CN215973861U

CN215973861U - Cylindrical ceramic carrier double-head clamping jaw

Info

Publication number: CN215973861U
Application number: CN202122205115.2U
Authority: CN
Inventors: 刘长勇; 吴泳钢; 周胜博; 吕丹; 李杨; 郭振洺; 姜瑞英; 高玉明; 闫俊存
Original assignee: Qingdao Xinsong Robot Automation Co ltd
Current assignee: Qingdao Xinsong Robot Automation Co ltd
Priority date: 2021-09-13
Filing date: 2021-09-13
Publication date: 2022-03-08
Anticipated expiration: 2031-09-13

Abstract

The utility model discloses a cylindrical ceramic carrier double-head clamping jaw, which comprises a main body mounting plate, two clamping jaws and a clamping jaw distance adjusting mechanism, wherein the two clamping jaws are respectively mounted on the main body mounting plate; the clamping jaw comprises a bottom plate, a first clamping arm, a second clamping arm, a first sliding seat plate, a second sliding seat plate, a clamping part and a clamping mechanism, wherein the first sliding seat plate and the second sliding seat plate are arranged on the bottom plate in a sliding mode, the clamping part is used for clamping articles and is respectively arranged on the first clamping arm and the second clamping arm, and the clamping mechanism is arranged on the bottom plate and is used for driving the first sliding seat plate and the second sliding seat plate to move inwards relatively to clamp the articles and move outwards to loosen the articles. The utility model has the beneficial effects that: the clamping mechanism realizes efficient and stable clamping and fixing of the carrier; the carrier can be turned over to prepare for the process flow; two chucks can grab two carriers at a time, so that the efficiency is improved.

Description

Cylindrical ceramic carrier double-head clamping jaw

Technical Field

The utility model belongs to the technical field of automatic handling, and particularly relates to a cylindrical ceramic carrier double-head clamping jaw.

Background

With the continuous development of automation level, more and more industries realize automatic assembly, production and detection. The field of automatic coating of ceramic carriers develops to the present, and the traditional manual feeding and discharging is gradually changed into automatic feeding and discharging. The ceramic carrier is integrally cylindrical, and the utility model provides a series of schemes for conveying, loading and unloading of the ceramic carrier.

The clamping jaw is designed, clamping is carried out in a cylinder, gear and rack mode, rapid, accurate and centering clamping can be achieved, and high efficiency and stability are achieved.

The utility model designs a clamping jaw which can realize the turnover of a carrier when the carrier is clamped. The carrier needs to be turned over during the processing procedure, and the current gripper does not have the function. The turning of the carrier by the manipulator is too large in action, needs a large turning space and is low in efficiency.

The utility model designs a clamping jaw which is provided with two clamping heads and can clamp two carriers at one time. The current jaws, being only one chuck, can only grip one carrier at a time. The difficulty of this problem is that the distance between the two carriers is not fixed, and the two chucks are difficult to match and accurately find the position of the carrier.

SUMMERY OF THE UTILITY MODEL

Aiming at the problems in the prior art, a cylindrical ceramic carrier double-head clamping jaw is provided.

A cylindrical ceramic carrier double-head clamping jaw, which comprises a main body mounting plate, a clamping jaw and a clamping jaw distance adjusting mechanism,

the two clamping jaws are respectively arranged on the main body mounting plate, and the clamping jaw distance adjusting mechanism is used for adjusting the distance between the two clamping jaws;

the clamping jaw comprises a bottom plate, a first clamping arm, a second clamping arm, a first sliding seat plate, a second sliding seat plate, a clamping part and a clamping mechanism,

the first slide chair plate and the second slide chair plate can be arranged on the bottom plate in a sliding way,

the clamping part is used for clamping articles and is respectively arranged on the first clamping arm and the second clamping arm, and the clamping mechanism is arranged on the bottom plate and is used for driving the first sliding seat plate and the second sliding seat plate to relatively move inwards to be clamped and move outwards to be loosened.

Wherein, cylinder type ceramic carrier double-end clamping jaw, the clamping part includes first holding frame, second holding frame and centre gripping gyro wheel, and first holding frame sets up on first arm lock, and the second holding frame sets up on the second arm lock, sets up two centre gripping gyro wheels on the first holding frame, sets up two centre gripping gyro wheels on the second holding frame.

Wherein the cylindrical ceramic carrier double-head clamping jaw also comprises a turnover mechanism,

the turnover mechanism comprises a turnover driven synchronous belt wheel, a turnover driving synchronous belt wheel and a turnover motor,

the first clamping frame is connected with the first clamping arm in a rotating mode, the second clamping frame is connected with the first clamping arm in a rotating mode, the overturning driven synchronous belt wheel is connected with the second clamping frame in a coaxial mode, the overturning motor is installed on the second clamping arm, the overturning driving synchronous belt wheel is installed on an output shaft of the overturning motor, and the overturning driving synchronous belt wheel drives the overturning driven synchronous belt wheel to rotate through the synchronous belt.

The cylindrical ceramic carrier double-end clamping jaw further comprises a rotation stopping cylinder, the rotation stopping cylinder is arranged on the first clamping arm, a flat end face is arranged at the rod end of the rotation stopping cylinder, and the rod end of the rotation stopping cylinder extends downwards and abuts against the first clamping frame.

The clamping mechanism comprises a clamping cylinder, a clamping driving rack, a clamping gear and a clamping driven rack, wherein the clamping cylinder is arranged on the bottom plate, the rod end of the clamping cylinder is connected with the first slide plate, one end of the clamping driving rack is arranged on the first slide plate, the other end of the clamping driving rack is in meshing transmission with the clamping gear arranged on the bottom plate, one end of the clamping driven rack is arranged on the second slide plate, and the other end of the clamping driven rack is in meshing transmission with the clamping gear.

The clamping jaw distance adjusting mechanism comprises a distance adjusting servo motor, a first sliding seat, a second sliding seat and a distance adjusting positive and negative lead screw;

the distance adjusting servo motor is arranged on the main body mounting plate, an output shaft of the distance adjusting servo motor is coaxially connected with the distance adjusting positive and negative screw rod, the distance adjusting positive and negative screw rod is rotatably arranged on the main body mounting plate, one clamping jaw is arranged on the first sliding seat, the other clamping jaw is arranged on the second sliding seat,

the first sliding seat is provided with a first nut, the second sliding seat is provided with a second nut, and the first nut and the second nut are in threaded transmission connection with the distance adjusting positive and negative lead screws.

The utility model has the beneficial effects that:

1. the clamping mechanism realizes efficient and stable clamping and fixing of the carrier;

2. the carrier can be turned over to prepare for the process flow;

3. two chucks can grab two carriers at a time, so that the efficiency is improved.

Drawings

FIG. 1 is a schematic view of a carrier jaw;

FIG. 2 is a schematic view of a carrier jaw;

FIG. 3 is a schematic view of a carrier jaw;

FIG. 4 is a schematic view of a screw shaft;

FIG. 5 is a schematic view of a screw shaft;

FIG. 6 is a schematic view of a sliding sleeve;

FIG. 7 is a schematic view of a carrier dual jaw;

FIG. 8 is a schematic view of a jaw spacing adjustment mechanism;

FIG. 9 is a schematic view of a jaw spacing adjustment mechanism;

fig. 10 is a schematic diagram of an application example of the utility model.

Detailed Description

In order to make the technical problems solved, the technical solutions adopted and the technical effects achieved by the present invention clearer, the technical solutions of the present invention are further described below by way of specific embodiments with reference to the accompanying drawings. It is to be understood that the specific embodiments described herein are merely illustrative of the utility model and are not limiting of the utility model. It should be further noted that, for the convenience of description, only some but not all of the elements associated with the present invention are shown in the drawings.

Referring to fig. 1-10, the present embodiment provides a cylindrical ceramic carrier double-ended jaw.

As shown in fig. 1-6, which are schematic views of a single jaw. As shown in fig. 7-9, which are schematic views of two jaws. Fig. 10 is a schematic diagram of an application example of the present invention.

Fig. 1 includes a base plate 1, a first clamp arm 21, a second clamp arm 22, a first slide plate 41, a second slide plate 42, a clamp portion, and a clamp mechanism.

The first and

second slide plate

41, 42 are slidably provided on the base plate 1, for example, by a slide rail mechanism. The first clip arm 21 is disposed on the first slide plate 41, and the second clip arm 22 is disposed on the second slide plate 42.

The clamping portions are respectively arranged on the first clamping arm 21 and the second clamping arm 22, and the clamping mechanism is arranged on the base plate 1 and is used for relatively moving the first slide seat plate 41 and the second slide seat plate 42 inwards to clamp and outwards to release.

Further, the clamping part comprises a first clamping frame 23, a second clamping frame 25 and clamping rollers 24, the first clamping frame 23 is arranged on the first clamping arm 21, the second clamping frame 24 is arranged on the second clamping arm 22, the first clamping frame 23 is provided with the two clamping rollers 24 in bilateral symmetry, and the second clamping frame 25 is provided with the two clamping rollers 24 in bilateral symmetry.

Further, as shown in fig. 2 and 3, the clamping mechanism includes a clamping cylinder 43, a clamping driving rack 44, a clamping gear 45 and a clamping driven rack 46, wherein the clamping cylinder 43 is disposed on the bottom plate 1, a rod end of the clamping cylinder 43 is connected to the first slide plate 41, one end of the clamping driving rack 44 is disposed on the first slide plate 41, the other end of the clamping driving rack is in meshing transmission with the clamping gear 45 disposed on the bottom plate 1, one end of the clamping driven rack 46 is disposed on the second slide plate 42, and the other end of the clamping driven rack is in meshing transmission with the clamping gear 45. The rod end of the clamping cylinder 43 extends out to drive the gear rack linkage, so that the first slide seat plate 41 and the second slide seat plate 42 synchronously slide in the same phase to clamp. Similarly, the rod end of the clamping cylinder 43 retracts to drive the gear rack linkage, so that the first slide seat plate 41 and the second slide seat plate 42 synchronously slide outwards to be released. The clamping is driven by the cylinder, so that the clamping is quick and efficient, and the production efficiency is improved. Through rack, gear mechanism, can increase two and press from both sides the centering motion that keeps synchronization about keeping, guarantee to press from both sides tight stability.

The clamping gear 45 is arranged on the bottom plate 1, is fixed in position and can freely rotate around the rotating shaft.

The jaws also include a flipping mechanism, as shown in fig. 1. The turnover mechanism comprises a turnover driven synchronous pulley 31, a turnover driving synchronous pulley 32, a turnover motor 33 and a rotation stopping cylinder 34.

First holding frame 23 rotates with first arm lock 21 to be connected, and second holding frame 25 rotates with first arm lock 21 to be connected, upset driven synchronous pulley 31 and second holding frame 25 coaxial coupling, and upset motor 33 installs on second arm lock 22, and upset drive synchronous pulley 32 installs on the output shaft of upset motor 33, and upset drive synchronous pulley 32 passes through synchronous belt drive upset driven synchronous pulley 31 and rotates, and the cylinder 34 that splines sets up on first arm lock 21.

After the carrier is clamped by the clamping part, when the carrier needs to be turned, the rotation stopping cylinder 34 retracts, the first clamping frame 23 is loosened, the turning motor 33 works to drive the first clamping frame 23 and the second clamping frame 25 to synchronously rotate, and the turning of the carrier is completed.

The rod end of the rotation stopping cylinder 34 is flat and extends downwards, and the rod end is tightly pressed on the first clamping frame 23, so that the rotation stopping cylinder can play a role in righting and preventing the first clamping frame 23 from rotating.

The clamping jaw also comprises a remodeling mechanism. The model changing means that the model of the cylindrical ceramic carrier is different, the model is different, and the cylindrical ceramic carrier has different diameter sizes, when the cylindrical ceramic carrier is in different models, the clamping jaw can automatically adjust the distance between the two clamping arms through the model changing mechanism so as to be suitable for the diameter size of the carrier.

The model changing mechanism comprises a first model changing screw rod 51, a second model changing screw rod 52 and a model changing driving mechanism, the first model changing screw rod 51 is rotatably arranged on the first sliding seat plate 41, the second model changing screw rod 52 is rotatably arranged on the second sliding seat plate 42, the right end of the first model changing screw rod 51 is axially and slidably connected with the left end of the second model changing screw rod 52 and cannot relatively rotate, a first clamping arm 21 is slidably arranged on the first sliding seat plate 41, a nut in threaded transmission connection with the first model changing screw rod 51 is arranged on the first clamping arm 21, a second clamping arm 22 is slidably arranged on the second sliding seat plate 42, a nut in threaded transmission connection with the second model changing screw rod 52 is arranged on the second clamping arm 22, and the model changing driving mechanism drives the first model changing screw rod 51 to rotate forward and backward.

The model changing driving mechanism comprises a model changing driving synchronous wheel 54 and a model changing driven synchronous wheel 53, the model changing driven synchronous wheel 53 is arranged on the first model changing screw rod 51, the model changing driving synchronous wheel 54 is arranged on an output shaft of the servo motor, and the model changing driving synchronous wheel 54 drives the driven synchronous wheel 53 to rotate through a synchronous belt.

The first and second profile-changing

screws

51 and 52, one for positive and one for negative, can realize inward movement or outward movement of the first and second

slide plate plates

41 and 42.

As shown in fig. 4 and 5, a long flat end surface 511 is machined at the right end of the first model changing screw 51 to form an irregular cross section, a deep hole 521 matched with the right end of the first model changing screw 51 is machined at the left end of the second model changing screw 52, and the right end of the first model changing screw 51 is inserted into the deep hole 521 of the second model changing screw 52. The two can realize axial sliding and can not rotate mutually.

In addition to this, other ways may be adopted, such as forming the right end of the first model-changing screw 51 into an irregular cross section, so as to achieve the purpose that the two can slide but cannot rotate, for example, a spline and the like.

As shown in fig. 6, the sliding sleeve 55 has an outer end surface adapted to the deep hole 521, and an inner hole surface adapted to the right end section of the first mold screw 51, the sliding sleeve 55 is inserted into the left end position of the second mold screw 52, and the first mold screw 51 is inserted into the inner hole of the sliding sleeve 55.

According to the technical scheme of fig. 6, the shape of the sliding sleeve 55 is easier to process, and the processing cost is reduced.

As shown in fig. 7, a two-jaw embodiment. Two clamping jaws and a clamping jaw distance adjusting mechanism are arranged on a main body mounting plate 6 in the drawing. And the clamping jaw distance adjusting mechanism is used for adjusting the distance between the two clamping jaws, because the distance between the cylindrical ceramic carriers on the production line can be changed. It is therefore necessary to provide a camera on the production line to determine the spacing between the carriers to be gripped, in turn to adjust the spacing between the two jaws.

The clamping jaw distance adjusting mechanism comprises a distance adjusting servo motor 71, a first sliding seat 72, a second sliding seat 73 and a distance adjusting positive and negative lead screw 76.

The distance adjusting servo motor 71 is mounted on the main body mounting plate 6, an output shaft of the distance adjusting servo motor is coaxially connected with the distance adjusting positive and negative lead screw 76, the distance adjusting positive and negative lead screw 76 is rotatably arranged on the main body mounting plate 6, one clamping jaw is mounted on the first sliding seat 72, and the other clamping jaw is mounted on the second sliding seat 73.

The first sliding base 72 is provided with a first nut 74, the second sliding base 73 is provided with a second nut 75, and the first nut 74 and the second nut 75 are in threaded transmission connection with a distance adjusting positive and negative lead screw 76.

As shown in fig. 10, the gripper is mounted on a robot arm through a body mounting plate 6, and the robot arm picks up the carrier from the web and places it on a turntable, for example.

In order to conveniently describe the automatic loading process and carry out automatic control, the states of all actions are defined: 1. the initial origin of the clamp is positioned above the turntable; 2. the clamping cylinder is in a retraction state; 3. the rotation stopping cylinder is in an extending state; 4. the jaw spacing was 400mm (consistent with the turntable).

Step 1: the manipulator drives the full-automatic intelligent double-clamping jaw of the cylindrical ceramic carrier to move upwards the mesh belt, and the adjustment of the space between the clamping jaws is synchronously completed in the moving process, so that the theoretical value of the space between carriers on the mesh belt is adjusted.

Step 2: the manipulator carries a cylindrical ceramic carrier full-automatic intelligent double-clamping jaw to achieve a preset grabbing position.

And step 3: and the automatic clamping jaw adjusting mechanism is used for accurately adjusting according to the actual carrier space value (given by a mesh belt camera).

And 4, step 4: the carrier is grabbed by the clamping jaws, and the air cylinder on the clamping mechanism stretches out to complete the clamping action.

And 5: the manipulator carries the full-automatic intelligent double-jaw of cylinder type ceramic carrier to remove toward the carousel direction, removes in-process clamping jaw interval guiding mechanism and adjusts the clamping jaw distance for 400mm, and the only commentaries on classics cylinder withdrawal on the automatic tilting mechanism simultaneously, tilting mechanism realize 180 upsets to the carrier, and after the upset was accomplished, the only commentaries on classics cylinder on the automatic tilting mechanism stretches out.

Step 6: the manipulator carries a cylindrical ceramic carrier, the carrier is placed on the turntable by the full-automatic intelligent double-clamping jaw, and the cylinder on the clamping mechanism retracts.

In summary, in the full-automatic intelligent double-clamping jaw for cylindrical ceramic carriers created by the utility model, through the clamping mechanism, the automatic clamping jaw interval adjusting mechanism and the automatic turnover mechanism, 1 manipulator can simultaneously grab 2 carriers, realize dense mesh belt arrangement, grab the carriers onto a turntable, and simultaneously realize 180-degree automatic turnover of the carriers.

The full-automatic intelligent double-clamping jaw for the cylindrical ceramic carrier is unique in concept, does not need manual participation, can completely replace manual work to work in a severe environment, achieves simultaneous grabbing and releasing of 2 carriers through one manipulator, achieves full-automatic carrier conveying through automatic carrier overturning, space adjustment and the like, improves efficiency, reduces equipment construction cost and improves the utilization rate of a factory building.

The technical scheme of the utility model is also suitable for grabbing and transporting other cylindrical objects.

In the description of the present invention, it should be noted that the terms "upper", "lower", "left", "right", "clockwise" and "counterclockwise" and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.

The foregoing embodiments are merely illustrative of the principles and features of this invention, which is not limited to the above-described embodiments, but rather is susceptible to various changes and modifications without departing from the spirit and scope of the utility model, which changes and modifications are within the scope of the utility model as claimed. The scope of the utility model is defined by the appended claims and equivalents thereof.

Claims

1. A cylindrical ceramic carrier double-head clamping jaw is characterized by comprising a main body mounting plate (6), a clamping jaw and a clamping jaw distance adjusting mechanism,

the two clamping jaws are respectively arranged on the main body mounting plate (6), and the clamping jaw distance adjusting mechanism is used for adjusting the distance between the two clamping jaws;

the clamping jaw comprises a bottom plate (1), a first clamping arm (21), a second clamping arm (22), a first sliding seat plate (41), a second sliding seat plate (42), a clamping part and a clamping mechanism,

the first slide seat plate (41) and the second slide seat plate (42) are arranged on the bottom plate (1) in a sliding way,

the clamping part is used for clamping articles and is respectively arranged on the first clamping arm (21) and the second clamping arm (22), and the clamping mechanism is arranged on the base plate (1) and is used for driving the first sliding seat plate (41) and the second sliding seat plate (42) to relatively move inwards to clamp and move outwards to release.

2. The double-headed clamping jaw for cylindrical ceramic carriers as claimed in claim 1, wherein the clamping part comprises a first clamping frame (23), a second clamping frame (25) and clamping rollers (24), the first clamping frame (23) is arranged on the first clamping arm (21), the second clamping frame (25) is arranged on the second clamping arm (22), the first clamping frame (23) is provided with two clamping rollers (24), and the second clamping frame (25) is provided with two clamping rollers (24).

3. The cylindrical ceramic carrier double-ended jaw of claim 1, further comprising a flipping mechanism,

the turnover mechanism comprises a turnover driven synchronous pulley (31), a turnover driving synchronous pulley (32) and a turnover motor (33),

first holding frame (23) rotate with first arm lock (21) and are connected, second holding frame (25) rotate with first arm lock (21) and are connected, upset driven synchronous pulley (31) and second holding frame (25) coaxial coupling, upset motor (33) are installed on second arm lock (22), upset drive synchronous pulley (32) are installed on the output shaft of upset motor (33), upset drive synchronous pulley (32) are rotatory through synchronous belt drive upset driven synchronous pulley (31).

4. The cylindrical ceramic carrier double-head clamping jaw as claimed in claim 3, further comprising a rotation stopping cylinder (34), wherein the rotation stopping cylinder (34) is arranged on the first clamping arm (21), the rod end of the rotation stopping cylinder (34) is provided with a flat end face, and the rod end of the rotation stopping cylinder (34) extends downwards to be tightly pressed against the first clamping frame (23).

5. The cylindrical ceramic carrier double-head clamping jaw as claimed in claim 1, wherein the clamping mechanism comprises a clamping cylinder (43), a clamping driving rack (44), a clamping gear (45) and a clamping driven rack (46), wherein the clamping cylinder (43) is arranged on the base plate (1), the rod end of the clamping cylinder (43) is connected with the first slide plate (41), one end of the clamping driving rack (44) is arranged on the first slide plate (41), the other end of the clamping driving rack is in meshing transmission with the clamping gear (45) arranged on the base plate (1), one end of the clamping driven rack (46) is arranged on the second slide plate (42), and the other end of the clamping driven rack is in meshing transmission with the clamping gear (45).

6. The double-headed clamping jaw for cylindrical ceramic carriers as claimed in claim 1, wherein the clamping jaw distance adjusting mechanism comprises a distance adjusting servo motor (71), a first sliding seat (72), a second sliding seat (73) and a distance adjusting positive and negative lead screw (76);

the distance adjusting servo motor (71) is arranged on the main body mounting plate (6), the output shaft of the distance adjusting servo motor is coaxially connected with the distance adjusting positive and negative screw rod (76), the distance adjusting positive and negative screw rod (76) is rotatably arranged on the main body mounting plate (6), one clamping jaw is arranged on the first sliding seat (72), the other clamping jaw is arranged on the second sliding seat (73),

the first sliding seat (72) is provided with a first nut (74), the second sliding seat (73) is provided with a second nut (75), and the first nut (74) and the second nut (75) are in threaded transmission connection with a distance adjusting positive and negative lead screw (76).