CN214217391U - Workpiece grabbing mechanism - Google Patents

Abstract

The utility model relates to the field of automatic processing, and discloses a workpiece grabbing mechanism, which comprises a grabbing component, a rotary driving piece and a connecting rod sliding block component, wherein the grabbing component is used for grabbing a workpiece; the connecting rod sliding block assembly is connected with the output end of the rotary driving piece, the grabbing assembly is arranged on a sliding block of the connecting rod sliding block assembly, and the rotary driving piece drives the grabbing assembly to transfer a workpiece according to a preset path through the connecting rod sliding block assembly. The workpiece grabbing mechanism can transfer workpieces according to a preset path only by arranging one driving piece, can save installation space and manufacturing cost, and is simple to control and maintain.

Description

Workpiece grabbing mechanism

Technical Field

The utility model relates to an automated processing field especially relates to a work piece snatchs mechanism.

Background

In the industrial production process, workpieces are often required to be transferred from one station to the next station for processing or detection, the traditional manual transportation mode is high in cost and limited in efficiency, and the requirements of industrial production are difficult to meet, so that the application of the automatic workpiece grabbing mechanism is more and more extensive. The workpiece grabbing mechanism mainly comprises a grabbing component and a driving component, the grabbing component is used for grabbing the workpiece, and the driving component is used for driving the grabbing component to transfer the workpiece from one station to the next station according to a preset path. In the existing grabbing mechanism, the motion in each direction is mostly controlled independently, so that a plurality of driving parts are required to be arranged to control the motion in the corresponding direction respectively, the occupied space is large, and the manufacturing cost is high; in addition, when the workpiece needs to be transported according to a preset path, the plurality of driving pieces need to work in cooperation to realize the control of the track of the grabbing component, so that the control of the workpiece grabbing mechanism is complex and the maintenance is difficult.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a work piece snatchs mechanism, control is simple, it is convenient to maintain, and can save installation space and manufacturing cost.

Therefore, the utility model adopts the following technical scheme:

a workpiece gripping mechanism comprising:

the grabbing component is used for grabbing the workpiece;

the rotary driving piece is driven by the connecting rod sliding block assembly to transfer the grabbing assembly to the workpiece according to a preset path.

Preferably, the connecting rod sliding block assembly further comprises a sliding seat, the sliding block is arranged on the sliding seat in a sliding mode, a first guide groove is formed in the sliding seat and arranged along the track of the preset path, and the sliding block can drive the grabbing assembly to slide along the first guide groove.

Preferably, the first guide groove comprises a horizontal groove and a vertical groove which are communicated with each other, the sliding block is provided with a second guide groove, and one end of the grabbing component sequentially penetrates through the first guide groove and the second guide groove and can slide relative to the first guide groove and the second guide groove.

Preferably, the connecting rod sliding block assembly further comprises a first connecting rod and a second connecting rod, one end of the first connecting rod is connected with the output end of the rotary driving piece, and two ends of the second connecting rod are hinged to the other end of the first connecting rod and the sliding block respectively.

Preferably, the sliding seat is further provided with a guide sliding groove, and the sliding block is in sliding fit with the guide sliding groove.

Preferably, the cross-sectional shape of the guide chute is a trapezoid, and the small end of the guide chute is an open end.

Preferably, the grabbing component comprises an adsorption part and a connecting part which are connected, and the connecting part is connected with the connecting rod sliding block component.

Preferably, the adsorption part includes:

the mounting plate is arranged on the connecting part;

and the adsorption structure is arranged at the bottom of the mounting plate and used for adsorbing the workpiece.

Preferably, the adsorption structure is a suction cup or an electromagnet.

Preferably, the number of the adsorption structures is multiple, and the multiple adsorption structures are distributed at the bottom of the mounting plate in an array manner.

The utility model has the advantages that:

the utility model provides a workpiece grabbing mechanism, which comprises a grabbing component, a rotary driving part and a connecting rod sliding block component, wherein the grabbing component is used for grabbing a workpiece; the connecting rod sliding block assembly is connected with the output end of the rotary driving piece, the grabbing assembly is arranged on a sliding block of the connecting rod sliding block assembly, and the rotary driving piece drives the grabbing assembly to transfer a workpiece according to a preset path through the connecting rod sliding block assembly. The workpiece grabbing mechanism can transfer workpieces according to a preset path only by arranging one driving piece, can save installation space and manufacturing cost, and is simple to control and maintain.

Drawings

Fig. 1 is a schematic structural diagram of a workpiece gripping mechanism provided in an embodiment of the present invention;

fig. 2 is a schematic structural diagram of a sliding seat according to an embodiment of the present invention;

fig. 3 is a schematic view of a grasping element at a first end according to an embodiment of the present invention;

fig. 4 is a schematic view of a grabbing component located at a second end according to an embodiment of the present invention.

In the figure:

1-a grasping assembly;

2-connecting rod slider assembly; 21-a slide block; 211-a second guide groove;

22-a slide; 221-a first guide groove; 222-a guide chute;

23-a first link; 24-second link.

Detailed Description

In order to make the technical problems, technical solutions and technical effects achieved by the present invention more clear, the embodiments of the present invention will be described in further detail with reference to the accompanying drawings, and obviously, the described embodiments are only some embodiments, not all embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by those skilled in the art without creative efforts belong to the protection scope of the present invention.

As shown in fig. 1-4, the present embodiment provides a workpiece grabbing mechanism for transferring a workpiece from a previous station to a next station according to a preset path, the workpiece grabbing mechanism includes a grabbing component 1, a rotary driving component and a connecting rod slider component 2, the grabbing component 1 is used for grabbing the workpiece, the connecting rod slider component 2 is connected to an output end of the rotary driving component, the grabbing component 1 is disposed on a slider 21 of the connecting rod slider component 2, and the rotary driving component drives the grabbing component 1 to transfer the workpiece according to the preset path through the connecting rod slider component 2. When the workpiece grabbing mechanism works, the grabbing component 1 firstly moves to the previous station under the combined action of the rotary driving piece and the connecting rod sliding block component 2 and grabs the workpiece, and then drives the workpiece to be transferred to the next station along a preset path and puts the workpiece down. The workpiece grabbing mechanism can transfer workpieces according to a preset path only by arranging the driving piece, is simple in structure and control, can be flexibly designed according to the preset path, can save installation space and manufacturing cost, and is convenient to use and maintain.

Optionally, the rotary driving part is a motor, preferably a servo motor, the servo motor is fast in response, and the control precision of speed and position can be guaranteed, so that the transportation quality of the workpiece is guaranteed.

Illustratively, the link slider assembly 2 further comprises a sliding seat 22, the slider 21 is slidably disposed on the sliding seat 22, and the sliding seat 22 can provide a guiding function for the sliding of the slider 21 to ensure the motion precision of the slider 21, thereby ensuring the quality of workpiece transportation. Preferably, in order to provide a guiding function for the reciprocating motion of the sliding block 21 on the sliding base 22 and avoid the grabbing assembly 1 from shaking during the process of transferring the workpiece, affecting the transportation quality and causing damage to the workpiece, a guiding sliding groove 222 is arranged on the sliding base 22, and the sliding block 21 is in sliding fit in the guiding sliding groove 222. Further, the cross-sectional shape of the guide chute 222 is trapezoidal, and the small end of the guide chute 222 is an open end, so as to prevent the slide block 21 from being separated from the guide chute 222 from the direction perpendicular to the movement direction of the slide block 21, and the open end of the guide chute 222 can also provide an avoiding effect for the grabbing assembly 1. Of course, the manner of providing the guiding function for the sliding block 21 is not limited to this, and in other embodiments, a sliding rail may be adopted to cooperate with the sliding block 21 to provide the guiding function for the reciprocating motion of the sliding block 21, and the guiding function may be set according to actual needs, which is not limited in this embodiment.

In order to enable the grabbing component 1 to move along the preset path, the sliding base 22 is provided with a first guide groove 221, the first guide groove 221 is arranged along the track of the preset path, and the sliding block 21 can drive the grabbing component 1 to slide along the first guide groove 221. The arrangement of the first guide groove 221 provides guidance for the reciprocating motion of the grabbing assembly 1, and meanwhile, the control of grabbing the track of the grabbing assembly 1 can be realized without arranging a plurality of driving pieces, so that the control is simple, and the installation space is saved. Of course, the arrangement of the grabbing component 1 is not limited thereto, and in other embodiments, a sliding rail may be used instead of the first guide groove 221, and the grabbing component 1 passes through the sliding block 21 and is slidably arranged on the sliding rail, so as to be capable of moving along the sliding rail as long as the grabbing component 1 can transfer the workpiece according to the preset path, which is not limited in this embodiment.

In the present embodiment, the predetermined path of the grabbing component 1 is L-shaped, for convenience of description, two ends of the predetermined path are respectively a first end and a second end, and the first end is located below the second end, and the grabbing component 1 can reciprocate along the predetermined path to transport the workpiece from the first end to the second end or from the second end to the first end. In order to enable the gripper assembly 1 to move along this preset path, the first guide groove 221 comprises a horizontal groove and a vertical groove communicating with each other; meanwhile, in order to enable the sliding block 21 to drive the grabbing component 1 to slide along the first guide groove 221, the sliding block 21 is provided with the second guide groove 211, one end of the grabbing component 1 sequentially penetrates through the first guide groove 221 and the second guide groove 211 and can slide relative to the first guide groove 221 and the second guide groove 211, the structure is compact, and the installation space is saved. Exemplarily, the grasping assembly 1 includes a guide shaft, and an adsorption portion and a connection portion connected to each other, the adsorption portion is used for adsorbing a workpiece, the connection portion is disposed at one end of the guide shaft, and the other end of the guide shaft sequentially penetrates through the first guide groove 221 and the second guide groove 211. In addition, the workpiece grabbing mechanism may further include a limiting member disposed at an end of the guide shaft away from the connecting portion to prevent the grabbing assembly 1 from being disengaged from the first guide groove 221 and the second guide groove 211. In addition, in order to avoid the interference of the second guide groove 211 on the movement of the grabbing assembly 1 when the grabbing assembly 1 moves up and down along the vertical groove, the second guide groove 211 is arranged at an angle with the horizontal direction. As shown in fig. 1, the second guide groove 211 extends downward along the horizontal rightward direction, when the grasping assembly 1 moves along the horizontal groove, the grasping assembly 1 is always located at the upper portion of the second guide groove 211, when the grasping assembly 1 moves along the vertical groove, the grasping assembly 1 can also move relative to the second guide groove 211 along the extending direction of the second guide groove 211, and the second guide groove 211 provides a guide for the grasping assembly 1 to slide along the vertical groove.

It can be understood that the height of the highest point of the second guide slot 211 should be higher than or equal to the height of the highest point of the first guide slot 221, and the height of the lowest point of the second guide slot 211 should be lower than or equal to the lowest point of the first guide slot 221, so as to increase the movement stroke of the grabbing assembly 1 and avoid the interference of the second guide slot 211 on the up-and-down movement of the grabbing assembly 1 along the vertical slot.

In addition, when the slider 21 moves to the leftmost end or the rightmost end in the process of the horizontal reciprocating motion, the grasping assembly 1 should move to the corresponding first end or the second end at the same time, and if the grasping assembly 1 has not moved to the first end or the second end while the slider 21 moves to the leftmost end or the rightmost end, the grasping assembly 1 will reciprocate between the first end and the second end along a preset path and cannot reach the first end or the second end; if the grabbing component 1 moves to the first end or the second end, the sliding block 21 does not reach the leftmost end or the rightmost end, the first guide groove 221 can limit the grabbing component 1, the sliding block 21 is prevented from further sliding, the sliding block 21 is clamped, and the workpiece grabbing mechanism cannot continue to operate.

Certainly, the track of the preset path and the arrangement of the first guide groove 221 are not limited thereto, in other embodiments, the preset path may be an arc, and the corresponding first guide groove 221 is also an arc, so that the grabbing component 1 can transfer the workpiece along the arc preset path, and the design can be flexibly performed according to actual grabbing needs, similarly, the arrangement of the second guide groove 211 is not limited thereto, as long as the grabbing component 1 is driven to slide along the first guide groove 221 without interfering with the movement of the grabbing component 1, which is not limited in this embodiment.

It can be understood that the sliding speed of the grabbing component 1 along the vertical slot is related to the projection length of the second guide slot 211 in the horizontal direction, and when the projection length of the second guide slot 211 in the horizontal direction is shorter, the inclination degree of the second guide slot 211 is greater, the sliding speed of the grabbing component 1 along the vertical slot is faster; when the length of the projection of the second guide groove 211 in the horizontal direction is long, the speed of sliding the grasping assembly 1 along the vertical groove is slow.

Further, in order to avoid grabbing subassembly 1 and taking place to rotate at the in-process guiding axle of motion in first guide way 221 and second guide way 211, it is rotatory to drive and snatchs subassembly 1, cause the influence to the transportation of work piece, can also be provided with the slider on slide 22, the slider slides along the horizontal direction and sets up on slide 22 and the slider is located the below of first guide way 221, it sets up on the slider to snatch subassembly 1 along vertical direction slip, prevent to snatch subassembly 1 and take place to rotate in the transportation with the guiding axle combined action, avoid causing the influence to the transportation of work piece. Of course, the arrangement of the grabbing component 1 is not limited to this, and may be set according to the actual grabbing requirement, which is not limited by this embodiment.

Optionally, the connecting rod sliding block assembly 2 further includes a first connecting rod 23 and a second connecting rod 24, one end of the first connecting rod 23 is connected to the output end of the rotary driving member, and two ends of the second connecting rod 24 are respectively hinged to the other end of the first connecting rod 23 and the sliding block 21. When the workpiece grabbing mechanism works, the first connecting rod 23 rotates, and the second connecting rod 24 drives the sliding block 21 to reciprocate in the horizontal direction. Of course, the arrangement of the link slider assembly 2 is not limited thereto as long as the reciprocating motion of the slider 21 can be achieved, and the embodiment is not limited thereto.

Optionally, the adsorption part comprises a mounting plate and an adsorption structure, the mounting plate is arranged on the connecting part, and the adsorption structure is arranged at the bottom of the mounting plate and used for adsorbing the workpiece. Wherein, mounting panel and connecting portion can integrated into one piece, also can the shaping respectively assemble again, can set up according to actual need.

Further, in order to guarantee adsorption structure's adsorption quality, adsorption structure's quantity is a plurality of, and a plurality of adsorption structure are array distribution in the bottom of mounting panel, can increase the area of contact of adsorption structure and work piece, and adsorption effect is good, prevents that the in-process of the transfer of work piece from dropping.

In order to realize the grabbing of the workpiece, the adsorption structure is a sucker which can adsorb the workpiece. Specifically, the sucking disc is further connected with a vacuum generator, when a workpiece needs to be grabbed, the vacuum generator forms a certain vacuum degree between the sucking disc and the workpiece to adsorb the workpiece, and when the workpiece needs to be put down, the air pressure between the sucking disc and the workpiece is restored to the atmospheric pressure level, so that the workpiece falls down. Illustratively, the vacuum generator is a suction pump, a certain vacuum degree is formed between the suction cup and the workpiece when the suction pump works, and the air pressure between the suction cup and the workpiece is recovered to the atmospheric pressure when the suction pump is turned off.

Of course, the arrangement of the grabbing assembly 1 is not limited to this, and in other embodiments, when the workpiece has magnetism, the adsorption structure may also be an electromagnet, and grabbing and putting down of the workpiece are realized by switching on and off the electromagnet. Specifically, when a workpiece needs to be grabbed, the electromagnet is electrified, so that the electromagnet has magnetism to realize the adsorption of the workpiece; when the workpiece needs to be put down, the electromagnet is powered off, the magnetism disappears, and the adsorption between the workpiece and the electromagnet disappears and falls down. It is understood that the workpiece may be a workpiece that is itself magnetic, or may be magnetic through other auxiliary structures. In addition, the grabbing component 1 may also be a manipulator, which is a prior art, and this embodiment will not be described redundantly.

Preferably, in order to improve the degree of automation of the workpiece gripping mechanism, the workpiece gripping mechanism further comprises a controller and a sensor for detecting the position of the gripping assembly 1, and the sensor and the gripping assembly 1 are electrically connected to the controller, respectively. Specifically, when the grabbing component 1 moves to one end of a preset path and needs to grab a workpiece, the sensor detects the position of the grabbing component 1 and sends an electric signal to the controller, and the controller controls the grabbing component 1 to grab the workpiece; when the grabbing component 1 moves to the other end of the preset path and needs to put down the workpiece, the sensor sends an electric signal to the controller to control the grabbing component 1 to put down the workpiece. For example, the sensor may be a photoelectric position sensor, the photoelectric position sensor is disposed at both ends of the preset path, when the grasping assembly 1 passes through the photoelectric position sensor, the photoelectric position sensor sends an electrical signal, and the controller receives the electrical signal and controls the grasping assembly 1 to grasp or put down the workpiece.

The specific operation of the workpiece gripping mechanism is described below with reference to fig. 3-4.

Taking the example that the grasping assembly 1 transports the workpiece from the first end to the second end, when the grasping assembly 1 is located at the first end, the grasping assembly 1 is located at the rightmost end of the second guide groove 211 on the slider 21, and the grasping assembly 1 grasps the workpiece at the same time. The specific process that the grabbing component 1 drives the workpiece to move from the first end to the second end is as follows:

firstly, the rotary driving piece drives the first connecting rod 23 to rotate, the first connecting rod 23 rotates and drives the sliding block 21 to move rightwards along the horizontal direction through the second connecting rod 24, at the moment, the grabbing component 1 is positioned in the vertical groove and slides upwards along the vertical groove, in the process, the second guide groove 211 provides a certain supporting effect for the grabbing component 1, and the grabbing component 1 slides leftwards and upwards in the second guide groove 211; when the grasping assembly 1 reaches the intersection of the vertical and horizontal grooves, the grasping assembly 1 just moves to the leftmost end of the second guide groove 211; and finally, the grabbing component 1 slides along the horizontal groove, the grabbing component 1 and the sliding block 21 are kept relatively static until the grabbing component 1 moves to the second end and puts down the workpiece, and at the moment, the sliding block 21 moves to the rightmost end of the horizontal reciprocating motion.

After the grabbing component 1 puts down the workpiece, the first end needs to be returned to continue to transport the next workpiece, and the specific process of moving the grabbing component 1 from the second end to the first end is as follows:

firstly, the rotary driving member drives the first connecting rod 23 to rotate, the first connecting rod 23 rotates and drives the sliding block 21 to slide leftwards along the horizontal direction through the second connecting rod 24, at the moment, the sliding block 21 and the grabbing component 1 keep relatively static, and the grabbing component 1 is positioned at the leftmost end of the second guide groove 211; when grabbing subassembly 1 and moving to the nodical department in horizontal groove and vertical groove, under the drive effect of slider 21, snatch subassembly 1 and move along vertical groove downstream, snatch subassembly 1 and slide along second guide way 211 below to the right this moment, snatch subassembly 1 and reach first end and snatch next work piece, snatch subassembly 1 simultaneously and reach the rightmost end of second guide way 211 and slider 21 motion to horizontal reciprocating motion's leftmost end.

In the description herein, it is to be understood that the terms "upper", "lower", "right", and the like are used in the orientation and positional relationship shown in the drawings, and are used for convenience of description and simplicity of operation, but do not indicate or imply that the structures referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and therefore should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used merely for descriptive purposes and are not intended to have any special meaning.

In the description herein, references to the description of "an embodiment," "an example" or the like are intended to mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example.

In addition, the foregoing is only the preferred embodiment of the present invention and the technical principles applied thereto. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail with reference to the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the scope of the present invention.

Claims (10)

1. A workpiece grasping mechanism, comprising:

the grabbing component (1) is used for grabbing a workpiece;

the workpiece grabbing device comprises a rotary driving piece and a connecting rod sliding block assembly (2), wherein the connecting rod sliding block assembly (2) is connected with the output end of the rotary driving piece, the grabbing assembly (1) is arranged on a sliding block (21) of the connecting rod sliding block assembly (2), and the rotary driving piece drives the grabbing assembly (1) to transfer a workpiece according to a preset path through the connecting rod sliding block assembly (2).

2. The workpiece grabbing mechanism according to claim 1, wherein said link slider assembly (2) further comprises a sliding base (22), said slider (21) is slidably disposed on said sliding base (22), said sliding base (22) is provided with a first guiding slot (221), said first guiding slot (221) is disposed along the track of said preset path, said slider (21) can drive said grabbing assembly (1) to slide along said first guiding slot (221).

3. The workpiece grabbing mechanism according to claim 2, wherein the first guide groove (221) comprises a horizontal groove and a vertical groove which are communicated with each other, the slider (21) is provided with a second guide groove (211), and one end of the grabbing component (1) is sequentially arranged in the first guide groove (221) and the second guide groove (211) in a penetrating manner and can slide relative to the first guide groove (221) and the second guide groove (211).

4. The workpiece gripping mechanism according to claim 1, wherein the link slider assembly (2) further comprises a first link (23) and a second link (24), one end of the first link (23) is connected with the output end of the rotary driving member, and two ends of the second link (24) are respectively hinged to the other end of the first link (23) and the slider (21).

5. The workpiece gripping mechanism according to claim 2, wherein the slide (22) is further provided with a guide runner (222), and the slide (21) is slidably fitted in the guide runner (222).

6. The workpiece gripping mechanism of claim 5, wherein the cross-sectional shape of the guide chute (222) is trapezoidal, and the small end of the guide chute (222) is an open end.

7. The workpiece gripping mechanism according to claim 1, characterised in that the gripping assembly (1) comprises a suction portion and a connecting portion connected to the link slider assembly (2).

8. The workpiece gripping mechanism according to claim 7, wherein the suction portion includes:

the mounting plate is arranged on the connecting part;

and the adsorption structure is arranged at the bottom of the mounting plate and used for adsorbing the workpiece.

9. The workpiece gripping mechanism of claim 8, wherein the suction structure is a suction cup or an electromagnet.

10. The workpiece grabbing mechanism of claim 8, wherein the number of the adsorption structures is multiple, and the adsorption structures are distributed at the bottom of the mounting plate in an array.

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