CN211249366U - Mechanical gripper for cutter - Google Patents
Mechanical gripper for cutter Download PDFInfo
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- CN211249366U CN211249366U CN201921755993.8U CN201921755993U CN211249366U CN 211249366 U CN211249366 U CN 211249366U CN 201921755993 U CN201921755993 U CN 201921755993U CN 211249366 U CN211249366 U CN 211249366U
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- cutter
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- right movable
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- 230000007246 mechanism Effects 0.000 claims abstract description 23
- 239000000758 substrate Substances 0.000 claims description 9
- 238000010521 absorption reaction Methods 0.000 abstract description 2
- 238000003754 machining Methods 0.000 abstract description 2
- 230000001737 promoting effect Effects 0.000 abstract 1
- 238000000034 method Methods 0.000 description 6
- 230000008569 process Effects 0.000 description 6
- 230000003139 buffering effect Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
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- 238000007599 discharging Methods 0.000 description 1
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Abstract
The utility model discloses a cutter machinery tongs, including the base plate, articulate left fly leaf and right fly leaf above the base plate and be used for promoting left fly leaf and the relative base plate pivoted pushing mechanism of right fly leaf, and left fly leaf and right fly leaf can rotate to relative state and the open mode of non-subtend relative base plate under pushing mechanism's promotion, and left fly leaf and right fly leaf can be equipped with respectively in one side of subtend mutually and inhale the sword device. The utility model discloses can realize not needing to put the cutter to the knife rest and directly accomplish the absorption of exchanging to cutter both sides knife face on mechanical tongs, realize sending to the grinding machine fast and carry out two knife face abrasive machining, improve work efficiency.
Description
Technical Field
The utility model belongs to the manipulator field, concretely relates to cutter machinery tongs.
Background
The existing tool grinding processing generally adopts a manipulator to feed and discharge the tool in order to realize automatic control, and the existing manipulator operation is that a sucker of the manipulator sucks one side tool face of the tool to convey the tool to a grinding machine to grind and process the tool face of one side of the tool, after the tool face is ground and processed, the sucker of the manipulator sucks the same side tool face of the tool again to take the tool and place the tool to a tool rest, then the manipulator drives the sucker to change one direction, sucks the tool face of the other side of the tool again and conveys the tool to the grinding machine to grind and process the tool face of the other side of the tool, so that the manipulator needs to carry out feeding and discharging operations twice in the process of grinding and processing one tool, and the efficiency is relatively low.
Disclosure of Invention
To above prior art in at least one not enough, the utility model aims at providing a cutter machinery tongs that can raise the efficiency.
In order to achieve the above purpose, the utility model discloses the technical scheme who takes does: a mechanical tool gripper comprises a base plate, a left movable plate, a right movable plate and a pushing mechanism, wherein the left movable plate and the right movable plate are hinged to the upper surface of the base plate, the pushing mechanism is used for pushing the left movable plate and the right movable plate to rotate relative to the base plate, the left movable plate and the right movable plate can rotate relative to the base plate under the pushing of the pushing mechanism to be in a relative direction state and a non-opposite direction opening state, and tool suction devices are respectively arranged on one sides of the left movable plate and one side of the right.
In the scheme, the cutter suction device on the left movable plate sucks one side cutter face of the cutter and sends the cutter face to the grinding machine to grind the cutter face on one side of the cutter, after the cutter face is ground, the cutter suction device on the left movable plate sucks the same side cutter face of the cutter again and takes the cutter face off the grinding machine and keeps away from the grinding machine, then the left movable plate and the right movable plate are rotated to a relative direction state by driving the pushing mechanism, the left movable plate also drives the cutter to rotate to a position opposite to the right movable plate, then the cutter suction device on the left movable plate loosens the current cutter face of the cutter, the cutter suction device on the right movable plate sucks the other side cutter face of the cutter, then the pushing mechanism drives the left movable plate and the right movable plate to rotate to a non-opposite opening state, at the moment, the cutter suction device on the right movable plate sucks the other side cutter face of the cutter, therefore, grinding of the knife surfaces on two sides of the knife can be realized without taking the knife and putting down the knife to the knife rest after grinding of the knife surface on one side is finished, and the working efficiency is improved.
Furthermore, the cutter suction device is an electromagnet sucker which is respectively arranged on one side surface of the left movable plate and the right movable plate which can face to one side surface, and the suction and the release of the cutter can be conveniently controlled. Of course, the knife sucking device can also be a vacuum chuck respectively arranged on one side surface of the left movable plate and one side surface of the right movable plate which can face oppositely.
Furthermore, the left movable plate and the right movable plate can be respectively provided with a floating plate oppositely towards one side, the floating plate on the left movable plate is connected with the left movable plate in a sliding mode through a guide pillar, a spring is arranged between the left movable plate and the floating plate on the left movable plate, the floating plate on the right movable plate is also connected with the right movable plate in a sliding mode through a guide pillar, a spring is arranged between the right movable plate and the floating plate on the right movable plate, and the knife sucking device is arranged on the outer side face of the floating plate. The floating plate can drive the cutter suction device to elastically move relative to the movable plate, so that a compressible space is formed between the left movable plate and the right movable plate, the damage to equipment caused when the pushing mechanism possibly pushes the left movable plate and the right movable plate to be folded oppositely is avoided, and the reliability of the cutter clamped between the cutter suction devices of the left movable plate and the right movable plate can be ensured.
Furthermore, the outer side surface of the floating plate is also provided with a first telescopic elastic column, the height of the first telescopic elastic column in a natural state is greater than the height of the cutter suction device, and the height of the first telescopic elastic column in a compressed state is less than or equal to the height of the cutter suction device. In the process of sucking the cutter device and sucking the cutter, the first telescopic elastic column can play a buffering role on the cutter, and large impact sound caused by too high speed when the cutter device sucks the cutter is avoided.
Furthermore, the first telescopic elastic columns are respectively positioned on the outer side surface of the floating plate corresponding to the two opposite side parts of the cutter suction device, so that the cutter can be stably sucked on the cutter suction device.
Furthermore, the end parts of the left movable plate and the right movable plate corresponding to the positions of the left movable plate and the right movable plate are respectively provided with a second telescopic elastic column, the left movable plate and the right movable plate can be abutted against the end part of the second telescopic elastic column when in a non-opposite state, and the second telescopic elastic column can enable the left movable plate and the right movable plate to have a buffering effect when rotating to a non-opposite open state.
Further, foretell pushing mechanism includes cylinder body and the gliding push rod of relative cylinder body, and the cylinder body articulates in the base plate below, the base plate set up can give the hole of stepping down in push rod swing space for the front end portion of the pushing mechanism's of the left fly leaf push rod passes the hole of stepping down and articulates with the left fly leaf, the front end portion of the pushing mechanism's of the right fly leaf push rod passes the hole of stepping down and articulates with the right fly leaf. The push rod is driven to stretch by the air pressure or oil pressure cylinder body, so that the left movable plate and the right movable plate rotate relative to the base plate, and the structure is simple.
Furthermore, cylinder body supporting plates are respectively arranged below the base plate and correspond to two sides of the cylinder body, the cylinder body is hinged to the two cylinder body supporting plates, the cylinder body is convenient to mount, and when the push rod pushes the movable plate to rotate, the cylinder body can automatically rotate to adapt to the pushing direction of the push rod.
Furthermore, a connecting seat used for being connected with the mechanical arm is arranged at the position, corresponding to the position between the left movable plate and the right movable plate, below the base plate.
The utility model discloses can realize not needing to put the cutter to the knife rest and directly accomplish the absorption of exchanging to cutter both sides knife face on mechanical tongs, realize sending to the grinding machine fast and carry out two knife face abrasive machining, improve work efficiency to still have simple structure, convenient maintenance, during operation noise advantage such as little.
Drawings
Fig. 1 is a schematic structural diagram of a knife sucking state of the knife sucking device of the left movable plate of the mechanical gripper for the knife of the present invention.
Fig. 2 is a schematic structural view of the mechanical gripper for tool in the relative direction between the left movable plate and the right movable plate according to the embodiment of the present invention.
Fig. 3 is a schematic structural diagram of a knife sucking state of the knife sucking device on the right movable plate of the knife mechanical gripper according to the embodiment of the present invention.
Fig. 4 is a schematic structural diagram of the assembly on the movable plate of the mechanical gripper of the cutting tool according to the embodiment of the present invention.
Detailed Description
The present invention will be further explained with reference to the accompanying drawings. The drawings are for illustrative purposes only and are not to be construed as limiting the patent.
In order to explain the embodiment more simply, some parts of the drawings or descriptions that are well known to those skilled in the art but are not relevant to the main content of the present invention will be omitted. In addition, some components in the drawings may be omitted, enlarged or reduced for convenience of description, but do not represent the size or the entire structure of an actual product.
Examples
As shown in fig. 1 to 4, the present embodiment provides a mechanical gripper for tools, which includes a base plate 1, two pairs of hinge bases 10 for the movable plates aligned with each other are disposed on the base plate 1, a left movable plate 21 and a right movable plate 22 hinged on the two pairs of hinge bases 10, respectively, and the left movable plate 21 and the right movable plate 22 are further connected to a pushing mechanism 3 for pushing the left movable plate 21 and the right movable plate 22 to rotate relative to the hinge bases 10, respectively, so that the left movable plate 21 and the right movable plate 22 can rotate within a range perpendicular to and parallel to the base plate. When the left movable plate 21 and the right movable plate 22 are perpendicular to the substrate 1, the left movable plate 21 and the right movable plate 22 are in an opposite state, as shown in fig. 2; when the left movable plate 21 and the right movable plate 22 are parallel to the substrate 1, the left movable plate 21 and the right movable plate 22 are in a non-opposing open state, as shown in fig. 1 and 3. The blade suction devices 23 are respectively disposed on the sides of the left movable plate 21 and the right movable plate 22 that can face each other, the blade suction devices 23 in this embodiment are electromagnet chucks, and of course, the blade suction devices 23 may also be vacuum chucks.
In the above solution, when in use, the left movable plate 21 and the right movable plate 22 are in the non-opposite open state, the tool sucking device 23 on the left movable plate 21 sucks one side face of the tool 7 and sends the one side face of the tool 7 to the grinding machine for grinding the one side face of the tool 7, after the grinding of the one side face is completed, the same side face of the tool 7 is sucked by the tool sucking device 23 on the left movable plate 21 again and is taken down from the grinding machine and is away from the grinding machine, then the left movable plate 21 and the right movable plate 22 are rotated to the position perpendicular to the substrate 1 by driving the pushing mechanism 3, at this time, the left movable plate 21 and the right movable plate 22 are in the opposite state, the left movable plate 21 also drives the tool 7 to rotate to the position opposite to the right movable plate 22, then the tool sucking device 23 on the left movable plate 21 releases the current face of the tool 7, and the tool sucking device 23, then the pushing mechanism 3 drives the left movable plate 21 and the right movable plate 22 to rotate to a non-opposite opening state, at this time, the cutter suction device 23 of the right movable plate 22 sucks the other side cutter face of the cutter 7 and then sends the other side cutter face to the grinding machine to grind the other side cutter face of the cutter 7, grinding of the two side cutter faces of the cutter can be achieved without taking and putting the cutter 7 down to the cutter rest after grinding of one side cutter face is completed, and working efficiency is improved.
As a modification of the present embodiment, the left plate 21 and the right plate 22 are further provided with floating plates 4 respectively facing one side, the floating plates 4 on the left plate 21 are slidably connected to the guide holes at four corners of the left plate 21 through the guide posts 5, a spring 6 is provided between the left plate 21 and the floating plate 4 on the left plate 21, the floating plates 4 on the right plate 22 are also slidably connected to the guide holes at four corners of the right plate 22 through the guide posts 5, the spring 6 is provided between the right plate 22 and the floating plate 4 on the right plate 22, and the knife attracting device 23 is provided on the outer side surface of the floating plate 4. Because the spring 6 is arranged between the floating plate 4 and the movable plate, the floating plate 4 can drive the cutter suction device 23 to slide and compress towards the direction close to the movable plate, and reset under the action of the spring 6, so that the damage to equipment caused when the pushing mechanism 3 possibly excessively pushes the left movable plate 21 and the right movable plate 22 to be relatively folded is avoided, and the cutter can not fall down even if the cutter suction devices 23 of the left movable plate 21 and the right movable plate 22 are powered off and demagnetized simultaneously due to the reliability when the cutter is clamped between the cutter suction devices 23 of the left movable plate 21 and the right movable plate 22.
In order to avoid the larger impact sound caused by the too fast moving speed of the cutter when the cutter sucking device 23 sucks the cutter 7, the first telescopic elastic columns 24 are respectively arranged at the positions, corresponding to the two opposite side sides of the cutter sucking device 23, on the outer side surface of the floating plate 4, the height of the first telescopic elastic columns 24 in a natural state is greater than that of the cutter sucking device 23, and the height of the first telescopic elastic columns 24 in a compressed state is less than or equal to that of the cutter sucking device 23, so that in the process that the cutter sucking device 23 sucks the cutter 7, the first telescopic elastic columns 7 can play a role in buffering the cutter, so that the cutter can contact the cutter sucking device 23 at a relatively slow speed, and the impact sound of the cutter 7 impacting the cutter sucking device 23 can be reduced.
Further, the two ends of the upper surface of the base plate 1 are respectively provided with a second elastic telescopic column 25, when the left movable plate 21 and the right movable plate 22 are in the non-opposite opening state, the left movable plate 21 and the right movable plate 22 respectively abut against the end of the second elastic telescopic column 25 on the corresponding side, and the second elastic telescopic column 25 can also play a role in buffering the opening state process of the left movable plate 21 and the right movable plate 22.
The pushing mechanism 3 includes an air pressure or oil pressure cylinder 31 and a push rod 32 sliding relative to the cylinder 31, two cylinder support plates 13 parallel to each other and spaced apart by a distance are respectively disposed at two lower ends of the substrate 1, the cylinder 31 is disposed between the two cylinder support plates 13 and both sides thereof are hinged to the two cylinder support plates 13, the substrate 1 is provided with a yielding hole 12 capable of giving a swing space to each push rod 32, a front end of the push rod 32 of the pushing mechanism 3 for pushing the left movable plate 21 passes through the yielding hole 12 at the corresponding side to be hinged to the left movable plate 21, a front end of the push rod 32 of the pushing mechanism 3 for pushing the right movable plate 22 passes through the yielding hole 12 at the corresponding side to be hinged to the right movable plate 22, and the cylinder 31 directly drives the push rod 32 to slide in a telescopic manner through the action of air pressure or oil pressure, so that the left movable plate 21.
In order to facilitate connection with a robot arm, a connecting seat 11 is disposed below the base plate 1 and between the left movable plate 21 and the right movable plate 22, the connecting seat 11 is directly connected with the robot arm, and the robot arm drives the tool mechanical gripper to move.
By adopting the mechanical gripper for the cutter, the working efficiency is improved, and the mechanical gripper for the cutter has the advantages of simple structure, convenience in maintenance, low noise in working and the like.
The above is only a specific embodiment of the present invention, but the design concept of the present invention is not limited thereto, and the design concept of the present invention is right, the insubstantial modification made by the present invention all falls into the protection scope of the present invention.
Claims (10)
1. The utility model provides a cutter machinery tongs which characterized in that: the cutting device comprises a substrate (1), a left movable plate (21) and a right movable plate (22) which are hinged to the upper surface of the substrate (1), and a pushing mechanism (3) used for pushing the left movable plate (21) and the right movable plate (22) to rotate relative to the substrate (1), wherein the left movable plate (21) and the right movable plate (22) can rotate relative to the substrate (1) to a relative direction state and a non-opposite direction opening state under the pushing of the pushing mechanism (3), and one sides of the left movable plate (21) and one side of the right movable plate (22) which can be opposite to each other are respectively provided with a cutter suction device (23).
2. The cutter mechanical gripper of claim 1, wherein: the knife sucking device (23) is an electromagnet sucker which is respectively arranged on one side surface of the left movable plate (21) and the right movable plate (22) and can face to each other.
3. The cutter mechanical gripper of claim 1, wherein: the knife sucking device (23) is a vacuum sucker which is respectively arranged on the left movable plate (21) and the right movable plate (22) and can be oppositely arranged on one side surface.
4. The cutter mechanical gripper of claim 1, wherein: the cutter suction device is characterized in that the left movable plate (21) and the right movable plate (22) can be oppositely provided with floating plates (4) towards one side respectively, the floating plates (4) positioned on the left movable plate (21) are connected with the left movable plate (21) in a sliding mode through guide pillars (5), springs (6) are arranged between the left movable plate (21) and the floating plates (4) positioned on the left movable plate (21), the floating plates (4) positioned on the right movable plate (22) are also connected with the right movable plate (22) in a sliding mode through the guide pillars (5), the springs (6) are arranged between the right movable plate (22) and the floating plates (4) positioned on the right movable plate (22), and the cutter suction device (23) is arranged on the outer side face of the floating plates (4).
5. The cutter mechanical gripper of claim 4, wherein: the outer side surface of the floating plate (4) is further provided with a first telescopic elastic column (24), the height of the first telescopic elastic column (24) in a natural state is larger than that of the cutter suction device (23), and the height of the first telescopic elastic column (24) in a compressed state is smaller than or equal to that of the cutter suction device (23).
6. The cutter mechanical gripper of claim 5, wherein: the first telescopic elastic columns (24) are respectively positioned on the outer side surface of the floating plate (4) corresponding to the two opposite sides of the cutter suction device (23).
7. The cutter mechanical gripper of claim 4, wherein: and second telescopic elastic columns (25) are arranged on the upper surface of the base plate (1) and correspond to the end parts of the positions of the left movable plate (21) and the right movable plate (22), and the left movable plate (21) and the right movable plate (22) can be abutted against the end parts of the second telescopic elastic columns (25) when in a non-opposite opening state.
8. The cutter mechanical gripper of claim 1, wherein: pushing mechanism (3) including cylinder body (31) and relative cylinder body (31) gliding push rod (32), cylinder body (31) articulate in base plate (1) below, base plate (1) set up and to give yielding hole (12) of push rod (32) swing space for the preceding tip of push rod (32) of pushing mechanism (3) of pushing left fly leaf (21) passes yielding hole (12) and articulates with left fly leaf (21), the preceding tip of push rod (32) of pushing mechanism (3) for pushing right fly leaf (22) passes yielding hole (12) and articulates with right fly leaf (22).
9. The cutter mechanical gripper of claim 8, wherein: the lower surface of the base plate (1) is provided with cylinder body supporting plates (13) corresponding to two sides of the cylinder body (31), and the cylinder body (31) is hinged with the two cylinder body supporting plates (13).
10. The cutter mechanical gripper of claim 1, wherein: and a connecting seat (11) used for being connected with a mechanical arm is arranged below the base plate (1) and corresponds to the position between the left movable plate (21) and the right movable plate (22).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921755993.8U CN211249366U (en) | 2019-10-18 | 2019-10-18 | Mechanical gripper for cutter |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921755993.8U CN211249366U (en) | 2019-10-18 | 2019-10-18 | Mechanical gripper for cutter |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN211249366U true CN211249366U (en) | 2020-08-14 |
Family
ID=71981905
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921755993.8U Active CN211249366U (en) | 2019-10-18 | 2019-10-18 | Mechanical gripper for cutter |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN211249366U (en) |
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2019
- 2019-10-18 CN CN201921755993.8U patent/CN211249366U/en active Active
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20201015 Address after: Ma Chau Road in Yangjiang city of Guangdong Province, No. 40 of 529500 Patentee after: YANGJIANG VAT POWER Co.,Ltd. Address before: 529500 No. 4, 45 East Street, Nanmazhou, Jiangcheng District, Yangjiang City, Guangdong Province Patentee before: Huang Chengwei |