time, it can be seen that the urgency of the operation mechanizations such as handling, carrying, workpiece grabbing transfer device produces for realizing the automatization of these operations.

In prior art, crawl and the carrying of lasso class workpiece all can not realize automatization, are therefore badly in need of the workpiece gripper device of a kind of energy automatically working.

Utility model content

The purpose of this utility model is in that to provide a kind of workpiece gripper device, and it can realize automatization's continuous transport of workpiece, production efficiency is greatly improved and saves human cost.

This utility model realizes by the following technical solutions:

A kind of workpiece gripper device, including controller, frame, line slideway and at least one mechanical hand, mechanical hand includes power set and two mechanical arms being slideably positioned on line slideway, power set are electrically connected with the controller, mechanical arm includes arm frame, arm and the paw for grabbing workpiece, line slideway is horizontally set at frame, arm frame is slideably positioned in line slideway, arm is fixing with arm frame to be connected, paw is articulated with the arm side away from arm frame, power set are fixed on frame, power set are in transmission connection with the arm frame of two mechanical arms and respectively for driving two mechanical arms linearly guide rail slide in opposition or reverse slide.

The workpiece gripper device that this utility model embodiment provides provides the benefit that: by being connected with the power set of automatization by mechanical arm, when grabbing workpiece, power set drive two mechanical arm slide in opposition, workpiece is caught by two mechanical arms being oppositely arranged from the both sides of workpiece, the transhipment of workpiece is realized again through moving frame, after arriving at, now it is again started up power set, make two mechanical arm reverse slide, two paws decontrol workpiece immediately, and whole process achieves mechanization and automatization.

Accompanying drawing explanation

In order to be illustrated more clearly that the technical scheme of this utility model embodiment, the accompanying drawing used required in embodiment will be briefly described below, it is to be understood that, the following drawings illustrate only some embodiment of the present utility model, therefore the restriction to scope it is not construed as, for those of ordinary skill in the art, under the premise not paying creative work, it is also possible to obtain other relevant accompanying drawings according to these accompanying drawings.

Fig. 1 is the structural representation of the workpiece gripper device that this utility model embodiment provides；

Fig. 2 is the seized condition schematic diagram of the workpiece gripper device that this utility model embodiment provides；

Fig. 3 is the structural representation of the mechanical arm of the workpiece gripper device that this utility model embodiment provides；

Fig. 4 is the structural representation of the paw of the workpiece gripper device that this utility model embodiment provides；

Fig. 5 is the structural representation regulating guide rail of the workpiece gripper device that this utility model embodiment provides；

Fig. 6 is the structural representation of the workpiece gripper device release conditions that this utility model embodiment provides.

Figure acceptance of the bid note is respectively as follows:

Workpiece gripper device 100；Connecting plate 101；Rotary reducer 102；Fixing plate 103；Frame 104；Switch baffle plate 105；Guide rod 106；Guide pin bushing 107；Thermal insulation layer 108；Spring 109；Visit flitch 110；Workpiece 111；Line slideway 114；Traveling and elevating mechanism 116；Servomotor 117；Detection device 120；Workpiece handrail 121；Power set 130；Cylinder 131；Piston rod 132；Joint 133；Left connecting rod 134；Right connecting rod 135；Left slider 136；Right slide block 137；Mechanical arm 140；Arm frame 141；Arm 142；Regulate guide rail 143；Chute 144；Workpiece handrail 145；Paw 150；Link 151；Pawl point 152；Upper plane 153；Lower plane 154；Inclined-plane 155；Mechanical hand 200；Workbench 300.

Detailed description of the invention

For making the purpose of this utility model embodiment, technical scheme and advantage clearly, below in conjunction with the accompanying drawing in this utility model embodiment, technical scheme in this utility model embodiment is clearly and completely described, obviously, described embodiment is a part of embodiment of this utility model, rather than whole embodiments.Therefore, below the detailed description of the embodiment of the present utility model provided in the accompanying drawings is not intended to limit claimed scope of the present utility model, but is merely representative of selected embodiment of the present utility model.Based on the embodiment in this utility model, the every other embodiment that those of ordinary skill in the art obtain under not making creative work premise, broadly fall into the scope of this utility model protection.

Seeing also Fig. 1 and Fig. 2, workpiece gripper device 100 includes controller (not shown), frame 104, mechanical hand 200 and detection device 120, is provided with controller in detection device 120.In the present embodiment, frame 104 is the cover body structure of tubular, and the opening of frame 104 is arranged towards ground, and opening part arranges fixing plate 103, the opening of fixing plate 103 sealing frame 104.It is provided with thermal insulation layer 108 in fixing plate 103.

The upper end of frame 104 connects driving mechanism, driving mechanism is the parts for driving whole frame 104 to move, in the present embodiment, driving mechanism includes traveling and elevating mechanism 116 and connecting plate 101, traveling and elevating mechanism 116 is installed in the door frame mechanism of factory floor, traveling and elevating mechanism 116 is connected with connecting plate 101, connecting plate 101 is connected by rotary reducer 102 is fixing with frame 104, it should be noted that, in the setting up procedure of traveling and elevating mechanism 116 and frame 104, should ensure that the axis of frame 104 is arranged along vertical plane direction as far as possible.

Before traveling and elevating mechanism 116 is only used for drive frame 104, after, left, move right and move up and down, the frame 104 rotation along its axis can't be realized, in the present embodiment, please continue to refer to Fig. 1, workpiece gripper device 100 is provided with rotary reducer 102 and servomotor 117, servomotor 117 is perpendicular to rotary reducer 102 and arranges and be in transmission connection with rotary reducer 102 formation, servomotor 117 is used for driving rotary reducer 102 to rotate, the two ends of rotary reducer 102 are connected to connecting plate 101 and frame 104, when rotary reducer 102 rotates under the drive of servomotor 117, whole frame 104 also rotates therewith.Specifically, the rotary output axis of rotary reducer 102 is connected with frame 104, and rotary reducer 102 is fixed away from one end of rotary output axis with connecting plate 101 and then is connected with traveling and elevating mechanism 116.

Traveling and elevating mechanism 116 and servomotor 117 are all electrically connected with the controller, and that is to say that the start and stop of the action of traveling and elevating mechanism 116 and servomotor 117 are all automatically controlled by controller.

When traveling and elevating mechanism 116 moves, rotary reducer 102 and servomotor 117 move therewith together.And when servomotor 117 rotates, the rotary output axis of rotary reducer 102 rotates and drives frame 104 to rotate.The rotation of servomotor 117 and the motion of traveling and elevating mechanism 116 are independently to carry out, therefore both can be synchronously performed, and that is to say that drive lower bearing bracket 104 to be moved at traveling and elevating mechanism 116 drives lower bearing bracket 104 to rotate at servomotor 117 simultaneously simultaneously.

Fig. 2 is the section of line A-A along Fig. 1.And illustrate workpiece gripper device 100 that the present embodiment the provides state when grabbing workpiece 111.See also Fig. 1 and Fig. 2, in the present embodiment, mechanical hand 200 is 2,2 mechanical hands 200 are symmetrical arranged along the vertical axis of frame 104, symmetrically arranged it is advantageous in that: when whole workpiece gripper device 100 works, weight after the grabbing workpiece 111 of two mechanical hands 200 is suitable, it is simple to stablizing of frame 104, is not susceptible to crooked.

Mechanical hand 200 includes power set 130, line slideway 114, mechanical arm 140 and workpiece handrail 121, line slideway 114 is horizontally set on the fixing plate 103 of frame 104, please continue to refer to Fig. 2, power set 130 include joint 133, cylinder 131, left connecting rod 134, right connecting rod 135, left slider 136 and right slide block 137.The upper end of frame 104 is fixed in the upper end of cylinder 131, and the piston rod 132 of cylinder 131 is vertically arranged, and joint 133 is arranged at the end away from cylinder 131 of the piston rod 132 of cylinder 131.Fig. 3 is the structural representation of mechanical arm 140 in the present embodiment.Referring to Fig. 3, mechanical arm 140 includes arm frame 141, arm 142 and paw 150, and the arm frame 141 of two mechanical arms 140 both passes through fixing plate 103 and is slideably positioned in line slideway 114.

One end of left connecting rod 134 is articulated with joint 133, the other end is hinged with left slider 136, one end of right connecting rod 135 is hinged with joint 133, the other end is hinged with right slide block 137, and left slider 136 and right slide block 137 are symmetricly set in the axis both sides of the piston rod 132 of cylinder 131 and are bolted to connection with two arm frames 141 of two mechanical arms 140 respectively.Left slider 136 and right slide block 137 are to arrange along the axisymmetrical of piston rod 132, and left slider 136 is identical with the structure of right slide block 137, one end that left slider 136 is connected with left connecting rod 134 is positioned at the oblique upper of arm frame 141, specifically, one end that left slider 136 is connected with left connecting rod 134 is positioned at the side towards the axis near piston rod 132 of arm frame 141, that is to say the inclined shape of left slider 136.It should be noted that in the present embodiment, left connecting rod 134 is all identical with the structure of right connecting rod 135, size.

Line slideway 114 is arranged in parallel with fixing plate 103.The arm frame 141 of two mechanical arms 140 is slideably positioned on line slideway 114, and two arm frames 141 are also arrange along the axisymmetrical of piston rod 132.The lower end of arm frame 141 is connected to adjustment guide rail 143, and the bearing of trend regulating guide rail 143 is consistent with the bearing of trend of line slideway 114.Fig. 5 is the structural representation regulating guide rail 143 in the present embodiment.Refer to Fig. 5, regulate in guide rail 143 and chute 144 is set, arm 142 is arranged in chute 144 and is fixed with regulating guide rail 143 by bolt, after so arranging, arm 142 and the relative position regulating guide rail 143 can be adjusted by the fixed position of adjusting bolt, and then the relative distance of the arm 142 of two mechanical arms 140 of change, adapt to various sizes of workpiece 111 and capture.

Fig. 4 is the structural representation of paw 150 in the present embodiment.Referring to Fig. 4, paw 150 is for direct grabbing workpiece 111, and paw 150 includes link 151 and pawl point 152, and link 151 is articulated with one end away from adjustment guide rail 143 of arm 142.Pawl point 152 is arranged at one end away from arm 142 of link 151, and pawl point 152 is perpendicular to what link 151 was arranged.The pawl point 152 of two mechanical hands 200 is oppositely arranged, and that is to say that the pawl point 152 of two mechanical hands 200 extends towards from two arms 142.Under the own wt effect of pawl point 152, pawl point 152 is along the rotation of the pin joint generation certain angle between link and arm 142, and the anglec of rotation is relevant to the center of gravity of whole paw 150.Fig. 6 is the mechanical hand 200 structural representation after release workpiece 111 in the present embodiment.Refer to Fig. 6, as shown in Figure 6, link 151 is stopped by arm 142 after rotating to an angle, whole paw 150 is made to be positioned at a suitable angle, so arrange and be advantageous in that pawl point 152 portions incline are arranged downwards, when using pawl point 152 grabbing workpiece 111, pawl point 152 is easier to insert the gap between workpiece 111 and workbench 300, and then is captured by workpiece 111.Please continue to refer to Fig. 3, the end away from adjustment guide rail 143 of arm 142 is provided with step, the link 151 of paw 150 is articulated with the first side wall of this step, and second sidewall away from the end face distance step of pawl point 152 of link 151 has gap, the width in this gap determines the angle that paw 150 rotates along the pin joint of link 151 with arm 142.Concrete, when paw 150 rotates, the end face away from pawl point 152 of link 151 is subject to the stop of the second sidewall and just stops operating.In the present embodiment, link 151 away between end face with respect to the horizontal plane revolvable maximum angle β be 8 °.

Continuing with consulting Fig. 3 and Fig. 5 in the lump, pawl point 152 includes the upper plane 153 near link 151, the lower plane 154 away from link 151 and connects the inclined-plane 155 of upper plane 153 and lower plane 154, having angle between inclined-plane 155 and lower plane 154, angle α is acute angle.That is to say that inclined-plane 155 is obliquely installed relative to vertical plane, and one end of the close lower plane 154 on inclined-plane 155 is closer to the axis of piston rod 132.By arranging gap between the second sidewall of link 151 and arm 142, and inclined-plane 155 is arranged to the form tilted, make one end away from link 151 (that is to say the one end first contacted when grabbing workpiece 111 with workpiece 111) of pawl point 152, it is easy to stretch into the bottom of workpiece 111 from the gap between workpiece 111 and workbench 300, avoid jam, it is ensured that workpiece 111 captures successfully.In the present embodiment, angle α is 30 °, and the angle with respect to the horizontal plane of inclined-plane 155 now is the optimum angular inserting the gap between workpiece 111 and workbench 300.

Workpiece handrail 121 is arranged at the side of the axis direction towards piston rod 132 of arm 142, two workpiece handrails 121 are oppositely arranged, and two workpiece handrails 121 are symmetrically arranged.The effect of workpiece handrail 121 is fixing workpiece 111, when cylinder 131 starts, when piston rod 132 moves upward, sharp 152 slide in opposition of the pawl of two mechanical hands 200 also stretch into the gap between workpiece 111 and workbench 300, workpiece handrail 121 on two arms 142 props up workpiece 111, it is prevented that workpiece 111 occurs to slide and comes off from pawl point 152.

Please again consult Fig. 1 and Fig. 2 in the lump, the bindiny mechanism that detection device 120 includes travel switch, visits flitch 110 and be connected with spy flitch 110, bindiny mechanism includes guide pin bushing 107, guide rod 106, spring 109 and switch baffle plate 105, and guide pin bushing 107 is vertically arranged to fixing plate 103.Specifically, fixing plate 103 being provided with through hole, guide pin bushing 107 is threaded connection and is embedded in this through hole.Guide rod 106 slip cap is located in guide pin bushing 107, and guide pin bushing 107 is all stretched out at the two ends up and down of guide rod 106.Visit flitch 110 and be fixedly connected on guide rod 106 cylinder 131 one end away from power set 130, that is to say the lower end of guide rod 106.Spy flitch 110 is in the top of mechanical arm 140, and its effect is the relative position between sensing workpiece 111 and mechanical hand 200.

Switch baffle plate 105 is fixedly connected on one end away from spy flitch 110 of guide rod 106, that is to say the upper end of guide rod 106, travel switch is fixedly installed on frame 104, travel switch is positioned on the path that switch baffle plate 105 moves up and down, that is to say when, in the process that switch baffle plate 105 moves up and down with guide rod 106, switch baffle plate 105 can touch travel switch.Travel switch is electrically connected with the controller, and when switching baffle plate 105 and touching travel switch, signal is passed to controller by travel switch.

Spring 109 is sheathed on guide rod 106, and the two ends of spring 109 are respectively held against the lower end of guide pin bushing 107 and visit flitch 110.When visiting flitch 110 and contacting workpiece 111, workpiece 111 can give to visit flitch 110 thrust upwards, now spring 109 is compressed, and guide rod 106 moves upward and touches travel switch, and now controller control traveling and elevating mechanism 116 is closed, whole mechanical hand 200 stops declining, preventing mechanical hand 200 from moving downward to bump against, on workpiece 111, equipment is caused damage, after workpiece 111 captures transhipment, traveling and elevating mechanism 116 lifts up, spring 109 recovers deformation, visits flitch 110 and namely resets.

By adjusting travel switch position in frame 104 and adjusting guide pin bushing 107 and be screwed into the degree of depth of through hole, it is possible to adjust the relative distance visiting flitch 110 and paw 150 at vertical direction, in order to adapt to various sizes of workpiece 111.Concrete, when the height of workpiece 111 is higher, it is necessary to extend and visit flitch 110 with paw 150 in the relative distance of vertical direction, now travel switch is set to horizontal level higher, simultaneously guide pin bushing 107 be screwed into the depth as shallow in through hole some.Otherwise when the height of workpiece 111 is relatively low, take contrary operation.

In the present embodiment, bindiny mechanism is 4, and four bindiny mechanisms are symmetrical arranged between two, and the work surface keeping visiting flitch 110 and workbench 300 is parastate.Fixing visiting flitch 110 it should be noted that connect during the effect of bindiny mechanism, therefore the quantity of bindiny mechanism has no effect on the realization of detection device 120 function, only need to ensure to visit flitch 110 stable.Therefore again bindiny mechanism is set or only to arrange a bindiny mechanism be also feasible more.

Specifically, the workpiece gripper device 100 that the present embodiment provides is so work: first whole frame 104 is moved the surface to workpiece 111 by traveling and elevating mechanism 116, the piston rod 132 of cylinder 131 moves downward, and two mechanical arm 140 linearly guide rail 114 reverse slide are to the two ends of line slideway 114.Servomotor 117 rotates the position of center line making the line that frame 104 rotates to two paws 150 be positioned at workpiece 111, traveling and elevating mechanism 116 downward actuation, frame 104 moves down, when visiting flitch 110 and touching workpiece 111, promote and guide rod 106 moves, switch baffle plate 105 touches travel switch, and now controller control traveling and elevating mechanism 116 stops moving down.Then the piston rod 132 of cylinder 131 is upwards regained, two mechanical arms 140 are towards the axis slide in opposition of piston rod 132, workpiece 111 is lifted by the gap that the inclined-plane 155 of two pawl points 152 inserts between workpiece 111 and workbench 300, two workpiece handrails 121 prop up the side of workpiece 111 and fix workpiece 111, it is achieved the crawl of workpiece 111.

Traveling and elevating mechanism 116 is again started up, and workpiece 111 is transported to appointment position, the now needs according to the placed angle of workpiece 111, starts servomotor 117 rotary frame 104 angle to needs.The piston rod 132 of its exhaust hood 131 is stretched down again, two mechanical arms 140 are towards the two ends reverse slide of line slideway 114, two paws 150 decontrol workpiece 111, owing to the inclined-plane 155 of paw 150 is obliquely installed, when putting down workpiece 111, the level height of workpiece 111 is gradually lowered, also it is prevented that the hard landing of the placement location of workpiece 111 and defective work piece 111.Whole process is automatically performed under the control of the controller, does not need to use manpower, it is possible to production efficiency is greatly improved.

Additionally, capture quenched before workpiece 111 time, thermal insulation layer 108 can completely cut off below heat, it is to avoid the power set 130 above fixing plate 103, travel switch, electrical signal line etc. are caused hyperthermia radiation.

Embodiments described above is a part of embodiment of this utility model, rather than whole embodiments.The detailed description of embodiment of the present utility model is not intended to limit claimed scope of the present utility model, but is merely representative of selected embodiment of the present utility model.Based on the embodiment in this utility model, the every other embodiment that those of ordinary skill in the art obtain under not making creative work premise, broadly fall into the scope of this utility model protection.

Claims (10)

1. a workpiece gripper device, it is characterized in that, including controller, frame, line slideway and at least one mechanical hand, described mechanical hand includes power set and two mechanical arms being slideably positioned on described line slideway, described power set electrically connect with described controller, described mechanical arm includes arm frame, arm and the paw for grabbing workpiece, described line slideway is horizontally set at described frame, described arm frame is slideably positioned in described line slideway, described arm is fixing with described arm frame to be connected, described paw is articulated with the described arm side away from described arm frame, described power set are fixed on described frame, described power set are in transmission connection with the described arm frame of two described mechanical arms and respectively for driving two described mechanical arms along described line slideway slide in opposition or reverse slide.

2. workpiece gripper device according to claim 1, it is characterized in that, described erecting is equipped with rotary reducer and the servomotor for driving described rotary reducer to rotate, described servomotor and described rotary reducer are in transmission connection, described rotary reducer is positioned at above described frame and fixes with described frame and is connected, and described servomotor electrically connects with described controller.

3. workpiece gripper device according to claim 1, it is characterized in that, described power set include joint, cylinder, left connecting rod, right connecting rod and the left slider being connected with the described arm frame of two described mechanical arms respectively and right slide block, described cylinder electrically connects with described controller, described joint is arranged at the end of the piston rod of described cylinder, one end of described left connecting rod is articulated with described joint, the other end is hinged with described left slider, one end of described right connecting rod is hinged with described joint, the other end is hinged with described right slide block, described left slider and described right slide block are symmetricly set in the axis both sides of the piston rod of described cylinder.

4. workpiece gripper device according to claim 3, it is characterised in that described workpiece gripper device also includes the detection device of the piston rod telescopic extensions for limiting described cylinder.

5. workpiece gripper device according to claim 4, it is characterized in that, described detection device includes travel switch, visit flitch and at least one bindiny mechanism being connected with described spy flitch, described bindiny mechanism includes guide pin bushing, guide rod and switch baffle plate, described guide pin bushing is arranged at described fixing plate, described guide rod slip cap is located in described guide pin bushing, described spy flitch is fixedly connected on described guide rod one end away from described power set, described switch baffle plate is fixedly connected on one end away from described spy flitch of described guide rod, described travel switch is fixedly installed on described frame, described travel switch electrically connects with described controller.

6. workpiece gripper device according to claim 5, it is characterised in that described bindiny mechanism also includes spring, described guide rod is located at by described spring housing, and the two ends of described spring are respectively held against described guide pin bushing and described spy flitch.

7. workpiece gripper device according to claim 5, it is characterized in that, described frame includes fixing plate, described fixing plate is perpendicular to the axis of the piston rod of described cylinder and arranges, described guide pin bushing and described line slideway may be contained within described fixing plate, described arm frame is slideably positioned in described line slideway and is connected with described arm through described fixing plate, is embedded with thermal insulation layer in described fixing plate.

8. workpiece gripper device according to claim 1, it is characterized in that, described paw includes link and pawl point, described link is articulated with described arm, described pawl point is arranged at one end away from described arm of described link, two described pawl points of two described mechanical arms are oppositely arranged, described pawl point includes the upper plane near described link, the lower plane away from described link and connects the inclined-plane of described upper plane and described lower plane, having angle between described inclined-plane and described lower plane, described angle is acute angle.

9. workpiece gripper device according to claim 1, it is characterised in that described mechanical hand also includes the workpiece handrail for fixing described workpiece, and described workpiece handrail slider is arranged at described arm, two described workpiece handrails of described mechanical hand are oppositely arranged.

10. the workpiece gripper device according to any one of claim 1 to 9, it is characterised in that described mechanical hand also includes regulating guide rail, described adjustment guide rail is fixing with described arm frame to be connected, and described arm slides and is detachably arranged at described adjustment guide rail.