CN221088205U - Workpiece grabbing device - Google Patents
Workpiece grabbing device Download PDFInfo
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- CN221088205U CN221088205U CN202322744839.3U CN202322744839U CN221088205U CN 221088205 U CN221088205 U CN 221088205U CN 202322744839 U CN202322744839 U CN 202322744839U CN 221088205 U CN221088205 U CN 221088205U
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- 239000000463 material Substances 0.000 abstract description 9
- 230000007306 turnover Effects 0.000 abstract description 2
- 230000009471 action Effects 0.000 description 8
- 238000010586 diagram Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000000149 penetrating effect Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
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Abstract
The utility model relates to a workpiece grabbing device, which comprises a vertical lifting unit, a pushing unit and a grabbing unit, wherein the vertical lifting unit is used for driving the pushing unit and the grabbing unit to lift or descend along the vertical direction; the pushing unit is connected with the vertical lifting unit and drives the gripper unit to move along the horizontal direction and to be close to or far away from the processing equipment, and the gripper unit is connected with the pushing unit and used for clamping the vertical surface or the horizontal surface of the workpiece to be taken after the processing is finished in the processing equipment. After processing equipment finishes processing operation, make the device be close to the work piece through vertical lift and horizontal pushing to after tongs unit centre gripping work piece, keep away from processing equipment and wait to get the material, reduce processing equipment and accomplish when not getting the material yet because of waiting to get the material and compelled time of shutting down, accelerate processing equipment's turnover efficiency, and then improve automated processing's overall efficiency.
Description
Technical Field
The utility model relates to the technical field of automatic door and window processing, in particular to a workpiece grabbing device.
Background
The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.
When door and window processing, the work piece can be carried out all kinds of machining by the processing equipment in the workstation, and after finishing processing, only need take out the work piece from the workstation after, can be snatched and shift to the next process by the robot, and the robot if directly snatch the work piece, then need additionally carry out a round trip movement for time cost increases.
Disclosure of utility model
In order to solve the technical problems in the prior art, the utility model provides the workpiece grabbing device, after machining equipment finishes machining operation, workpieces are taken out of the machining equipment through vertical lifting and horizontal pushing and action cooperation of a gripper unit, the workpieces are clamped by the gripper unit to wait for taking, the time that the machining equipment is forced to stop due to waiting for taking when the workpieces are machined and are not yet taken is reduced, and then machining efficiency is improved.
In order to achieve the above purpose, the present utility model adopts the following technical scheme:
A first aspect of the present utility model provides a workpiece gripping apparatus comprising:
The vertical lifting unit is used for driving the pushing unit and the handle unit to lift or descend along the vertical direction;
The pushing unit is connected with the vertical lifting unit and drives the gripper unit to move along the horizontal direction for approaching or separating from the processing equipment,
The gripper unit is connected with the pushing unit and used for clamping a vertical plane or a horizontal plane of a workpiece to be taken after machining in the machining equipment.
Further, the vertical lifting unit comprises a first air cylinder which is arranged along the vertical direction, the fixed end of the first air cylinder is connected with the base, the movable end of the first air cylinder is connected with the support, the top of the support is connected with a first guide rail component which is horizontally arranged, and the support is pushed by the first air cylinder to lift or descend along the vertical direction together with the first guide rail component.
Further, the pushing unit comprises a second air cylinder which is arranged in parallel with the first guide rail assembly, the fixed end of the second air cylinder is connected with the first guide rail assembly, and the movable end of the second air cylinder is connected with the foundation plate.
Further, the fixed end of the second cylinder is connected with the first guide rail component through the first connecting piece, the movable end is connected with the foundation plate through the second connecting piece, and the movement axis of the movable end of the second cylinder is parallel to the guiding direction of the first guide rail component.
Further, the tongs unit includes the third cylinder of arranging along the horizontal direction, and the stiff end and the basic board of third cylinder are connected, and the expansion end of third cylinder passes behind the first riser and is connected with the grip block, and first riser is connected on the base plate, and the second riser is connected to the one end that first riser was kept away from to the base plate.
Further, a guide rod which is movably connected is arranged on the first vertical plate, the guide rod is parallel to the movement axis of the third cylinder, and one end of the guide rod penetrates through the first vertical plate and then is connected with the clamping plate.
Further, the pushing unit comprises a second air cylinder and a second guide rail assembly which are arranged in parallel with the first guide rail assembly, the fixed end of the second air cylinder is connected with the first guide rail assembly, the movable end of the second air cylinder and the second guide rail assembly are connected with one side of the end plate together, and the other side of the end plate is connected with the track and the first vertical plate in the gripper unit.
Further, the second cylinder is connected with the first guide rail assembly through the first connecting piece, and a sliding support is arranged between the first guide rail assembly and the second guide rail assembly.
Further, the sliding support is in sliding connection with the second guide rail assembly, and the sliding support is fixedly connected with the first guide rail assembly.
Further, the tongs unit includes the third cylinder of arranging along the vertical direction, and the stiff end of third cylinder passes through first riser and end plate connection, and the expansion end of third cylinder passes first riser and clamping plate to be connected, track sliding connection on clamping plate and the end plate.
Compared with the prior art, the above technical scheme has the following beneficial effects:
1. After processing equipment finishes processing operation, make the device be close to the work piece through vertical lift and horizontal pushing to after tongs unit centre gripping work piece, keep away from processing equipment and wait to get the material, reduce processing equipment and get the material and compelled time of shutting down because of waiting when not getting the material when the work piece processing finishes, accelerate processing equipment's turnover efficiency, reduce the action when the robot snatches the work piece simultaneously, and then improve automated processing's overall efficiency.
2. The gripper unit can clamp the workpiece from the vertical plane of the workpiece or clamp the workpiece from the horizontal plane of the workpiece, can cope with different shapes of the workpiece, is suitable for the condition that the clamped surface of the workpiece is in the vertical plane or the condition that the clamped surface is in the horizontal plane, and meets the material taking requirements of the workpieces in different shapes.
3. In the structure of the pushing unit, the second air cylinder pushes the action direction of the foundation plate to be guided through the second connecting piece by sliding between the second connecting piece and the first guide rail component.
4. One of the structures of the gripper unit is used for clamping a workpiece in the horizontal direction, a space between the holding plate and the second vertical plate in the structure is used for clamping the workpiece, a guide rod penetrating through the first vertical plate and connected to the holding plate is used for guiding the moving direction of the movable end of the third cylinder, the direction of the movable end of the third cylinder when the third cylinder drives the holding plate to move is ensured to be a straight line, further the relative movement between the holding plate and the second vertical plate is ensured to be reliable, and the stable clamping action of the workpiece when the workpiece is grabbed is ensured.
5. Another structure of the gripper unit is used for clamping the workpiece in the vertical direction, a clamping plate in the structure is connected to the end plate in a sliding manner through a rail, and reliability of the gripper unit when clamping the workpiece is guided by the rail structure, so that the guide rod structure is replaced.
Drawings
The accompanying drawings, which are included to provide a further understanding of the utility model and are incorporated in and constitute a part of this specification, illustrate embodiments of the utility model and together with the description serve to explain the utility model.
Fig. 1 is a schematic view of the overall structure of a workpiece gripping device according to a first embodiment of the present utility model;
Fig. 2 and fig. 3 are schematic structural views of a vertical lifting unit in a workpiece gripping device according to a first embodiment of the present utility model;
fig. 4 is a schematic structural diagram of a pushing unit in the workpiece grabbing device according to the first embodiment of the present utility model;
Fig. 5 is a schematic structural view of a gripper unit in a workpiece gripping apparatus according to a first embodiment of the present utility model;
Fig. 6 is a schematic diagram of the overall structure of a workpiece gripping device according to a second embodiment of the present utility model;
fig. 7 and fig. 8 are schematic structural diagrams of a pushing unit in a workpiece grabbing device according to a second embodiment of the present utility model;
Fig. 9 is a schematic structural diagram of a gripper unit in a workpiece gripping apparatus according to a second embodiment of the present utility model.
In the figure: 1 base, 21 first cylinder, 22 support, 23 first guide rail assembly, 31 second cylinder, 32 first connecting piece, 33 second connecting piece, 34 base plate, 341 second guide rail assembly, 342 end plate, 343 sliding support, 41 third cylinder, 42 guide rod, 43 first riser, 44 grip block, 45 second riser.
Detailed Description
The utility model will be further described with reference to the drawings and examples.
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the utility model. 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 utility model belongs.
As described in the background art, when door and window processing is performed, a workpiece is subjected to various mechanical processing by processing equipment in a workbench, and after the processing is finished, the workpiece needs to be taken out of the workbench and then can be grasped by a robot and transferred to the next process. Because the robot can not directly grasp the workpiece from the workbench, the two processing procedures are not completely associated, and automation is difficult to realize.
Therefore, the following embodiment provides a workpiece grabbing device, after machining operation is completed by machining equipment, workpieces are taken out from a workbench of the machining equipment through vertical lifting, horizontal pushing and action matching of a gripper unit, and the workpieces are abutted with a subsequent robot through the gripper unit, so that time consumed by the robot for grabbing the workpieces is reduced, and machining efficiency is improved.
Embodiment one:
As shown in fig. 1 to 5, a workpiece gripping apparatus includes:
The vertical lifting unit is used for driving the pushing unit and the handle unit to lift or descend along the vertical direction;
The pushing unit is connected with the vertical lifting unit and drives the gripper unit to move along the horizontal direction for approaching or separating from the processing equipment,
The gripper unit is connected with the pushing unit and used for clamping a vertical plane or a horizontal plane of a workpiece to be taken after machining in the machining equipment.
As shown in fig. 2 to 3, the vertical lift unit includes a first cylinder 21 connected to the base 1, a movable end of the first cylinder 21 is connected to a support 22, a first rail assembly 23 is provided at the top of the support 22, and the support 22 and the first rail assembly 22 are pushed to rise or fall in a vertical direction by the first cylinder 21.
The first cylinder 21 is not limited to a specific structural type, and for example, a two-position cylinder may be selected, and the actions of positioning the gripper unit, taking out the workpiece from the workbench and the like are realized through two positions.
As shown in fig. 4, the pushing unit includes a second cylinder 31 connected to the first rail assembly 23, and the second cylinder 31 pushes the base plate 34 to move.
In this embodiment, the fixed end of the second cylinder 31 is fixed on the first rail assembly 23 through the first connecting piece 32, the movable end is connected with the foundation plate 34 through the second connecting piece 33, the moving axis of the movable end of the second cylinder 31 is parallel to the guiding direction of the first rail assembly 23, and the second cylinder 31 is guided through the action direction of pushing the foundation plate 34 by the second connecting piece 33 by sliding between the second connecting piece 33 and the first rail assembly 23.
As shown in fig. 4, the gripper unit includes a third cylinder 41 connected to the base plate 34, the expansion and contraction direction of the movable end of the third cylinder 41 is parallel to the guide rod 42, the guide rod 42 is arranged in parallel with the third cylinder 41, the movable end of the third cylinder 41 passes through a first vertical plate 43 and is connected to a clamping plate 44, the first vertical plate 43 is connected to the base plate 34, a second vertical plate 45 is provided at the distal end of the base plate 34 along the movement direction of the third cylinder 41, and the second vertical plate 45 in this embodiment is connected to one end of the base plate 34.
The third cylinder 41 acts, the movable end drives the clamping plate 44 to be close to or far away from the second vertical plate 45, the space between the clamping plate 44 and the second vertical plate 45 is used for clamping a workpiece, the guide rod 42 penetrating through the first vertical plate 43 and connected to the clamping plate 44 is used for guiding the movement direction of the movable end of the third cylinder 41, the direction of the movable end when the movable end drives the clamping plate 44 to move is ensured to be a straight line, further the relative movement between the clamping plate 44 and the second vertical plate 45 is ensured to be reliable, and the stable clamping action when the workpiece is grabbed is ensured.
In the above structure, the second cylinder 31 in the pushing unit moves along the water surface to push the base plate 34 and the gripper unit to move to the space below the workpiece, the first cylinder 21 in the vertical lifting unit acts to drive the bracket 22, the first guide rail assembly 23, the base plate 34, the pushing unit and the gripper unit to rise to the first position (namely, the position of the workpiece), the workpiece is located in the space between the clamping plate 44 and the second vertical plate 45 in the gripper unit, the third cylinder 41 in the gripper unit acts to clamp the workpiece, at the moment, the workpiece is released by the processing device, the vertical lifting unit continues to rise to the second position to enable the workpiece to move upwards to be separated from the processing device, the second cylinder 31 in the pushing unit acts again to drive the gripper unit and the workpiece to move away from the processing device from the horizontal direction, and the vertical lifting unit descends to the set position to wait for the workpiece to be taken away.
In the structure, the pushing unit moves along the horizontal plane, the gripper unit clamps the workpiece from the vertical plane of the workpiece, and the gripper unit is suitable for the condition that the clamped surface of the workpiece is in the vertical plane, so that after the processing operation of the workpiece in the processing equipment is finished, the workpiece can be separated from the processing equipment by utilizing the units, the time for stopping the processing equipment to take materials is shortened, and the time cost of automatic processing of the whole workpiece is reduced.
Embodiment two:
As shown in fig. 6, in this embodiment, the gripper unit clamps the workpiece from the horizontal plane of the workpiece, which is suitable for the situation that the clamped surface of the workpiece is in the horizontal plane, so that after the processing operation of the workpiece in the processing device is finished, each unit can be used to separate from the processing device, so that the processing device reduces the time for stopping and taking materials, and the time cost of automatic processing of the whole workpiece is reduced.
The fixed vertical lifting unit in this embodiment has the same structure as that in the first embodiment, and will not be described here again.
The pushing unit still adopts a horizontal movement mode, but the pushing unit needs to adapt to the change of the gripper unit due to the change of the position and the structure of the gripper unit.
As shown in fig. 7 and 8, the pushing unit comprises a second air cylinder 31 and a second guide rail assembly 342 which are arranged in parallel with the first guide rail assembly 23, the second air cylinder 31 is fixed on the first guide rail assembly 23 through a first connecting piece 32, a sliding support 343 is arranged between the first guide rail assembly 23 and the second guide rail assembly 342, the top of the sliding support 343 is in sliding connection with the second guide rail assembly 341, and the bottom of the sliding support 343 is fixedly connected with the first guide rail assembly 23; the movable end of the second cylinder 31 is connected to one side of the end plate 342 together with the second rail assembly 341, and the other side of the end plate 342 is connected to the rail in the gripper unit and the first riser 43.
As shown in fig. 9, the gripper unit includes a third cylinder 41 arranged in a vertical direction, the movable end of the third cylinder 41 is connected to a clamping plate 44 through a first vertical plate 43, the first vertical plate 43 is connected to the other side of an end plate 342, and the clamping plate 44 is slidably connected to a rail on the end plate 342.
The third cylinder 41 acts to drive the clamping plate 44 to move in a direction approaching or separating from the first vertical plate 43, and clamps the workpiece in a vertical direction, during which the clamping plate 44 is slidably connected to the end plate 342 through a rail, and the reliability of the clamping of the workpiece by the gripper unit is guided by the rail structure, instead of the structure of the guide rod in the first embodiment.
This embodiment is applicable to the case where the clamped surface of the workpiece is in the horizontal plane,
The vertical lifting unit acts to drive the pushing unit and the gripper unit to lift to the first position, at this time, the lower surface of the grabbing space of the gripper unit coincides with the lower plane of the clamped surface of the workpiece (only coincides in the height direction, the position in the horizontal direction is adjusted subsequently), the pushing unit acts to drive the gripper unit to be close to the workpiece, the clamped surface of the workpiece is located in the space formed between the clamping plate 44 and the first vertical plate 43, the third air cylinder 41 of the gripper unit acts to clamp the workpiece, at this time, the processing equipment loosens the workpiece, the vertical lifting unit acts to lift to the second position, the pushing unit acts to drive the gripper unit and the workpiece to be far away from the processing equipment, at this time, the vertical lifting unit descends to the initial position or acts to the set position, and waits for the workpiece to be taken away.
The above description is only of the preferred embodiments of the present utility model and is not intended to limit the present utility model, but various modifications and variations can be made to the present utility model by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present utility model should be included in the protection scope of the present utility model.
Claims (10)
1. A workpiece gripping apparatus, comprising:
The vertical lifting unit is used for driving the pushing unit and the handle unit to lift or descend along the vertical direction;
The pushing unit is connected with the vertical lifting unit and drives the gripper unit to move along the horizontal direction for approaching or separating from the processing equipment,
The gripper unit is connected with the pushing unit and used for clamping a vertical plane or a horizontal plane of a workpiece to be taken after machining in the machining equipment.
2. The workpiece gripping apparatus according to claim 1, wherein the vertical lifting unit includes a first cylinder disposed in a vertical direction, a fixed end of the first cylinder is connected to the base, a movable end of the first cylinder is connected to the support, a top of the support is connected to a first rail assembly disposed horizontally, and the support is pushed by the first cylinder to rise or fall in the vertical direction together with the first rail assembly.
3. A workpiece gripping apparatus as defined in claim 1, wherein the pushing unit includes a second cylinder juxtaposed with the first rail assembly, a fixed end of the second cylinder being connected to the first rail assembly, and a movable end of the second cylinder being connected to the base plate.
4. A workpiece gripping apparatus as claimed in claim 3, characterised in that the fixed end of the second cylinder is connected to the first rail assembly via a first connecting piece, the movable end is connected to the base plate via a second connecting piece, and the axis of movement of the movable end of the second cylinder is parallel to the direction of guidance of the first rail assembly.
5. The workpiece grabbing device as claimed in claim 1, wherein the gripper unit includes a third cylinder disposed in a horizontal direction, a fixed end of the third cylinder is connected to the base plate, a movable end of the third cylinder passes through the first vertical plate and then is connected to the clamping plate, the first vertical plate is connected to the base plate, and an end of the base plate, which is far from the first vertical plate, is connected to the second vertical plate.
6. The workpiece grabbing device as claimed in claim 5, wherein a guide rod is movably connected to the first vertical plate, the guide rod is parallel to the movement axis of the third cylinder, and one end of the guide rod penetrates through the first vertical plate and then is connected to the clamping plate.
7. The workpiece grabbing device as claimed in claim 1, wherein the pushing unit comprises a second cylinder and a second guide rail assembly which are arranged in parallel with the first guide rail assembly, a fixed end of the second cylinder is connected with the first guide rail assembly, a movable end of the second cylinder and the second guide rail assembly are connected with one side of the end plate together, and the other side of the end plate is connected with the track and the first vertical plate in the gripper unit.
8. The workpiece gripping apparatus of claim 7, wherein the second cylinder is coupled to the first rail assembly via a first coupling member, and a sliding support is provided between the first rail assembly and the second rail assembly.
9. The workpiece gripping device of claim 8, wherein the shoe is slidably coupled to the second rail assembly and the shoe is fixedly coupled to the first rail assembly.
10. The workpiece gripping device according to claim 1, wherein the gripper unit comprises a third cylinder arranged in a vertical direction, a fixed end of the third cylinder is connected with the end plate through the first vertical plate, a movable end of the third cylinder passes through the first vertical plate to be connected with the clamping plate, and the clamping plate is in sliding connection with a rail on the end plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202322744839.3U CN221088205U (en) | 2023-10-12 | 2023-10-12 | Workpiece grabbing device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202322744839.3U CN221088205U (en) | 2023-10-12 | 2023-10-12 | Workpiece grabbing device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN221088205U true CN221088205U (en) | 2024-06-07 |
Family
ID=91303010
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202322744839.3U Active CN221088205U (en) | 2023-10-12 | 2023-10-12 | Workpiece grabbing device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN221088205U (en) |
-
2023
- 2023-10-12 CN CN202322744839.3U patent/CN221088205U/en active Active
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