CN217890324U

CN217890324U - Flexible tongs of lathe material loading and unloading

Info

Publication number: CN217890324U
Application number: CN202221567324.XU
Authority: CN
Inventors: 吴灏; 吴坤泽
Original assignee: Zhejiang Senyang Pneumatic Co ltd
Current assignee: Zhejiang Senyang Pneumatic Co ltd
Priority date: 2022-06-22
Filing date: 2022-06-22
Publication date: 2022-11-25
Anticipated expiration: 2032-06-22

Abstract

The utility model relates to a flexible tongs of unloading on lathe, including the installation piece, be provided with first tongs subassembly and second tongs subassembly on the installation piece, first tongs subassembly and second tongs subassembly are located the adjacent side of installation piece, first tongs subassembly and second tongs subassembly all include flexible compensation arrangement, tongs cylinder and grab material anchor clamps, flexible compensation arrangement with connect through the mounting panel between the tongs cylinder, it fixes to grab the material anchor clamps on the tongs cylinder, still be provided with supplementary liftout module on the tongs cylinder, supplementary liftout module is used for supporting and grabs the material anchor clamps. The utility model has the advantages that: aiming at the high-precision positioning of the feeding and discharging of a workpiece processed by CNC, the problems that the robot is complicated in programming, the point teaching difficulty is high, and a follow-up robot possibly generates other forces in the action process are solved.

Description

Flexible tongs of lathe material loading and unloading

Technical Field

The utility model relates to an automated production equipment technical field especially relates to a flexible tongs of lathe material loading and unloading.

Background

The existing CNC machine tool needs to meet the requirements for feeding and discharging of workpieces in the machining process, particularly, high-precision positioning must be achieved for workpieces such as gears during feeding and discharging, so that the problems that follow-up robots generate different forces in the action process and the like are solved, and the existing feeding and discharging gripper cannot meet the requirements.

Disclosure of Invention

An object of the utility model is to provide a flexible tongs of unloading on lathe is to the last unloading high accuracy location of the work piece of CNC processing, and it is loaded down with trivial details to solve the robot programming, and the point location teaching degree of difficulty is big, and follow-up robot probably produces other strength scheduling problem in the action process.

In order to achieve the above purpose, the utility model provides a following technical scheme:

the flexible gripper for feeding and discharging on the machine tool is characterized by comprising an installation block, wherein a first gripper assembly and a second gripper assembly are arranged on the installation block, the first gripper assembly and the second gripper assembly are located on the adjacent side faces of the installation block, the first gripper assembly and the second gripper assembly respectively comprise a flexible compensation device, a gripper cylinder and a gripping fixture, the flexible compensation device is connected with the gripper cylinder through an installation plate, the gripping fixture is fixed on the gripper cylinder, and an auxiliary material ejecting module is further arranged on the gripper cylinder and used for supporting the gripping fixture.

The utility model discloses further set up, the trachea has been seted up to the first side of installation piece and has been collected the mouth, is provided with flange spare on the second side that sets up with first side is relative, be provided with the cover barrel between the flange spare, be provided with the trachea export on the cover barrel.

The utility model discloses further set up, flexible compensation arrangement is flexible compensation arrangement of six degrees of freedom or three degrees of freedom flexible compensation arrangement.

The utility model discloses further set up, first tongs subassembly is located on the third side of installation piece, second tongs subassembly is located on the fourth side of installation piece, third side and fourth side are adjacent.

The utility model discloses further set up, one side of first tongs subassembly is provided with the lathe and blows the bits nozzle, the lathe blows on the bits nozzle is fixed in the installation piece.

The utility model discloses further set up, be provided with centering gas port, optional position locking gas port and flexible compensation gas port on the flexible compensation arrangement of three degrees of freedom.

The utility model discloses further set up, be provided with the centering gas port on the flexible compensation arrangement of six degrees of freedom.

The utility model discloses further set up, be provided with on the tongs cylinder and blow dirt gas port, clamping jaw open gas port and clamping jaw closed gas port.

The utility model has the advantages that: aiming at the high-precision positioning of the feeding and discharging of a workpiece processed by CNC, the problems that the robot is complicated in programming, the point teaching difficulty is high, and a follow-up robot possibly generates other forces in the action process are solved.

Drawings

The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:

fig. 1 is an exploded view of an embodiment of the present invention.

Fig. 2 is a perspective view of the embodiment of the present invention.

Fig. 3 is a schematic diagram of a six-degree-of-freedom flexible compensation device according to an embodiment of the present invention.

Fig. 4 is a schematic diagram of a three-degree-of-freedom flexible compensation device according to an embodiment of the present invention.

The reference numerals are used to designate the same elements,

10. mounting blocks; 20. a first gripper assembly; 30. a second gripper assembly; 40. a flexibility compensation device; 50. a gripper cylinder; 60. a material grabbing clamp; 70. mounting a plate; 80. an auxiliary material ejecting module; 90. a flange member; 100. a sleeve; 1001. an outlet of the trachea; 110. a trachea collection port; 120. a chip blowing nozzle of the machine tool; 130. centering the air port; 140. locking the air ports at any position; 150. a flexible compensation gas port; 160. a dust blowing air port; 170. a clamping jaw air opening; 180. the clamping jaw closes the air port; 190. a cylinder body; 200. a movable cover; 210. a spring seat; 220. installing a panel; 230. a cavity; 240. a piston; 250. a piston rod; 260. an upper cover; 270. a module casing; 280. a movable body; 290. a base; 300. a first piston bore; 310. a second piston bore;

Detailed Description

Embodiments of the present application will be described in detail with reference to the drawings and examples, so that how to implement technical means to solve technical problems and achieve technical effects of the present application can be fully understood and implemented.

As shown in fig. 1-2, the utility model relates to a flexible tongs of lathe material loading and unloading, including installation piece 10, be provided with first tongs subassembly 20 and second tongs subassembly 30 on the installation piece 10, first tongs subassembly 20 and second tongs subassembly 30 are located the adjacent side of installation piece 10, first tongs subassembly 20 and second tongs subassembly 30 all include flexible compensation arrangement 40, tongs cylinder 50 and its material anchor clamps 60 of grabbing, flexible compensation arrangement 40 with connect through mounting panel 70 between the tongs cylinder 50, material anchor clamps 60 of grabbing are fixed on the tongs cylinder 50, still be provided with supplementary liftout module 80 on the tongs cylinder 50, supplementary liftout module 80 is used for supporting material anchor clamps 60 of grabbing. The utility model discloses use gear machining as the example in the middle of, when needs pack into the gear CNC anchor clamps, need pass through and realize the location between tooth and the tooth, when the CNC material loading, open six degree of freedom flexible compensation arrangement's flexible gas port earlier, flexible compensation is movable this moment. When the robot is used for clamping, the sixth shaft rotates back and forth clockwise and anticlockwise and is used for simulating hands to adapt to positioning between the teeth, and therefore the gear can smoothly slide into the clamp.

In the material taking process, the flexible air port is opened firstly, and the flexible compensation can move in 6 degrees of freedom at the moment. When the robot pulls the gear out of the clamp, hard scratch cannot be caused on the gear surface.

Wherein the first gripper assembly 20 is used for taking material and the second gripper assembly 30 is used for feeding material.

The trachea collection port 110 has been seted up to the first side of installation piece 10, is provided with flange spare 90 on the second side that sets up opposite with the first side, be provided with sleeve 100 between the flange spare 90, be provided with trachea export 1001 on the sleeve 100, trachea collection port 110 and trachea export 1001 are used for placing and collecting the trachea.

The flexibility compensation device 40 is a six-degree-of-freedom flexibility compensation device 40 or a three-degree-of-freedom flexibility compensation device 40.

The six-degree-of-freedom flexible compensation device 40 is preferably used in the first gripper assembly 20, the three-degree-of-freedom flexible compensation device 40 is preferably used in the second gripper assembly 30, and the selection can be performed according to requirements, that is, the three-degree-of-freedom flexible compensation device 40 can also be used in the first gripper assembly 20, and the six-degree-of-freedom flexible compensation device 40 can also be used in the second gripper assembly 30.

The first hand grip assembly 20 is located on a third side of the mounting block 10, and the second hand grip assembly 30 is located on a fourth side of the mounting block 10, the third side and the fourth side being adjacent.

A machine tool scrap blowing nozzle 120 is arranged on one side of the first gripper assembly 20, the machine tool scrap blowing nozzle 120 is fixed on the mounting block 10, and the mounting surface of the machine tool scrap blowing nozzle is an opposite surface of the fourth side surface.

The three-degree-of-freedom flexible compensation device 40 is provided with a centering air port 130, an optional position locking air port 140 and a flexible compensation air port 150, the six-degree-of-freedom flexible compensation device 40 is provided with the centering air port 130, and the gripper cylinder 50 is provided with a dust blowing air port 160, a gripper opening air port 170 and a gripper closing air port 180.

As shown in fig. 3, the structure of the six-degree-of-freedom flexibility compensation device 40 adopted in the present invention is as follows: the flexible compensation device 40 with six degrees of freedom comprises a cylinder body 190, a movable cover 200, a spring seat 210 and a mounting panel 220 used for being connected with a manipulator, wherein a cavity 230 is formed in the cylinder body 190, a piston 240 is arranged in the cavity 230, one end of the piston 240 is connected with a piston rod 250, the piston rod 250 penetrates through the movable cover 200 and is arranged opposite to an ejector pin arranged in the spring seat 210, an air inlet hole (namely an air centering hole 130) is formed in the cylinder body 190, the air inlet hole is communicated with the cavity 230, and the piston 240 moves to one side of the piston rod 250 through the action of gas.

The principle of the six-degree-of-freedom flexibility compensation device 40 is as follows: when the air inlet hole is filled with air, the air acts on the piston 240, the piston rod 250 is pushed, and the movable cover 200 is driven to move towards one side of the spring seat 210 until the ejector pin and the piston rod 250 are abutted and centered; after ventilation is stopped, the movable plate is reset under the action of the spring, free swing is realized, and flexible compensation on six degrees of freedom is realized. The above structure is described in detail in the patent name "a six-degree-of-freedom compliance compensator 40" of the present application; and will not be described further herein.

As shown in fig. 4, the utility model relates to a three-degree-of-freedom flexible compensation device 40, including upper cover 260, module cover body 270, movable body 280 and base 290 that set gradually from top to bottom, movable body 280 with base 290 swing joint, upper cover 260 with constitute cavity 230 between the module cover body 270, movable body 280 is located between base 290 and the module cover body 270, and movable body 280 activity sets up on base 290, be provided with first piston hole 300 and second piston hole 310 in the module cover body 270, first piston hole 300 and second piston hole 310 symmetry set up, set up first piston 240 in the first piston hole 300, set up second piston 240 in the second piston hole 310, be provided with inlet port a (namely centering gas port 130) and inlet port B (arbitrary position locking gas port 140) on the side of module cover body 270, drive first piston 240 and second piston 240 to move down and act on movable body 280 and make base 290 move down when inlet port a admits air, drive first piston 240 and second piston 240 to move up and act on movable body 280 and make base 290 move up when B admits air. The above structure is described in detail in the patent name "a three-degree-of-freedom flexible compensation device 40" of the present application; will not be described in more detail here

The working principle of the three-degree-of-freedom flexible compensation device 40 is as follows: when the air inlet hole A is used for air inlet, the device is locked by downward movement of the first piston 240 and the second piston 240; when the air intake holes B are supplied, unlocking of the device is achieved, and the base 290 and the movable body 280 can achieve movement in the X/Y direction and rotation in the X/Y plane.

As used in the specification and in the claims, certain terms are used to refer to particular components. As one skilled in the art will appreciate, manufacturers may refer to a component by different names. This specification and claims do not intend to distinguish between components that differ in name but not function. In the following description and in the claims, the terms "include" and "comprise" are used in an open-ended fashion, and thus should be interpreted to mean "include, but not limited to. "substantially" means within an acceptable error range, and a person skilled in the art can solve the technical problem within a certain error range to substantially achieve the technical effect.

It is noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a good or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such good or system. Without further limitation, an element defined by the phrases "comprising one of \8230;" does not exclude the presence of additional like elements in an article or system comprising the element.

While the foregoing description shows and describes several preferred embodiments of the invention, it is to be understood, as noted above, that the invention is not limited to the forms disclosed herein, but is not intended to be exhaustive of other embodiments, and is capable of use in various other combinations, modifications, and environments and is capable of changes within the scope of the inventive concept as expressed above, or as determined by the skilled artisan in the relevant art. But that modifications and variations may be effected by those skilled in the art without departing from the spirit and scope of the invention, which is to be limited only by the claims appended hereto.

Claims

1. The utility model provides a flexible tongs of unloading on lathe, its characterized in that, includes the installation piece, be provided with first tongs subassembly and second tongs subassembly on the installation piece, first tongs subassembly and second tongs subassembly are located the adjacent side of installation piece, first tongs subassembly and second tongs subassembly all include flexible compensation arrangement, tongs cylinder and grab material anchor clamps thereof, flexible compensation arrangement with connect through the mounting panel between the tongs cylinder, grab the material anchor clamps and fix on the tongs cylinder, still be provided with supplementary liftout module on the tongs cylinder, supplementary liftout module is used for supporting and grabs the material anchor clamps.

2. The flexible machine tool feeding and discharging gripper as claimed in claim 1, wherein a first side surface of the mounting block is provided with an air pipe collecting port, a second side surface opposite to the first side surface is provided with flange members, a sleeve member is arranged between the flange members, and an air pipe outlet is arranged on the sleeve member.

3. The flexible gripper for feeding and blanking of a machine tool as claimed in claim 2, characterized in that said flexible compensation means are six-degree-of-freedom flexible compensation means or three-degree-of-freedom flexible compensation means.

4. The machine blanking flexible hand grip of claim 3 wherein said first hand grip assembly is located on a third side of said mounting block and said second hand grip assembly is located on a fourth side of said mounting block, said third and fourth sides being adjacent.

5. The flexible gripper for feeding and discharging materials on a machine tool as claimed in claim 4, wherein a machine tool scrap blowing nozzle is arranged on one side of the first gripper assembly, and the machine tool scrap blowing nozzle is fixed on the mounting block.

6. The flexible gripping device for feeding and blanking of the machine tool as claimed in claim 5, wherein the three-degree-of-freedom flexible compensation device is provided with a centering air port, an arbitrary position locking air port and a flexible compensation air port.

7. The flexible gripper for feeding and discharging of a machine tool as claimed in claim 6, characterized in that the flexible compensation device with six degrees of freedom is provided with centering air ports.

8. The flexible machine tool loading and unloading gripper as claimed in claim 7, wherein the gripper cylinder is provided with a dust blowing air port, a gripper opening air port and a gripper closing air port.