CN217102041U

CN217102041U - Gripping device and processing device

Info

Publication number: CN217102041U
Application number: CN202220809819.2U
Authority: CN
Inventors: 颜炳姜; 朱小康; 李俊宏
Original assignee: Smartguy Intelligent Equipment Co ltd; Conprofe Technology Group Co Ltd
Current assignee: Smartguy Intelligent Equipment Co ltd; Conprofe Technology Group Co Ltd
Priority date: 2022-04-08
Filing date: 2022-04-08
Publication date: 2022-08-02
Anticipated expiration: 2032-04-08

Abstract

The utility model provides a grabbing device and processingequipment, grabbing device includes: the device comprises a first cylinder, a lifting rod, a second cylinder lapping plate, a fastener, a second cylinder and a positioning and grabbing mechanism; one end of the lifting rod is connected with the first air cylinder, the other end of the lifting rod is connected with the second air cylinder lapping plate, one end of the fastener is fixedly connected with one end of the second air cylinder, the other end of the fastener is lapped on the second air cylinder lapping plate, the fastener can move relative to the second air cylinder lapping plate, the other end of the second air cylinder is connected with the positioning and grabbing mechanism, and the grabbing device is used for grabbing a jig which is movably positioned by the machine tool workbench and is arranged on the positioning and supporting mechanism; the utility model discloses a grabbing device can cooperate the lathe workstation, snatchs the tool through lathe workstation self mobile location, thinks about ingeniously, and the structural innovation accurately realizes unloading in the automation reliably.

Description

Gripping device and processing device

Technical Field

The utility model relates to an automated production technical field especially relates to a grabbing device and processingequipment.

Background

Traditional lathe processing lines generally arrange in large-scale factory building, and hundreds of machine tools can simultaneous production, for guaranteeing production efficiency, today, the mill generally can carry out automated transformation to the lathe station, for example, the wholesale material by processing can use the robot arm to accomplish automatic feeding, and this has improved production efficiency to a certain extent, has broken away from the inefficiency of artifical material loading.

However, when the robot arm is applied in an automation plant, the robot arm is highly dependent on a debugging personnel of a robot arm manufacturer, and a production personnel of the automation plant does not have corresponding capability to complete the debugging and installation of the robot arm. The situation that the machine tool is moved to change the arrangement of the automatic factory frequently occurs due to production requirements, and the positions of the machine tool and the robot arm are changed, so that debugging personnel of a robot arm manufacturer need to be arranged to debug the robot arm again to meet production requirements. Obviously, the above situation brings inconvenience, consumption of personnel and expenses, and time to the automation plant. Meanwhile, the existing loading and unloading device generally directly uses a robot arm to grab the material plate, and rigid collision is easily generated on a grabbed workpiece in the grabbing process, so that the grabbed workpiece is damaged and cracked.

SUMMERY OF THE UTILITY MODEL

On the basis, it is necessary to provide a grabbing device and processingequipment to above-mentioned technical problem, and its design is ingenious, utilizes the utility model discloses a grabbing device and the lathe workstation of lathe itself have realized accurate reliable automatic unloading of going up.

The utility model provides a grabbing device, include: the device comprises a first cylinder, a lifting rod, a second cylinder lapping plate, a fastener, a second cylinder and a positioning and grabbing mechanism; the one end of lifter is connected first cylinder, the other end of lifter is connected second cylinder overlap joint board, the one end of fastener with the one end fixed connection of second cylinder, the other end overlap joint of fastener is in on the second cylinder overlap joint board, the fastener can be relative the second cylinder overlap joint board removes, the other end of second cylinder is connected the location snatchs the mechanism, grabbing device is used for snatching through the tool of installing on location support material mechanism of lathe workstation itself mobile location.

Furthermore, the positioning and grabbing mechanism is used for grabbing the jig arranged on the positioning and supporting mechanism and comprises a telescopic tensioning rod, a positioning and mounting plate and a positioning pin; the telescopic tensioning rod and the positioning mounting plate are respectively connected with the second cylinder; the positioning mounting plate is provided with a first through groove, the telescopic tensioning rod penetrates through the first through groove, and the second air cylinder can drive the telescopic tensioning rod to grab the jig; the positioning pin is arranged on the positioning mounting plate and used for positioning when the jig is grabbed.

Furthermore, the gripping device further comprises a buffer plate, one end of the fastener penetrates through a through hole in the buffer plate and is fixedly connected with the second air cylinder, and the buffer plate is attached to the second air cylinder; the fastener cover is equipped with the spring, the one end butt of spring the second cylinder overlap joint board, the other end butt of spring the buffer board.

Furthermore, the buffer plate is further provided with a spring mounting hole communicated with the through hole, and the spring mounting hole is used for accommodating the spring.

Furthermore, the gripping device further comprises a blowing device, and the blowing device is installed on the buffer plate and used for blowing the jig.

Furthermore, a detection sensor is arranged on the positioning installation plate and used for sensing the jig.

Furthermore, the gripping device also comprises a first air cylinder fixing plate and a guide rod, the first air cylinder fixing plate is connected with the first air cylinder, the first air cylinder fixing plate is provided with a second through groove, and the lifting rod can move up and down through the second through groove; one end of the guide rod is in sliding connection with the first cylinder fixing plate, the other end of the guide rod penetrates through the second cylinder lapping plate and is fixedly connected with the second cylinder lapping plate, and the end part of the other end of the guide rod is sleeved with the buffer plate.

Furthermore, be equipped with the fluid buffer on the second cylinder overlap strap, be equipped with on the buffer board and be used for dodging the hole of dodging of fluid buffer, the fluid buffer is used for preventing striking first cylinder fixed plate when second cylinder overlap strap shifts up.

The utility model also provides a processingequipment, a serial communication port, include: the grabbing device is arranged on the machine tool, the machine tool is provided with a machine tool workbench and a zero-point quick-changing device, the zero-point quick-changing device and the positioning material supporting mechanism are arranged on the machine tool workbench, and the machine tool workbench is used for moving a positioning jig so that the grabbing device grabs and conveys a jig clamped on the positioning material supporting mechanism to the zero-point quick-changing device.

Further, be equipped with range unit in the lathe, range unit includes distance measuring sensor and communication module, distance measuring sensor is used for detecting the roughness of the tool on the quick change device at zero point and will detect the signal and send through communication module to the controller of lathe.

1. The utility model discloses a grabbing device goes up and down through first cylinder drive lifter, in order to drive second cylinder overlap joint board, second cylinder and location snatch the mechanism and go up and down, when not setting up the buffer board, snatch the mechanism in the twinkling of an eye of grabbing the tool in the location, the location snatchs the mechanism and receives the tool to its instantaneous ascending reaction force, owing to carry out the overlap joint through the fastener with second cylinder overlap joint board and second cylinder, thereby the location snatchs the mechanism and can the rebound, avoid the location to snatch mechanism and the complete rigidity collision of tool, lead to the location to snatch the mechanism and snatch the tool in-process, the location snatchs the mechanism tool damage cracked.

2. The utility model discloses a when grabbing device is provided with the buffer board, the fastener passes and connects the second cylinder behind the through-hole of buffer board, and the fastener is located a pot head between buffer board and the second cylinder overlap joint board and is equipped with the spring, snatch the mechanism in the twinkling of an eye of grabbing the tool in the location, the tool gives the upwards power that the mechanism was snatched in the location, this power drive buffer board rebound and press the spring to second cylinder overlap joint board, and then buffer board and spring can reach the buffering tool and the location and snatch the contact between the mechanism, avoid the location to snatch mechanism and tool rigid contact, make the difficult cracked condition of impact crack or cracked condition of appearing of tool.

3. The gripping device of the utility model can not only grip the jig which is moved and positioned by the workbench, but also place the jig on the zero-point quick-change device in the working area after the workbench is moved and positioned, namely, the vertical displacement of the gripping device is matched with the horizontal movement of the workbench, the jig is gripped to the zero-point quick-change device from the positioning material supporting mechanism, the design is ingenious, the structure is innovative, the automatic feeding and discharging can be realized accurately and reliably, the automatic feeding and discharging of the robot arm is completely replaced by a low-cost mode, the automation of factory production is realized, the robot arm cost is about tens of thousands to hundreds of thousands, and the cost of the robot arm is greatly reduced by several times; the automatic feeding and discharging transformation scheme is realized for manufacturing and processing enterprises with large-scale machine tools, and the automatic feeding and discharging transformation scheme has high economic and technical values.

Drawings

Fig. 1 is a schematic structural view of a gripping device provided by the present invention;

fig. 2 is a schematic structural view of a region a of the gripping device provided by the present invention;

fig. 3 is a schematic structural view of a gripping jig of the gripping device provided by the present invention;

fig. 4 is a schematic cross-sectional view of the gripping device provided by the present invention in the direction of a-a';

fig. 5 is a schematic structural view of another angle of the gripping device provided by the present invention;

fig. 6-1 and 6-2 are schematic cross-sectional views in the direction of B-B' of the gripping device provided by the present invention;

fig. 7-1 and 7-2 are schematic views of the machine tool structure provided by the present invention;

fig. 8 is a schematic diagram of the mechanism for positioning the material holding mechanism and the machine tool (the gripping device and the distance measuring device are omitted).

In the figure, 10, a gripping device; 111. a second cylinder; 112. a tension bar; 1121. a tension section; 113. a telescopic rod; 114. a chuck; 115. positioning the mounting plate; 116. positioning pins; 117. a first through groove; 118. positioning holes; 121. a first cylinder; 122. a first cylinder fixing plate; 123. a second cylinder strap; 124. a guide bar; 125. a lifting rod; 126. a buffer plate; 127. a second through groove; 128. avoiding holes; 129. a through hole; 130. a spring mounting hole; 131. a blowing device; 132. an oil buffer; 133. detecting a sensor; 134. a drag chain; 141. a fastener; 1411. a lap joint hole; 1412. a limiting mechanism; 142. a spring; 20. positioning a material supporting mechanism; 30. a machine tool; 310. a machine tool table; 320. a zero point quick-change device; 330. a ranging sensor; 40. a jig; 41. a clamping hole; 42. positioning a groove; 50. a material supporting plate; 60. automatic feeding and discharging machines; 61. a material conveying mechanism.

Detailed Description

In order to make the above objects, features and advantages of the present invention more comprehensible, embodiments of the present invention are described in detail below with reference to the accompanying drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. The present invention can be embodied in many different forms other than those specifically described herein, and it will be apparent to those skilled in the art that similar modifications can be made without departing from the spirit and scope of the invention, and it is therefore not to be limited to the specific embodiments disclosed below.

It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only and do not represent the only embodiments.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

Referring to fig. 1 to 5, the present invention provides a gripping device, including: the device comprises a first air cylinder 121, a lifting rod 125, a second air cylinder overlapping plate 123, a fastener 141, a second air cylinder 111 and a positioning and grabbing mechanism; one end of the lifting rod 125 is connected with the first cylinder 121, the other end of the lifting rod 125 is connected with the second cylinder overlapping plate 123, one end of the fastening piece 141 is fixedly connected with one end of the second cylinder 111, the other end of the fastening piece 141 is overlapped on the second cylinder overlapping plate 123, the fastening piece 141 can move relative to the second cylinder overlapping plate 123, and the other end of the second cylinder 111 is connected with the positioning and grabbing mechanism; the gripping device 10 is used for gripping a jig 40 which is movably positioned by the machine tool workbench 310 and is installed on the positioning material supporting mechanism 20, wherein the first air cylinder 121 drives the lifting rod 125 to lift so as to drive the second air cylinder lapping plate 123, the second air cylinder 111 and the positioning gripping mechanism to lift; the fastener 141 may be a screw or the like.

In some embodiments, referring to fig. 1 and fig. 2, the positioning and grabbing mechanism includes a telescopic tensioning rod, a positioning mounting plate 115, and a positioning pin 116, where the telescopic tensioning rod and the positioning mounting plate 115 are respectively connected to the second cylinder 111; the positioning mounting plate 115 is provided with a first through groove 117, the telescopic tensioning rod passes through the first through groove 117, the positioning pin 116 is arranged on the positioning mounting plate 115, and the positioning pin 116 is used for positioning when grabbing; the telescopic tensioning rod comprises a telescopic rod 113, a chuck 114 and a tensioning rod 112, the telescopic rod 113 is connected with the chuck 114, the chuck 114 is connected with the tensioning rod 112, the second air cylinder 111 can drive the tensioning rod 112 to do telescopic motion, and the second air cylinder 111 can drive the chuck 114 and the tensioning rod 112 to do rotary motion.

In some embodiments, the positioning mounting plate 115 is provided with a positioning hole 118 for accommodating the positioning pin 116, and the positioning pin 116 is in interference connection with the positioning hole 118, referring to fig. 3 and 4, when the jig 40 is grabbed, the positioning pin 116 is in butt joint with the positioning groove 42 on the jig 40, so as to position the jig 40, so as to perform grabbing action.

In some embodiments, referring to fig. 6-1 and 6-2, the grasping apparatus 10 further includes a buffer plate 126, the buffer plate 126 is provided with a through hole 129 through which a fastening member 141 is inserted, and one end of the fastening member 141 passes through the through hole 129 of the buffer plate 126 and then is connected to the second cylinder 111, in one embodiment, the buffer plate 126 is attached to the second cylinder 111, and in another embodiment, the buffer plate 126 is fixedly connected to the second cylinder 111; a spring 142 is sleeved on a section of the fastener 141 located between the buffer plate 126 and the second cylinder overlapping plate 123, the buffer plate 126 is provided with a spring mounting hole 130 communicated with the through hole 129, one end of the spring 142 abuts against the second cylinder overlapping plate 123, and the other end of the spring 142 is arranged in the spring mounting hole 130; the fastening member 141 may be a screw, the second cylinder overlapping plate 123 is provided with an overlapping hole 1411 through which the fastening member 141 passes, the fastening member 141 is sleeved in the overlapping hole 1411 so that the fastening member 141 can move relative to the second cylinder overlapping plate 123, the other end of the fastening member 141 is located in the overlapping hole 1411, and the other ends of the overlapping hole 1411 and the fastening member 141 are provided with a limiting mechanism 1412 so that the fastening member 141 cannot fall out of the overlapping hole 1411; optionally, the fastening member 141 may be a screw, and the overlapping hole 1411 is a countersunk hole, so as to be matched with a nut of the screw, so as to prevent the screw from moving downward, and achieve a limiting effect. Specifically, at the moment that the jig 40 is grabbed by the positioning grabbing mechanism, the jig 40 gives an upward force to the positioning grabbing mechanism, the force drives the buffer plate 126 to move upward and presses the spring 142 to the second cylinder overlapping plate 123, the other end of the fastener 141 moves upward in the overlapping hole 1411, and then the buffer plate 126 and the spring 142 can buffer the contact between the jig 40 and the positioning grabbing mechanism, so that the positioning grabbing mechanism is prevented from being in rigid contact with the jig 40, and the jig 40 is not prone to impact cracks or cracking. In this process, the second cylinder strap 123 is not displaced, and the fastening member 141 moves relative to the second cylinder strap 123.

In addition, referring to fig. 3 and fig. 6-1, the second cylinder overlapping plate 123 is provided with an oil buffer 132, the buffer plate 126 is provided with an avoidance hole 128, the avoidance hole 128 is a through hole, the avoidance hole 128 provides a containing space for the oil buffer 132, and the oil buffer 132 and the buffer plate 126 are not in any contact or connection; when the first cylinder 121 drives the lift rod 125 to move upward, the oil buffer 132 may prevent the second cylinder bridge 123 from striking the first cylinder fixing plate 122.

In some embodiments, referring to fig. 1 and 3, the positioning and mounting plate 115 is provided with a detection sensor 133, the detection sensor 133 is used for sensing the gripped fixture 40, when the detection sensor 133 senses the fixture 40, a signal is sent to the machine tool controller, and the machine tool controller issues a control command to the gripping device 10, so as to control the gripping device 10 to perform descending and gripping operations.

In some embodiments, referring to fig. 3, the gripping device 10 further includes an air blowing device 131, the air blowing device 131 is mounted on the buffer plate 126, the jig 40 is blown by the air blowing device 131 to remove impurities such as dust, and after the jig 40 is blown, the jig 40 is gripped by the telescopic tightening rod.

In some embodiments, referring to fig. 3, the gripping device 10 further includes a first cylinder fixing plate 122 and a guide rod 124, the first cylinder fixing plate 122 is connected to the first cylinder 121, the first cylinder fixing plate 122 is provided with a second through slot 127, and the lifting rod 125 can move up and down through the second through slot 127; one end and the first cylinder fixed plate 122 sliding connection of guide bar 124, the other end of guide bar 124 passes second cylinder bridging plate 123 and with second cylinder bridging plate 123 fixed connection, wherein, in order to make buffer board 126 can remove according to same direction, be provided with the second through-hole that supplies the other end of guide bar 124 to wear to establish on the buffer board 126, receive the ascending in-process of atress, the moving direction of buffer board 126 can be injectd to guide bar 124, make buffer board 126 at the in-process of relative guide bar 124 rebound, the moving direction of buffer board 126 can not change.

In some embodiments, referring to fig. 5, the grasping apparatus 10 further includes a tow chain 134, and the tow chain 134 is used for accommodating the electric wire and the air pipe.

Referring to fig. 7-1,7-2 and 8, the present invention further provides a processing apparatus, including: the automatic feeding and discharging device comprises a positioning supporting mechanism 20, a machine tool 30, an automatic feeding and discharging machine 60 and the grabbing device 10, wherein the grabbing device 10 is installed on the machine tool 30, and the automatic feeding and discharging machine 60 is arranged on one side of the machine tool 30; the machine tool 30 is provided with a machine tool workbench 310 and a zero point quick-change device 320, and the zero point quick-change device 320 and the positioning material supporting mechanism 20 are arranged on the machine tool workbench 310 side by side; it is understood that the machine tool table 310 itself can be movably positioned, so that the machine tool table 310 moves the positioning jig 40 to make the gripping device 10 grip the jig 40 onto the zero point quick-change device 320, so that the machine tool 30 can process the workpiece on the jig 40.

Specifically, the tension rod 112 has a first working position and a second working position, and the first working position or the second working position of the tension rod 112 is switched by rotating the chuck 114; referring to fig. 2, the tightening rod 112 is at a first working position, and the tightening rod 112 can freely pass through the clamping hole 41 of the fixture 40; referring to fig. 4, after the collet 114 rotates 90 degrees from the first working position, the tension rod 112 is located at the second working position, and at this time, the tension portion 1121 of the tension rod 112 is limited by the clamping hole 41 of the jig 40, so that the tension rod 112 clamps the clamping hole 41 of the jig 40. It can be understood that, when the standby bed workbench 310 drives the positioning material supporting mechanism 20 and the material supporting plate 50 to move and enables any jig 40 on the material supporting plate 50 to move right under the gripping device 10, the first cylinder 121 drives the lifting rod 125, the second cylinder 111 and the positioning gripping mechanism to move downwards, after the detection sensor 133 senses the jig 40, the air blowing device 131 is controlled to blow air to the jig 40, dust and other impurities on the surface of the jig 40 are blown off, after the air blowing is finished, the first cylinder 121 is controlled to descend continuously until the positioning pin 116 on the positioning mounting plate 115 is butted with the positioning slot 42 on the jig 40, the second cylinder 111 is controlled to enable the telescopic tensioning rod on the second cylinder 111 to grip the jig 40, the second cylinder 111 drives the telescopic rod 113 to extend downwards to drive the chuck 114 and the tensioning rod 112 to extend downwards, the tensioning rod 112 passes through the clamping hole 41 of the jig 40, and the tensioning rod 112 is in the first working position, then the second cylinder 111 drives the chuck 114 to rotate, the chuck 114 drives the tightening rod 112 to rotate, so that the tightening rod 112 is located at the second working position, the tightening rod 112 clamps the jig 40 and retracts the telescopic rod 113, and the first cylinder 121 drives the lifting rod 125, the second cylinder 111 and the positioning and grabbing mechanism to move upwards to grab the jig 40; when the standby bed workbench 310 moves and the zero-point quick-change device 320 is just below the gripping device 10, the first cylinder 121 drives the lifting rod 125, the second cylinder 111 and the positioning gripping mechanism to move downwards until the lifting rod is lowered to a predetermined position (set according to a specific structure in the machine tool 30), the second cylinder 111 is controlled to drive the telescopic rod 113 to extend downwards, the tensioning rod 112 is located at the second working position at the moment, the second cylinder 111 drives the chuck 114 to rotate, the chuck 114 drives the tensioning rod 112 to rotate, so that the tensioning rod 112 loosens the clamping of the jig 40, the tensioning rod 112 is located at the first working position at the moment, the telescopic rod 113 is retracted at the same time, the first cylinder 121 is controlled to move upwards, and the jig 40 is placed on the zero-point quick-change device 320 of the machine tool 30.

In some embodiments, referring to fig. 7-1 and 7-2, a distance measuring device is disposed in the machine tool 30, the distance measuring device includes a distance measuring sensor 330 and a communication module, the distance measuring sensor 330 is mounted on the machine tool table 310, and the distance measuring sensor 330 is configured to detect the flatness of the fixture 40 on the zero point quick-change device 320 and send a detection signal to the controller of the machine tool 30 through the communication module; optionally, the distance measuring sensor 330 is a non-contact pneumatic differential sensor, which detects a gap value between the upper and lower attaching surfaces of the jig 40 by using a leakage amount when the positive pressure air passes through the micro holes of the jig 40, so as to determine whether the attaching degree meets the precision requirement, and the distance measuring sensor 330 is provided with a precision sensor inside, and can send a detection signal to the controller of the machine tool 30 through the communication module.

The material conveying mechanism 61 of the automatic feeding and discharging machine 60 is used for conveying the jig 40 and the processed material in the jig 40 to the positioning material supporting mechanism 20, and certainly, after the processed material is conveyed to the positioning material supporting mechanism 20, the processed material in the jig 40 and the jig 40 is still installed on the material supporting plate 50, that is, the material supporting plate 50 is conveyed to the positioning material supporting mechanism 20 together, and the second zero point quick-change device of the positioning material supporting mechanism 20 clamps the material supporting plate 50, so that the processed material in the jig and the jig can move together with the positioning material supporting mechanism.

It should be noted that, the zero point quick-change device 320 is different from the second zero point quick-change device, and the zero point quick-change device can also clamp the jig to rotate, and the structure is relatively more complex, while the second zero point quick-change device has a simple structure and is only used for positioning and clamping the retainer plate 50, and the zero point quick-change device 320 and the second zero point quick-change device clamp different objects in the present application, one is a clamping jig and the other is a clamping retainer plate 50; the second zero point quick-change device and the zero point quick-change device 320 can both realize high-precision positioning and clamping.

Further, since the positioning stocker mechanism 20 is attached to the machine tool table 310, the positioning stocker mechanism 20 moves together with the machine tool table 310 after the machine tool table 310 receives a movement command from the controller of the machine tool 30. The machine tool 30 is provided with the gripping device 10, the gripping device 10 is mounted on the machine tool 30 through a first air cylinder fixing plate 122, and the gripping device 10 can only lift up and down, when the standby machine tool workbench 310 drives the positioning material supporting mechanism 20 and the material supporting plate 50 to move and enables any jig 40 on the material supporting plate 50 to just move under the gripping device 10, the controller of the machine tool 30 sends a control command to the driving mechanism of the first air cylinder 121, the driving mechanism of the first air cylinder 121 drives the lifting rod 125 to descend through the first air cylinder 121, and drives the second air cylinder 111 and the positioning gripping mechanism to move downwards through the lifting rod 125, after the detection sensor 133 senses the jig 40, the air blowing device 131 is controlled to blow air to the jig 40, dust and other impurities on the surface of the jig 40 are blown off, after the air blowing is finished, the first air cylinder 121 is driven to continuously descend until the positioning pin 116 on the positioning mounting plate 115 is abutted to the positioning groove 42 on the jig 40, controlling the second cylinder 111 to make the telescopic tensioning rod on the second cylinder 111 grip the jig 40; after the jig 40 is grabbed, the controller of the machine tool 30 controls a command to the driving mechanism of the first air cylinder 121, the driving mechanism of the first air cylinder 121 drives the lifting rod 125 to move upwards through the first air cylinder 121, and drives the second air cylinder lapping plate 123 and the positioning grabbing mechanism to move upwards through the lifting rod 125, then the grabbing device 10 moves upwards to a certain preset position, meanwhile, the controller of the machine tool 30 also controls the machine tool workbench 310 to move, the machine tool workbench 310 moves towards the direction close to the grabbing device 10, when the zero point quick-change device 320 on the standby bed workbench 310 is positioned right below the grabbing device 10, the first air cylinder 121 drives the lifting rod 125, the second air cylinder lapping plate 123 and the positioning grabbing mechanism to move downwards, the positioning grabbing mechanism places the jig 40 on the zero point quick-change device 320, and detects the flatness of the jig 40 through the distance measuring sensor 330, if the flatness of the jig 40 meets the requirement, then, a corresponding detection signal is sent to the controller of the machine tool 30 through the communication module, the zero point quick-change device 320 then clamps and fixes the jig 40, and after the above process is completed, according to an instruction of the controller of the machine tool 30, the workpiece in the jig 40 can be processed according to a process program (for example, the controller of the machine tool 30 controls a tool mounted on the spindle to process the workpiece); it can be understood that if the range finding sensor 330 detects that the flatness of the jig 40 does not meet the requirement, a detection signal is sent to the controller of the machine tool 30, the controller of the machine tool 30 sends a reminding signal to remind a worker to check the jig 40, the reason that the flatness of the jig 40 does not reach the standard is found and processed, and the phenomenon that the machined product is scrapped due to the fact that the jig 40 is not flat is avoided.

The above-mentioned embodiments only represent some embodiments of the present invention, and the description thereof is specific and detailed, but not to be construed as limiting the scope of the present invention. It should be noted that, for those skilled in the art, without departing from the concept of the present invention, several variations and modifications can be made, which all fall within the scope of the present invention. Therefore, the protection scope of the present invention should be subject to the appended claims.

Claims

1. A grasping device, comprising: the device comprises a first cylinder, a lifting rod, a second cylinder lapping plate, a fastener, a second cylinder and a positioning and grabbing mechanism; the one end of lifter is connected first cylinder, the other end of lifter is connected second cylinder overlap joint board, the one end of fastener with the one end fixed connection of second cylinder, the other end overlap joint of fastener is in on the second cylinder overlap joint board, the fastener can be relative the second cylinder overlap joint board removes, the other end of second cylinder is connected the location snatchs the mechanism, grabbing device is used for snatching through the tool of installing on location support material mechanism of lathe workstation itself mobile location.

2. The gripping device of claim 1, wherein the positioning and gripping mechanism is used for gripping the jig mounted on the positioning and supporting mechanism, and comprises a telescopic tensioning rod, a positioning and mounting plate and a positioning pin; the telescopic tensioning rod and the positioning mounting plate are respectively connected with the second cylinder; the positioning mounting plate is provided with a first through groove, the telescopic tensioning rod penetrates through the first through groove, and the second air cylinder can drive the telescopic tensioning rod to grab the jig; the positioning pin is arranged on the positioning mounting plate and used for positioning when the jig is grabbed.

3. The gripping device of claim 1, further comprising a bumper plate, wherein one end of the fastener passes through a through hole in the bumper plate and is fixedly connected with the second cylinder, and the bumper plate is attached to the second cylinder; the fastener cover is equipped with the spring, the one end butt of spring the second cylinder overlap joint board, the other end butt of spring the buffer board.

4. The grasping apparatus according to claim 3, wherein the buffer plate is further provided with a spring mounting hole communicating with the through hole, the spring mounting hole being adapted to receive the spring.

5. The grasping apparatus according to claim 3, wherein the grasping apparatus further comprises an air blowing device mounted on the buffer plate for blowing air to the jig.

6. The gripping device of claim 2, wherein the positioning and mounting plate is provided with a detection sensor for sensing the fixture.

7. The gripping device of claim 3, further comprising a first cylinder securing plate and a guide rod, the first cylinder securing plate being connected to the first cylinder, the first cylinder securing plate being provided with a second through slot through which the lifting rod is movable up and down; one end of the guide rod is in sliding connection with the first cylinder fixing plate, the other end of the guide rod penetrates through the second cylinder lapping plate and is fixedly connected with the second cylinder lapping plate, and the end part of the other end of the guide rod is sleeved with the buffer plate.

8. The gripping device as claimed in claim 3, wherein the second cylinder strap is provided with an oil buffer, the buffer plate is provided with an avoidance hole for avoiding the oil buffer, and the oil buffer is used for preventing the second cylinder strap from impacting the first cylinder fixing plate when moving upwards.

9. A processing apparatus, comprising: the machine tool is provided with a machine tool workbench and a zero-point quick-change device, the zero-point quick-change device and the positioning material supporting mechanism are arranged on the machine tool workbench, and the machine tool workbench is used for moving a positioning jig so that the gripping device grips and conveys the jig clamped on the positioning material supporting mechanism to the zero-point quick-change device.

10. The machining device according to claim 9, wherein a distance measuring device is arranged in the machine tool, and the distance measuring device comprises a distance measuring sensor and a communication module, and the distance measuring sensor is used for detecting the flatness of a jig on the zero point quick-change device and sending a detection signal to a controller of the machine tool through the communication module.