CN216781825U

CN216781825U - Mechanical paw

Info

Publication number: CN216781825U
Application number: CN202122774679.8U
Authority: CN
Inventors: 刘晓雯; 董宇飞; 董久辉; 苏雪锋; 庞少勇; 师彦平; 丁朝辉
Original assignee: Fulian Technology Shanxi Co Ltd
Current assignee: Fulian Technology Shanxi Co Ltd
Priority date: 2021-11-13
Filing date: 2021-11-13
Publication date: 2022-06-21
Anticipated expiration: 2031-11-13

Abstract

The application provides a mechanical gripper for work piece with in the charging tray moves to the station of adding, mechanical gripper is including the base member that is connected and gets the material subassembly, get the material subassembly and include the setting element and get the material piece, the setting element has a first gas passage, first gas passage runs through the setting element flows through first gas passage's gas will the work piece blows extremely the material level of getting of charging tray is in order to fix a position the work piece, get the material piece connect in one side of setting element, it is used for adsorbing the location to get the material piece the work piece, so that the base member via get the material piece and drive the work piece moves extremely add the station. This application blows the work piece to getting the material position through the gas of the first gas passage of flowing through, has improved the efficiency of getting of mechanical gripper.

Description

Mechanical paw

Technical Field

The utility model relates to the technical field of machining, in particular to a mechanical gripper.

Background

At present, when a workpiece is machined, the workpiece needs to be accurately transferred to a machining station so that a machining assembly can machine the workpiece.

The existing mechanical gripper drives a material taking part to move above a workpiece through a transfer component, and after the material taking part absorbs the workpiece, the transfer component drives the material taking part to move to a machining position. However, before the mechanical gripper sucks the workpiece, the workpiece needs to be manually taken and fixed to a positioning piece, so that the workpiece is accurately adsorbed by the material taking piece, and the material taking efficiency is low.

SUMMERY OF THE UTILITY MODEL

In view of the above circumstances, it is desirable to provide a gripper to solve the technical problem of low material taking efficiency of the gripper.

The embodiment of the application provides a mechanical gripper for move the work piece in the charging tray to the station of processing, mechanical gripper is including the base member that is connected and get the material subassembly, it includes to get the material subassembly:

the positioning piece is provided with a first gas channel which penetrates through the positioning piece, the gas flowing through the first gas channel blows the workpiece to the material taking position of the material tray so as to position the workpiece,

and the material taking part is connected to one side of the positioning part and used for adsorbing the positioned workpiece so that the base body drives the workpiece to move to the processing station through the material taking part.

In some embodiments, the first gas channel comprises:

the first air inlet is arranged on the first side surface of the positioning piece and is used for being communicated with an external air source,

the first gas outlet, first gas outlet is located the second side of setting element, and communicate in first air inlet, the second side with first side is adjacent, first gas outlet be used for with the work piece blows to get the material level.

In some embodiments, the first gas channel further comprises:

the second air outlet is arranged on the second side surface and communicated with the first air inlet, and the second air outlet and the first air outlet act together to blow the workpiece to the material taking position.

In some embodiments, the first gas channel further comprises:

a first flow passage arranged in the positioning part and communicated with the first air inlet,

the second flow channel is arranged in the positioning piece, one end of the second flow channel is communicated with the first flow channel, the other end of the second flow channel is communicated with the first air outlet and the second air outlet, and the second flow channel is perpendicular to the first flow channel.

In some embodiments, the positioning member further comprises:

the second gas channel, the second gas channel with first gas channel interval sets up and runs through the setting element, the second gas channel with first gas channel does not communicate each other, the second gas channel with first gas channel combined action, in order with the work piece blows to get the material level.

In some embodiments, the second gas channel comprises:

the second air inlet is arranged on the third side surface of the positioning piece, the third side surface is opposite to the second side surface and is used for being communicated with the external air source,

the third air outlet is formed in the fourth side face of the positioning piece and communicated with the second air inlet, the fourth side face is opposite to the first side face, and the third air outlet is used for blowing the workpiece to the material taking position.

In some embodiments, the second gas channel further comprises:

a third flow passage arranged in the positioning part and communicated with the second air inlet,

and the fourth flow channel is arranged in the positioning piece, one end of the fourth flow channel is communicated with the third flow channel, the other end of the fourth flow channel is communicated with the third air outlet, and the fourth flow channel is perpendicular to the third flow channel.

In some embodiments, the number of the material taking assemblies is multiple, the material taking assemblies are arranged on the periphery of the base body at intervals and connected to the base body,

the base body is connected with a driving part and is used for driving the plurality of material taking assemblies to rotate under the driving of the driving part so as to take out a plurality of workpieces in sequence; and the base body is used for driving the workpieces to move to the processing station under the driving of the driving piece.

In some embodiments, the take off member comprises:

the material taking plate is connected to one side of the positioning piece;

the adsorption rod is arranged on the material taking plate and is positioned on the side surface of the positioning piece;

and the adsorption part is connected with or integrally formed at one end of the adsorption rod, which deviates from the material taking plate, and is used for adsorbing the workpiece.

In some embodiments, the adsorption rod is movably arranged in the material taking plate relative to the material taking plate;

the material taking part further comprises an elastic part, and the elastic part is abutted between the material taking plate and the adsorption part and used for elastically adsorbing the workpiece.

The mechanical gripper blows the workpiece to the material taking position of the material tray through the gas flowing through the first gas channel so as to position the workpiece, the material taking part adsorbs the positioned workpiece, and the base body drives the workpiece to move to the processing position through the material taking part so as to process the workpiece. Compared with the prior art, this application blows the work piece to getting the material position through the gas of the first gas passage of flowing through, has improved the efficiency of getting of mechanical gripper.

Drawings

Fig. 1 is a schematic perspective view of a mechanical gripper according to an embodiment of the present disclosure.

Fig. 2 is a perspective view of the take-off assembly shown in fig. 1.

Fig. 3 is a schematic perspective view of another angle of the take-off assembly of fig. 2.

Figure 4 is a partial cross-sectional view of the spacer shown in figure 2 taken along position iv.

Fig. 5 is a schematic perspective view of the gripper shown in fig. 1 at another angle.

Description of the main elements

Mechanical gripper 100

Substrate 10

Material taking assembly 20

Positioning piece 21

First gas passage 211

First air inlet 2111

First air outlet 2112

Second air outlet 2113

First flow passage 2114

Second flow passage 2115

Second gas passage 212

Second air inlet 2121

Third air outlet 2122

Third flow passage 2123

Fourth flow passage 2124

First side 213

Second side 214

Third side 215

Fourth side 216

Material taking part 22

Material taking plate 221

Adsorption bar 222

Suction part 223

Elastic part 224

Driving member 30

Tray moving part 40

Workpiece 200

Detailed Description

For the purposes of describing the embodiments of the present application in detail below, examples of the embodiments are illustrated in the accompanying drawings, wherein like or similar reference numbers indicate like or similar elements or elements having like or similar functionality throughout. The embodiments described below with reference to the accompanying drawings are illustrative and are only for the purpose of explaining the present application and are not to be construed as limiting the present application.

In the description of the present application, it is to be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the application and for simplicity in description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed in a particular orientation, and be operated in a particular manner, and thus should not be considered limiting. Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first", "second", may explicitly or implicitly include one or more of the described features. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.

In the description of the present application, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; may be mechanically connected, may be electrically connected or may be in communication with each other; they may be directly connected or indirectly connected through intervening media, or may be connected through the use of two elements or the interaction of two elements. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as the case may be.

In this application, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may comprise direct contact of the first and second features, or may comprise contact of the first and second features not directly but through another feature in between. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly above and obliquely above the second feature, or simply meaning that the first feature is at a lesser level than the second feature.

The following disclosure provides many different embodiments or examples for implementing different features of the application. In order to simplify the disclosure of the present application, specific example components and arrangements are described below. Of course, they are merely examples and are not intended to limit the present application. Moreover, the present application may repeat reference numerals and/or letters in the various examples, such repetition is for the purpose of simplicity and clarity and does not in itself dictate a relationship between the various embodiments and/or configurations discussed. In addition, examples of various specific processes and materials are provided herein, but one of ordinary skill in the art may recognize applications of other processes and/or use of other materials.

This application blows the work piece to getting the material position through the gas of the first gas passage of flowing through, has improved the efficiency of getting of mechanical gripper.

Some embodiments of the present application will be described in detail below with reference to the accompanying drawings.

Referring to fig. 1, the present embodiment provides a gripper 100 for moving a workpiece 200 in a tray (not shown) to a processing station (not shown), where the workpiece 200 includes, but is not limited to, a mobile phone rear cover, a protective case, and the like.

The gripper 100 comprises a base body 10 and a material taking assembly 20, wherein the base body 10 is connected to the material taking assembly 20, and the base body 10 is used for driving the material taking assembly 20 to move between a material tray and a processing position.

The material taking assembly 20 comprises a positioning member 21 and a material taking member 22, two ends of the positioning member 21 are connected to the base body 10 and the material taking member 22, the positioning member 21 is used for positioning the workpiece 200, and the material taking member 22 is used for adsorbing the positioned workpiece 200.

As shown in fig. 2, the positioning member 21 has a first gas channel 211, the first gas channel 211 penetrates through the positioning member 21, external gas flows through the first gas channel 211 and acts on one side of the workpiece 200, and blows the workpiece 200 to a material taking position (not shown) of the tray, and the workpiece 200 abuts against a sidewall of the tray to position the workpiece 200.

The material taking part 22 is connected to one side of the positioning part 21, and when the workpiece 200 is positioned in the tray, the material taking part 22 adsorbs the positioned workpiece 200, so that the substrate 10 drives the workpiece 200 to move to the processing station through the material taking part 22.

The implementation process of the embodiment is as follows: the external gas flows through the first gas channel 211 and acts on one side of the workpiece 200, and blows the workpiece 200 to the material taking position of the material tray, the workpiece 200 abuts against the side wall of the material tray to position the workpiece 200 at the preset position of the material tray, then the material taking part 22 adsorbs the positioned workpiece 200, finally the base body 10 drives the material taking part 22 to move through the positioning part 21, and drives the workpiece 200 to move to the processing position through the material taking part 22.

In one embodiment, as shown in fig. 2, the extracting member 22 includes an extracting plate 221, an adsorbing rod 222, and an adsorbing portion 223. The material-fetching plate 221 has a substantially plate shape, one end of the material-fetching plate 221 is connected to one side of the positioning member 21, and the other end of the material-fetching plate 221 is connected to the base 10. The adsorption rod 222 is substantially rod-shaped, and the adsorption rod 222 is mounted on the material taking plate 221, located on the side of the positioning member 21, movably inserted into the material taking plate 221 relative to the material taking plate 221, and used for guiding the material taking member 22. The suction portion 223 is connected to or integrally formed at one end of the suction rod 222 away from the material fetching plate 221, and is used for sucking the workpiece 200. After the positioning element 21 positions the workpiece 200 to the material feeding position, the base 10 drives the material taking part 22 to move to the material taking position through the material taking plate 221, the adsorption rod 222 guides the adsorption part 223 to move, and the positioned workpiece 200 is adsorbed through the adsorption part 223.

In some embodiments, the material taking member 22 further includes an elastic portion 224, the elastic portion 224 is abutted between the material taking plate 221 and the adsorbing portion 223, when the material taking member 22 adsorbs the workpiece 200, the elastic portion 224 is compressed to elastically adsorb the workpiece 200, so as to avoid damaging the workpiece 200.

Referring to fig. 2 and 3, the first gas channel 211 includes a first gas inlet 2111 and a first gas outlet 2112. The first gas inlet 2111 is disposed on the first side 213 of the positioning component 21 and is used for communicating with an external gas source, and gas generated by the external gas source flows through the first gas channel 211 through the first gas inlet 2111 to blow the workpiece 200 to the material taking position. The first air outlet 2112 is disposed on the second side surface 214 of the positioning member 21 and is communicated with the first air inlet 2111, the second side surface 214 is adjacent to the first side surface 213, and the first air outlet 2112 is used for blowing the workpiece 200 to the material taking position to position the workpiece 200, so as to facilitate the material taking member 22 to suck the positioned workpiece 200. The workpiece 200 is positioned by gas, so that the workpiece 200 is prevented from being damaged when the workpiece 200 is positioned.

In some embodiments, the first gas channel 211 further includes a second gas outlet 2113, and the second gas outlet 2113 is disposed at the second side 214 and is communicated with the first gas inlet 2111. When the weight of the workpiece 200 is large, the second air outlet 2113 and the first air outlet 2112 work together to blow the workpiece 200 to the pick-up position.

In the present embodiment, referring to fig. 1 to 4, the first gas channel 211 further includes a first flow channel 2114 and a second flow channel 2115. In fig. 4, it is illustrated that the number of the second flow passages 2115 provided is two, but not limited thereto, the number of the second flow passages 2115 provided may be one, three, or more, the number depending on the size of the workpiece to be positioned, the larger the size, the larger the number of the second flow passages 2115 provided; the smaller the size, the smaller the number of second flow passages 2115 provided. The first flow channel 2114 is disposed in the positioning member 21 and is communicated with the first air inlet 2111. In the case where the second flow passages 2115 shown in fig. 4 are provided in two, two second flow passages 2115 are provided in the aligning member 21, one end of each second flow passage 2115 (for example, the right end of the second flow passage 2115 in fig. 4) communicates with the first flow passage 2114, the other end of each second flow passage 2115 (for example, the left end of the second flow passage 2115 in fig. 4) communicates with the corresponding first air outlet 2112 or second air outlet 2113, and each second flow passage 2115 is perpendicular to the first flow passage 2114. Gas generated by an external gas source flows through first gas inlet 2111 to first flow passage 2114, flows through second flow passage 2115, and acts on workpiece 200 through first gas outlet 2112 and second gas outlet 2113 to position workpiece 200 to a pick-up location.

The positioning member 21 further includes a second gas channel 212, the second gas channel 212 and the first gas channel 211 are disposed at an interval and penetrate through the positioning member 21, and the second gas channel 212 is not communicated with the first gas channel 211. The first gas passage 211 acts on one side of the workpiece 200, the second gas passage 212 acts on the other side of the workpiece 200, and the second gas passage 212 cooperates with the first gas passage 211 to blow the workpiece 200 to the pick-up position.

Specifically, the second gas passage 212 includes a second gas inlet 2121 and a third gas outlet 2122. The second gas inlet 2121 is disposed on the third side 215 of the positioning member 21, the third side 215 is disposed opposite to the second side 214 for communicating with an external gas source, and gas generated by the external gas source flows through the second gas passage 212 via the second gas inlet 2121 to blow the workpiece 200 to the material taking position. The third air outlet 2122 is disposed on the fourth side surface 216 of the positioning element 21 and is communicated with the second air inlet 2121, the fourth side surface 216 is disposed opposite to the first side surface 213, and the third air outlet 2122 is used for conveying the air to the side edge of the workpiece 200 to blow the workpiece 200 to the material taking position. In fig. 4, it is illustrated that the number of the third air outlets 2122 is three, but not limited thereto, and the number of the third air outlets 2122 may be one, two, four, or more, depending on the size of the workpiece to be positioned, the larger the size, the larger the number of the third air outlets 2122; the smaller the size, the smaller the number of third air outlets 2122 provided.

In this embodiment, the second gas passage 212 further includes third flow passages 2123 and fourth flow passages 2124, and the number of the fourth flow passages 2124 is the same as the number of the third gas outlets 2122. The third flow passage 2123 is disposed in the positioning member 21 and is communicated with the second air inlet 2121. In the case that the number of the fourth flow passages 2124 is three as shown in fig. 4, three fourth flow passages 2124 are provided in the positioning member 21, one end of each fourth flow passage 2124 is communicated with the third flow passage 2123, the other end of each fourth flow passage 2124 is communicated with the corresponding third air outlet 2122, and each fourth flow passage 2124 is perpendicular to the third flow passage 2123. Gas generated from an external gas source flows through the second gas inlet 2121 to the third flow passage 2123, flows through the fourth flow passage 2124, and acts on the workpiece 200 through the third gas outlet 2122, and cooperates with the first gas passage 211 to position the workpiece 200 at the material taking position.

Referring to fig. 5, in the present embodiment, the number of the material taking assemblies 20 is plural, and the plural material taking assemblies 20 are arranged around the base 10 at intervals and connected to the base 10. The base 10 is connected to a driving member 30, and the base 10 is used for driving the plurality of material taking assemblies 20 to rotate under the driving of the driving member 30 so as to take out the plurality of workpieces 200 in sequence, and driving the plurality of workpieces 200 to move to the processing station under the driving of the driving member 30 through the base 10.

In some embodiments, the gripper 100 further includes a tray moving member 40, the tray moving member 40 is connected to the base 10 and spaced apart from the material taking assembly 20, and the tray moving member 40 is used for gripping the tray that has been taken, so as to facilitate the material taking assembly 20 to repeatedly take the workpiece 200 of a next tray.

The working process of the embodiment of the application is as follows: the base 10 drives the positioning element 21 to move to one side of the workpiece 200, the gas generated by an external gas source flows to the first flow channel 2114 through the first gas inlet 2111, flows through the second flow channel 2115, and acts on one side of the workpiece 200 through the first gas outlet 2112 and the second gas outlet 2113, the gas generated by another or the same external gas source flows to the third flow channel 2123 through the second gas inlet 2121, flows through the fourth flow channel 2124, acts on the workpiece 200 through the third gas outlet 2122, and is matched with the first gas channel 211 to position the workpiece 200 at the material taking position, the material taking plate 221 of the base 10 drives the material taking element 22 to move to the material taking position, the adsorption part 223 adsorbs the positioned workpiece 200, the material taking assemblies 20 are driven by the driving element 30 to rotate to take out the workpieces 200 in sequence, and the workpieces 200 are driven by the driving element 30 through the base 10 to move to the processing position.

The gripper 100 blows the workpiece 200 to the material taking position of the tray by the gas flowing through the first gas channel 211 to position the workpiece 200, the material taking member 22 absorbs the positioned workpiece 200, and the substrate 10 drives the workpiece 200 to move to the processing position to process the workpiece 200. This application blows work piece 200 to getting the material level through the gas of first gas passage 211 of flowing through, has improved the material efficiency of getting of gripper 100.

It will be evident to those skilled in the art that the application is not limited to the details of the foregoing illustrative embodiments, and that the present application may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the application being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein.

Claims

1. The utility model provides a mechanical gripper for move the work piece in the charging tray to the station of processing, its characterized in that, mechanical gripper is including the base member that is connected and get the material subassembly, it includes to get the material subassembly:

2. The gripper of claim 1, wherein said first gas channel comprises:

the first gas outlet is arranged on the second side face of the positioning piece and communicated with the first gas inlet, the second side face is adjacent to the first side face, and the first gas outlet is used for blowing the workpiece to the material taking position.

3. The gripper of claim 2, wherein said first gas channel further comprises:

4. The gripper of claim 3, wherein said first gas channel further comprises:

5. The gripper of any of claims 2-4, wherein the positioning member further comprises:

6. The gripper of claim 5, wherein said second gas channel comprises:

7. The gripper of claim 6, wherein said second gas channel further comprises:

a third flow passage arranged in the positioning piece and communicated with the second air inlet,

8. The gripper of claim 1,

the material taking assemblies are arranged on the periphery of the base body at intervals and connected with the base body,

9. The gripper of claim 1, wherein the take-off member comprises:

the material taking plate is connected to one side of the positioning piece;

10. The gripper of claim 9,

the adsorption rod is movably arranged in the material taking plate in a penetrating way relative to the material taking plate;