TWI634065B - Gripper apparatus for loading or unloading workpiece - Google Patents

Abstract

A jaw for transferring a workpiece, comprising a nozzle joint, a base, a pneumatic assembly and a jaw assembly, wherein the jaw assembly has a moving member, two rollers, two finger cams and an extension The spring, using the design of the roller to push against the finger cam, enables the pinch cam to be shifted and has no backlash opening action, thereby improving the static friction force and the gripping reliability.

Description

Clamp for transferring workpieces

The present invention relates to a jaw, and more particularly to a jaw for transferring a workpiece.

In the change of the numerical control machine tool from the automated production to the intelligent production, three kinds of transfer mechanisms of the robot arm, the gantry robot and the knife-claw type jaw were produced for the purpose of automatic loading and unloading. Among them, the knife-type jaw has the advantages of integrated positioning with the numerical control tool machine mechanism, no external pipeline for the spindle center blowing drive, low structure and low cost, and can be stored in the tool magazine to save space. The clamping jaw is a transfer mechanism widely used for automatic loading and unloading. The jaws applied to the numerical control machine tool do not directly determine the state of the workpiece itself. Nowadays, the conventional technology mostly uses the limit switch to sense the jaw opening. The position of the mechanism (such as the piston) is used to estimate the state of the transfer, and the deformation of the link when the elastic link is sensed is used to sense the state of the jaw.

However, the fact that the transmission mechanism moves to a particular position or the link produces a particular type of change does not logically mean that the workpiece is indeed in the exact position of the jaws. In addition, if the limit switch fails, there is a risk that the workpiece will fall and it will not be detected during the automated production process. Among the existing jaws, there are three transmission types: multi-link transmission, rack-and-pinion transmission, and wedge-type transmission. These three transmission types are all constant-speed opening, and the rack-and-pinion transmission also has backlash error. ,and The existing jaws are changed from the inclined surface to the flat surface during the clamping, and the static friction force during the clamping process is insufficient, and the clamping reliability is poor.

Therefore, it is necessary to provide an improved jaw for transferring workpieces to solve the problems of the prior art.

The main object of the present invention is to provide a jaw for transferring a workpiece, which is a design that uses a roller to push against a finger cam to horizontally move the finger cam, and can generate a shifting of the finger cam and a backlash without backlash. Action to increase the static friction and the reliability of the grip.

To achieve the above object, the present invention provides a jaw for transferring a workpiece for mounting on a central air-blowing type spindle, the jaw for transferring the workpiece comprising a nozzle joint, a base, and a pneumatic An assembly and a jaw assembly; the nozzle joint is combined on the central blow molding machine; the base has a chamber and a passage formed at a first end of the base, the passage is formed At a second end of the base and in communication with the chamber, the air nozzle joint is combined at a second end of the base and is in communication with the passage; the pneumatic assembly is disposed in the chamber, the pneumatic assembly has a a sealing seat, a rod body, a piston and an elastic member, the sealing seat enclosing the chamber, the rod body penetrating the sealing seat; the piston connecting a first end of the rod body and receiving the passage sink The air pressure moves into the chamber, the elastic member abuts between the piston and the plug seat; the jaw assembly has a moving member, two rollers, two finger cams and a tension spring, the movement a piece connecting a second end of the rod, the rollers being respectively fixed to the movement The two sides, respectively, such top clamp fingers against the cam roller such that the tension spring connected to the cam such gripping fingers. When the piston is subjected to air pressure, the rollers respectively push against the pinch cams, causing the pinch cams to move horizontally in reverse; When the plug is subjected to a decrease in air pressure, the tension spring tensions the pinch cams to cause the pinch cams to move horizontally toward each other.

In an embodiment of the present invention, the jaw assembly further has a slide rail and two sliders, the slide rail is disposed under the plug seat, and the sliders are movably disposed on the slide rail, the clips The finger cams are respectively fixed on the sliders.

In one embodiment of the invention, each of the finger cams has a head and a neck, wherein the head forms an anti-cam curved surface for contacting the corresponding roller.

In an embodiment of the invention, the necks of the pin fingers are respectively connected to the two sides of the tension spring.

In an embodiment of the invention, the jaw assembly further has two concave jaws respectively fixed to the necks of the finger cams for extending into an inner surface of a workpiece, and the outer brackets fix the workpiece .

In an embodiment of the invention, the outer sides of the inner jaws have an outer serrated face.

In an embodiment of the invention, the jaw assembly further has two outer clamping jaws respectively fixed to the necks of the finger cams for contacting an outer surface of a workpiece, and the inner clamps fix the workpiece.

In one embodiment of the invention, the inner sides of the male jaws have an inner serrated face.

In an embodiment of the invention, the clamping jaw for transferring the workpiece further comprises a distance measuring module, the measuring module has an ultrasonic sensor and a controller, and the ultrasonic sensor The occlusion seat is disposed under the occlusion seat for sensing a position of a workpiece. The controller is disposed on the pedestal and electrically connected to the ultrasonic sensor.

In an embodiment of the invention, the ranging module further has a Bluetooth transceiver disposed on the base and electrically connected to the controller.

As described above, the corresponding anti-cam curved surfaces are scrolled by the rollers, and the cam fingers are moved horizontally to enable the concave claws to horizontally spread and fit the inner surface of the workpiece, or to make the convexities The jaws can be horizontally gripped and attached to the outer surface of the workpiece to increase the contact area of the grip. In addition, as the design surface of the anti-cam surface is different, the rollers roll on different anti-cam surfaces, and the pinch cams can be linked to form a deceleration effect during clamping. That is to say, the rollers are respectively pushed against the pinch cams, so that the cams of the pin fingers are horizontally moved, so that the pinch cams can be shifted and have no backlash opening motion, thereby improving static friction. Force and grip reliability.

101‧‧‧Workpiece

102‧‧‧Workpiece

2‧‧‧ gas nozzle joint

21‧‧‧ gas nozzle pipe

3‧‧‧Base

31‧‧‧ chamber

32‧‧‧ channel

33‧‧‧ first end

34‧‧‧ second end

4‧‧‧Pneumatic components

41‧‧‧Flocking seat

42‧‧‧ rod body

421‧‧‧ first end

422‧‧‧ second end

43‧‧‧Piston

44‧‧‧Flexible components

5‧‧‧ jaw assembly

51‧‧‧Mobile parts

52‧‧‧Roller

53‧‧‧ pinch cam

531‧‧‧ head

532‧‧‧ neck

533‧‧‧Anti-cam surface

54‧‧‧ stretching spring

55‧‧‧Slide rails

56‧‧‧ Slider

57‧‧‧ concave jaws

571‧‧‧Outer serrated surface

58‧‧‧Exposed jaws

581‧‧‧Inside serrated surface

6‧‧‧Ranging module

61‧‧‧Ultrasonic sensor

62‧‧‧ Controller

63‧‧‧Bluetooth Transceiver

1 is a perspective view of a preferred embodiment of a jaw for transferring a workpiece according to the present invention; and FIG. 2 is a perspective cross-sectional view of a preferred embodiment of a jaw for transferring a workpiece according to the present invention. Figure 3 is a partial side elevational view of a preferred embodiment of a jaw for transferring workpieces in accordance with the present invention; and Figure 4 is a preferred embodiment of a jaw for transferring workpieces in accordance with the present invention. a side view; and Figure 5 is a perspective view of another preferred embodiment of a jaw for transferring a workpiece in accordance with the present invention.

The above and other objects, features and advantages of the present invention will become more <RTIgt; Furthermore, the directional terms mentioned in the present invention, such as upper, lower, top, bottom, front, rear, left, right, inner, outer, side, surrounding, central, horizontal, horizontal, vertical, longitudinal, axial, Radial, uppermost or lowermost, etc., only refer to the direction of the additional schema. Therefore, the directional terminology used is for the purpose of illustration and understanding of the invention.

Referring to FIG. 1 , a preferred embodiment of the clamping jaw for transferring workpieces of the present invention is mounted on a central air blowing type processing tool (not shown) for transferring workpieces. The jaws include a nozzle joint 2, a base 3, a pneumatic assembly 4, a jaw assembly 5 and a distance measuring module 6. The detailed construction, assembly relationship, and operation principle of each element will be described in detail below.

Referring to Figures 1 and 2, the nozzle joint 2 has a conical shape and has a nozzle pipe 21 for combination on the central air-blowing machine (for example, center blowing) The gas processing machine tool spindle) is configured to receive the gas that is fed into the center blowing type processing tool.

Referring to FIGS. 1 and 2, the base 3 is coupled to the nozzle joint 2, and the base 3 has a chamber 31 and a passage 32, wherein the chamber 21 is formed in the base 3. a first end 33, the passage 32 is formed at a second end 34 of the base 3, and the passage 32 is in communication with the chamber 31. The air nozzle joint 2 is combined at the second end 34 of the base 3. And the nozzle duct 21 is in communication with the passage 32.

Referring to Figures 2 and 3, the pneumatic assembly 4 is disposed in the chamber 31. The pneumatic assembly 4 has a plug seat 41, a rod 42 , a piston 43 and an elastic member 44. The plug 41 closes the chamber 31. The rod 42 extends through the plug seat 41. The piston 43 is connected to a first end 421 of the rod 42. The elastic member 44 abuts against the piston 43 and the plug seat 41. In the present embodiment, the elastic member 44 is a spring that is sleeved on the rod 42 and has two ends abutting against the piston 43 and the sealing seat 41. In addition, the piston 43 is used to bear The air pressure introduced by the passage 32 causes the piston 43 to move into the chamber 31, and when the air pressure to be introduced decreases, the piston 43 is again moved by the elastic restoring force of the elastic member 44 toward the passage 32.

Referring to Figures 2, 3 and 4, the jaw assembly 5 has a moving member 51, two rollers 52, two finger cams 53, a tension spring 54, a slide rail 55 and two sliders 56, wherein The moving member 51 is connected to a second end 422 of the rod body 42. The rollers 52 are respectively fixed on two sides of the moving member 51. The pin fingers 53 are respectively abutted against the rollers 52, and the stretching is performed. A spring 54 is connected between the finger cams 53. The slide rails 55 (for example, linear slide rails) are disposed under the plug seat 41. The sliders 56 are movably disposed on the slide rails 55. The finger cams 53 are respectively fixed to the sliders 56. Further, each of the finger cams 53 has a head portion 531 and a neck portion 532, wherein the head portion 531 forms an anti-cam curved surface 533 for contacting the corresponding roller 52, and in addition, the pin fingers The necks 532 of the cams 53 are respectively coupled to both sides of the tension spring 54.

Referring to FIG. 1 , in the embodiment, the jaw assembly 5 further has two concave jaws 57 fixed to the neck 532 of the finger cam 53 respectively. The female jaws 57 are intended to extend into an inner surface of a workpiece 101, and the outer brackets are fixed to the inner surface of the workpiece 101, and the outer sides of the inner jaws 57 may have an outer serration surface 571.

Referring to FIG. 5, in another embodiment, the jaw assembly 5 further has two external clamping jaws 58 fixed to the neck 532 of the finger cam 53 respectively. The outer jaws 58 are for contacting an outer surface of the workpiece 102, and the inner clips are fixed to the outer surface of the workpiece 102, and the inner side of the outer jaws 58 has an inner serration surface 581.

Referring to FIG. 1 , the ranging module 6 has an ultrasonic sensor 61 , a controller 62 and a Bluetooth transceiver 63 . The ultrasonic sensor 61 is disposed under the sealing seat 41 . The controller 62 is disposed on the base 3 and electrically connected to the ultrasonic sensor 61. The Bluetooth transceiver 63 is disposed on the base 3, Moreover, the controller 62 is electrically connected. In this embodiment, when the workpiece 101 is safely clamped and transferred without falling or eccentric, the position of the workpiece 101 sensed by the ultrasonic sensor 61 is maintained at a fixed value; When the position of the workpiece 101 is sensed to change, it means that the position of the workpiece 101 on the concave jaws 57 (or the outer jaws 58) changes.

According to the above structure, when the piston 43 is moved downward by the air pressure, the moving member 51 is moved through the rod body 42 to push the rollers 52 against the finger cams 53, that is, along the phase. The corresponding anti-cam curved surface 533 is scrolled downward, and the pin finger cam 53 is subjected to the vector component force effect of the anti-cam curved surface 533, and thus moves outward along the sliding rail 55 through the sliders 56, so that the pin fingers cam The 53 moves horizontally in opposite directions to each other, whereby the workpiece 101 is externally supported by the internal claws 57. At the same time, the tension spring 54 is pulled outward by the pinch cams 53 to accumulate an elastic restoring force.

Then, when the piston 43 is subjected to a decrease in air pressure, the piston 43 is moved by the elastic restoring force of the elastic member 44 toward the passage 32, and the moving member 51 is moved through the rod 42 to move the rollers 52 away. The clips refer to the anti-cam curved surface 533 of the cam 53 at this time, the pull The extension springs 54 tension the pinch cams 53 by the elastic restoring force, thereby moving inwardly along the slide rails 55 through the sliders 56, causing the pinch cams 53 to move horizontally, thereby transmitting the same The projecting jaw 58 is internally clamped to the workpiece 102.

As described above, the corresponding anti-cam curved surface 533 is rolled by the rollers 52, and the pin fingers 53 are interlocked to move horizontally, so that the concave claws 57 can be horizontally unfolded and conform to the inner surface of the workpiece 101, or The male jaws 58 are horizontally gripped and conformable to the outer surface of the workpiece 102 to increase the contact area of the grip. That is to say, the concave jaws 57 or the externally protruding jaws 58 which are parallelly opened, because the contact area with the workpieces 101, 102 can reach a maximum at the moment of contact, the positive force of the clamping acts on the contact The static friction generated by the area also reaches the maximum value instantaneously, and the relative sliding of the finger-jacket surface and the workpiece is not generated, thereby improving the reliability of the clamping.

In addition, as the design curved surface of the anti-cam curved surface 533 is different, the rollers 52 roll on different anti-cam curved surfaces 533, and the pinch cams 53 can be interlocked to form an effect of decelerating at the time of clamping. Moreover, the position of the workpiece 101 is directly sensed by the ultrasonic sensor 61, and the position of the workpiece 101 is transmitted back through the Bluetooth transceiver 63, so that the correct position of the workpiece 101 can be accurately grasped (for example: Whether the workpiece is dropped or displaced (position) to avoid errors and transfer risks.

The present invention has been disclosed in its preferred embodiments, and is not intended to limit the invention, and the present invention may be modified and modified without departing from the spirit and scope of the invention. The scope of protection is subject to the definition of the scope of the patent application.

Claims (9)

A clamping jaw for loading a workpiece for mounting on a central air-blowing type machining tool, the clamping jaw for transferring a workpiece comprising: a nozzle joint assembled on the central air-blowing type processing machine; a pedestal having: a chamber formed at a first end of the pedestal; and a passage formed at a second end of the pedestal and in communication with the chamber, the vent joint being coupled to the pedestal a second end, and is in communication with the passage; a pneumatic component disposed in the chamber, the pneumatic component having: a plug seat enclosing the chamber; a rod extending through the plug seat; a piston connecting a first end of the rod body and receiving the air pressure introduced by the passage to move inside the chamber; and an elastic member abutting between the piston and the plug seat; a jaw assembly having: a movement a second end connected to the rod; two rollers respectively fixed on two sides of the moving member; two pin cams respectively abutting the rollers; and a tension spring connecting the pin fingers a cam, each of the finger cams having a head and a neck, wherein the head forms an anti-cam a surface for contacting the corresponding roller; wherein when the piston is subjected to air pressure, the rollers respectively push against the pinch cams to cause the pinch cams to move horizontally in a reverse direction; when the piston is subjected to a reduced air pressure The tension springs tension the pinch cams to cause the pinch cams to move horizontally toward each other. The jaw for transferring a workpiece according to claim 1, wherein the jaw assembly further has: a slide rail disposed under the plug seat; and two sliders movably disposed on the slide On the rails, the clip fingers are respectively fixed on the sliders. The jaws for transferring workpieces according to claim 1, wherein the necks of the pin fingers are respectively connected to the two sides of the tension spring. The jaw for transferring a workpiece according to claim 1, wherein the jaw assembly further has two concave jaws respectively fixed to the neck of the finger cam for projecting into a workpiece An inner surface, and the outer support fixes the workpiece. The jaws for transferring workpieces according to claim 4, wherein the outer sides of the inner jaws have an outer serrated surface. The jaw for transferring a workpiece according to claim 1, wherein the jaw assembly further has two external clamping jaws respectively fixed to the neck of the clamping finger cam for contacting a workpiece. An outer surface, and the inner clamp secures the workpiece. The jaws for transferring workpieces according to claim 6, wherein the outer jaws have an inner serrated surface on the inner side. The jaw for transferring a workpiece according to claim 1, further comprising a distance measuring module, the distance measuring module having: an ultrasonic sensor disposed under the sealing seat, To sense a position of a workpiece; and a controller disposed on the base and electrically connected to the ultrasonic sensor. The jaw for transferring a workpiece according to the invention of claim 8, wherein the distance measuring module further has a Bluetooth transceiver disposed on the base and electrically connected to the controller.