TWI640393B - Pipe fitting, thin block shape, screw clamping feeding positioning mechanism - Google Patents

Abstract

The invention relates to a pipe member, a thin block shape and a screw clamping feeding positioning mechanism, which is mainly driven in combination with a mechanical arm mechanism, and comprises a fixing device, a coupling seat and a clamping device and an elastic member; wherein the fixing device The fixing plate has a fixing plate and a fixing plate extending from the fixing plate, wherein the bonding plate is integrally connected by the elastic member, thereby forming the elastic shape of the coupling seat, and simultaneously engaging the clamping member in the binding seat The holding device generates telescopic elasticity; when the material to be processed is clamped by the clamping device and is clamped to the processing machine chuck by the mechanical arm mechanism, the elastic member is compressed, and after positioning, the elastic top of the feeding device is passed through the topping device. The workpiece is pushed and guided to be positioned on the lathe chuck to improve the product yield, protect the robot arm and the processing machine, and prevent the machine from being damaged.

Description

Pipe fitting, thin block shape, screw clamping feeding positioning mechanism

The invention relates to a pipe fitting, a thin block shape and a screw clamping feeding positioning mechanism, in particular to a clamping positioning mechanism which is driven by a mechanical arm and can position the workpiece and protect the machine.

The advent of the information age has brought about tremendous changes in the labor and human resources employment market. The most significant thing is the massive loss of manufacturing manpower, which has caused the manufacturing industry to face a lot of unemployed dilemmas and gradually lose its competitiveness.

In order to solve the problem of a large number of industrial shortages, the industry is trying to replace various manual processes with automatic control and operation to replace manual operations, especially for labor-intensive manufacturing industries. They have invested in automatic control equipment to carry out various processing processes. It is common to use the robot arm clip feeding member to process the processing tool to shorten the man-hour and cost of manual feeding.

However, at present, the robot arm's actuation mode is based on the material to be transported by the operator, setting the transport path of the robot arm and positioning and discharging. Therefore, the traditional robot arm can only be used for single material, if the material to be processed is different. The mechanical arm and the jaws must be replaced, and the time spent often affects the processing efficiency. In addition, the operation mode of the conventional mechanical arm clamping mechanism is to clamp the processed material with a specific jaw and then directly move to the set. The position of the chuck is used for feeding. The whole process is set for the specific material to be processed. If the material is not specifically processed, the robot can only distinguish between different operating modes. Whether the size and the clamping state of the processed material reach the positioning, and directly feeding the material to the chuck of the processing machine, it is easy to cause the machine to crash and damage the chuck of the processing machine due to the overfeed of the mechanical arm, showing the current traditional machinery The clamping of the arm has the problems listed above, and the operating efficiency is not optimal.

The main object of the present invention is to provide a clamping mechanism driven by a mechanical arm, in particular to a clamping and positioning device capable of clamping different sizes and types of material parts and capable of being reliably positioned in the processing machine chuck; The driving arm is displaced by the moving end of the mechanical arm, and the coupling seat and the fixing device are integrally connected to each other through the elastic member group, so that the coupling seat forms an elastically stretchable shape, and the clamping device combined with the coupling seat is fed by the mechanical arm. When the material to be processed is moved from the mechanical arm clamp to the processing machine chuck and is not flattened, the elastic restoring force of the ejector device pushes the workpiece to be processed. The flat positioning and the clamping device are retracted to avoid damage to the processing machine, thereby achieving the purpose of improving processing efficiency and protecting the machine.

In order to achieve the foregoing objective, the present invention provides a pipe fitting, a thin block shape, and a screw clamping feeding positioning mechanism, which mainly comprises: a fixing device comprising a fixing plate and a bonding plate extending from the fixing plate, wherein the fixing plate is coupled to a displacement end of the mechanical arm, and the coupling plate is configured to connect the coupling seat to each other through the elastic member group, so that the coupling seat is formed into an elastic telescopic type; and a coupling seat includes a base body and a side of the base body a slide rail device and a topping device fixed on a lower edge of the base body; wherein the slide rail device further has a slide rail fixed on the inner side of the joint plate and a slide seat fixed on the inner side of the base body, and the slide rail The device is configured to couple the base body to the binding plate of the fixing device, and can be displaced back and forth and sandwich the elastic member; and the ejector device has a fitting seat and a base and a device integrated with the fitting seat On the base and in a clamp The middle position of the two jaws of the device is used for pushing the material to be processed; a clamping device comprises a vertical group stand and a support shaft vertically protruding from the set stand, and the support device is arranged for the support device The clamping device comprises a linkage arm set and a crank arm set and a clamp set fixed at an end of the crank arm set, wherein the linkage arm set is driven by the power device via a top end fixing end, and the crank arm set is Interacting with the linkage arm group and pivoting with the support shaft of the fixing device as a pivot point, forming a combination body such as a scissors, the jaw group being fixed to the end of the crank arm group and being linked thereto; wherein the power is connected The device comprises a pneumatic cylinder fixed to the joint by the positioning seat and a top seat interlocked by the pneumatic cylinder, wherein the top seat is driven by the clamping device to be pivoted.

Thereby, when the material to be processed is clamped by the clamping device and then clamped to the processing machine chuck by the mechanical arm mechanism for positioning, the elastic member is compressed, and after the positioning, the clamping jaw is released, that is, the through-feed device has The elastic pushes the material to be machined and is positioned on the lathe chuck to improve the product yield and protect the robot arm and the processing machine.

1‧‧‧Fixed devices

10‧‧‧ fixed board

100‧‧‧ screw holes

11‧‧‧Combination board

110‧‧‧ joint surface

111‧‧‧ joint surface

112‧‧‧Connector

12‧‧‧Slide device

14‧‧‧elasticity

15‧‧‧Connecting Block

150‧‧‧ fixed seat

151‧‧‧Pole

2‧‧‧ joint

20‧‧‧Base body

21‧‧‧Combined blocks

22‧‧‧Fixed clamping rod

3‧‧‧Clamping device

30‧‧‧ group stand

300‧‧‧ accommodating space

301‧‧‧Long through hole

31‧‧‧ linkage arm

310‧‧‧Binding end

311‧‧‧Binding end

32‧‧‧Second linkage arm

320‧‧‧Binding end

321‧‧‧Binding end

33‧‧‧First arm

330‧‧‧Binding end

331‧‧‧ fulcrum end

332‧‧‧Binding end

34‧‧‧second arm

340‧‧‧Binding end

341‧‧‧ fulcrum end

342‧‧‧Binding end

35‧‧‧ Support shaft

36‧‧‧First jaw

360‧‧‧ curved surface

361‧‧‧ Groove

362‧‧‧Fixed clamping rod

37‧‧‧second jaw

370‧‧‧ curved surface

371‧‧‧ Groove

372‧‧‧Fixed clamping rod

38‧‧‧Slide device

39‧‧‧ Positioning Block

4‧‧‧ Robotic arm

40‧‧‧Shift end

5‧‧‧Powerplant

6‧‧‧Processed parts

7‧‧‧ joint

8‧‧‧claw group

80‧‧‧Base

800‧‧‧Powerplant

81‧‧‧Slide rails

82‧‧‧ splint

83‧‧‧ splint

84‧‧‧Slide

85‧‧‧ semi-circular gap

86‧‧‧ semi-circular gap

9‧‧‧ Fixed seat

90‧‧‧ combination seat

91‧‧‧The arm group

92‧‧‧claw group

93‧‧‧Powerplant

94‧‧‧claw

95‧‧‧claw

Figure 1 is a perspective assembled view of the present invention.

Figure 2 is a perspective exploded view of the present invention.

Figure 3 is an exploded perspective view of the mount of the present invention.

Fig. 4 is a perspective exploded view of the joint of the present invention.

Fig. 5 is a perspective exploded view of the holding device of the present invention.

Figure 6 is an assembled perspective view of the present invention.

Figure 7 is a schematic view of the clamping action of the present invention.

Figure 8 is a perspective view of the clamp of the present invention.

Figure 9 is a schematic view of the grip feeding of the present invention.

Figure 10 is a schematic view of the guide of the present invention.

Figure 11 is a schematic view of the feeding of the present invention.

Figure 12 is a completed feed of the present invention.

Figure 13 is a structural view of the single-seat jaw of the present invention.

Figure 14 is a view of the single-seat jaw assembly of the present invention.

Figure 15 is a perspective view of the joint of the present invention.

Figure 16 is another embodiment of the holding device of the present invention.

Figure 17 is a schematic view showing the mounting of another embodiment of the holding device of the present invention.

Figure 18 is a view showing still another arrangement of another embodiment of the holding device of the present invention.

Figure 19 is a still further embodiment of the holding device of the present invention.

Figure 20 is a schematic view showing the clamping of a further embodiment of the holding device of the present invention.

The pipe fitting, the thin block shape and the screw clamping feeding positioning mechanism of the invention mainly comprise a fixing device 1 and a binding seat 2 and a clamping device 3 (such as Figures 1 and 2); wherein the fixing device ( As shown in FIG. 3, a fixing plate 10 and a bonding plate 11 extending from both sides of the fixing plate 10 are disposed, and the fixing plate 10 is provided with a plurality of screw holes 100 which can be coupled to the displacement end of the mechanical arm, and the bonding plate 11 is formed with a joint surface 110 perpendicular to the fixed plate 10 and a joint surface 111 parallel to the fixed plate 10, and the joint seat 2 is assembled on the inner surface of the joint plate 11 via the fixing member rail device 12, and An elastic member 14 is connected to the parallel joint surface 111 at the rear end of the joint base 2, so that the joint seat 2 is formed into an elastically stretchable state that can be displaced forward and backward.

The binding base 2 (as shown in FIG. 4) includes a base body 20, and the base body 2 The upper end of the 0 is formed with a recessed space of a three-sided structure, and a clamping device is received and coupled via the sliding rail device 12 of the coupling member. The rear end of the lower edge of the base body 20 is fixed by a connecting seat 15, a fixing base 150 and a The ejector pin 151 is combined with the ejector device for driving the workpiece to be pushed by the base body 20; and the front edge of the base body 20 is coupled to the front clamping protrusion 22 by the coupling block 21.

The clamping device 3 (as shown in FIG. 5) comprises a set of stand 30 and a linkage arm set and a combination of a crank arm set and a jaw set, wherein the linkage arm set includes a first linkage arm 31 and a second linkage arm 32, The upper and lower coupling ends 310 of the first linkage arm 31 and the upper coupling end 320 of the second linkage arm 32 are pivotally connected to the assembly base 30. The accommodating space 300 is driven by the up and down displacement of the group stand 30, and the lower joint ends 311 and 321 of the first link arm 31 and the second link arm 32 are respectively pivotally connected to the crank arm group. The crank arm assembly includes a first crank arm 33 and a second crank arm 34. The first crank arm 33 is formed with a joint end 330 and a lower joint end 311 of the first linkage arm 31, and is pivotally connected. The upper end 340 of the second crank arm 34 is pivotally connected to the lower joint end 321 of the second linkage arm 32; and the bend ends of the first crank arm 33 and the second crank arm 34 are further provided with fulcrum ends 331, 341, and After being pivotally connected to each other, through the elongated shaft 301 of the set up seat 30 through the support shaft 35, the first crank arm 33 and the second crank arm 34 are pivotally connected, thereby making the first The pivotal connection of the curved arm 33 and the second curved arm 34 forms an active type of the scissors, and the lower ends of the first curved arm 33 and the second curved arm 34 are provided as binding ends 332, 342 for the jaw group to be assembled. The jaw group includes a first jaw 36 and a second jaw 37. The inner sides of the first jaw 36 and the second jaw 37 form arcuate faces 360, 370 that match the arc of the tubular member for mutual correspondence. Clamping pipe fittings, the inner end surface of which is separately opened The first crank arm 33 and the second crank arm 34 are combined with the grooves 361 and 371 of the ends 332 and 342, and are then screwed together by the positioning screws to be combined; and the front ends of the first jaw 36 and the second jaw 37 are respectively The clamping rods 362 and 372 which are fixedly attached with the vertical protrusions are matched with the fixing clips 22 which are disposed at the lower end of the joint base body 20 and joined by the joint block 21 to form a three-point clamping type to form three claws. Or double-claw clamping feed mechanism.

The rear end of the set of bases 30 is coupled to the inner surface of the base body 20 through the rail device 38 of the joint member, and the top seat 50 is coupled via the power element 5 positioned above the base body 20 by the positioning seat 39. The group stand 30 is driven up and down to drive the operation of the clamping device for clamping the workpiece 6 to be processed.

Thereby, the above-mentioned main components are assembled to complete the clamp feeding positioning mechanism of the present invention (as shown in FIG. 6), and the screw holes on the fixing plate 10 of the fixing device 1 are screwed and fixed at the displacement end 40 of the robot arm 4, Driven by the robot arm 4, the workpiece being clamped by the clamping mechanism is transferred to the processing machine for processing.

When assembled, the present invention can depend on the type of material to be fed (such as pipe fittings, thin blocks, screws), depending on whether the topping device of the lower edge of the joint is added, when the length of the pipe or screw is longer, Obtaining a relatively stable feeding, it is not necessary to add a topping device; if it is a thin block, because the clamping area is small, it is impossible to stably feed and set the material, and the auxiliary pushing of the topping device is added.

In the embodiment of the present invention, the material is set as a thin block (as shown in FIG. 7). The clamping action of the clamping device of the present invention is that after the switch is started, the power device (pneumatic cylinder) 5 is lowered downward. Pushing, the set up stand 30 fixed by the power unit 5 is displaced downwardly, and then the first link arm 31 and the second link arm 32 are pushed outward, causing the first link arm 31 and the second link arm 32 to pivot. The first crank arm 33 and the second crank arm 34 are connected to each other with the support shaft 35 as a pivot point. The first jaw 36 and the second jaw 37 fixed to the lower end are clamped inwardly, and the workpiece 6 is clamped by the first clamping jaw 36 and the fixing clamps 362, 372 of the second jaw 37. The clamping rod 22 at the lower end of the base body 20 is placed against the workpiece 6 to be fixed, and the clamping jaws 362 and 372 fixed to the first jaw 36 and the second jaw 37 are formed to form a three-point clamping. The fixed type (refer to Figure 8), then use the robot arm 4 to drive the two sets of clamping feeding mechanism to move the workpiece 6 to the processing machine chuck for positioning, if the workpiece 6 is still unable to align the chuck Arrival positioning (as shown in Figure 9), when the robot arm 4 continues to push to obtain the positioning clamp, the clamping rod is elasticized by the compression of the elastic member 14 by the pushing action of the mechanical arm, and when the clamping rod is relaxed, the ejector device The ejector rod 151 will rebound due to the elastic force generated by the elastic member 14, and will rebound and push the workpiece 6 so that the unflattened thin block is completely flattened to obtain a smooth clamping (Fig. 10) ).

The pipe to be processed is firstly clamped out by the clamped feeding mechanism located at the front, and sent to the next process, and the pipe to be processed is corresponding to the chuck of the processing machine (see the 11, 12)).

Since the feeding process of the traditional robot arm is pre-set, the general mechanical arm feeding class must be single, because the length and width of different material parts are different, the traditional robot arm can not be recognized, and the process must be set one by one, which is quite troublesome and time consuming. However, the technical means of the present invention is directed to the drawback that the conventional mechanical arm can only be transported by a single piece of material, and the clamping mechanism for the linkage of the mechanical arm is specially innovated, so that the mechanical arm is no longer fed alone, and the pinching of a plurality of materials can be performed. In order to improve the efficiency of the feed and avoid damage to the processing machine.

Regarding the technical means of the present invention, the workpiece 6 is clamped by the three-way clamping rod of the clamping device 3, and is driven by the driving of the robot arm to the processing machine, because the material to be processed 6 is thin. When the clamping rod has already reached the processing machine and still can't reach the position of the processed material, the three-way clamping rod is continuously pushed by the mechanical arm, and the clamping rod will form a telescopic movable type due to the elastic element at the rear end. When the workpiece 6 is positioned and not flattened, once the clamping rod is relaxed, the ejector rod 151 of the ejector device is pushed by the elastic member to push the workpiece to be flat and clamped, which is favorable for the state of being clamped. machining.

Referring to Figures 13 and 14, there is shown an embodiment of the mounting of the single-seat jaw of the present invention. The ferrule 112 is fixed to the rear end of the joint surface 111 of the fixture, and is fixed to the displacement end 40 of the robot arm 4 via the lands 112. It is then driven to shift the single-seat jaws to hold the processed parts and move them to the processing machine for processing, which can improve the product yield and protect the processing machine to prevent damage equivalent.

FIG. 15 and FIG. 16 are another embodiment of the jaw assembly of the clamping device of the present invention. The embodiment is mounted on the bonding plate 11 of the fixing device through a coupling seat 7 with an elasticity therebetween. The member 14 is formed into a telescopic movable type (refer to Fig. 15), and the joint 7 is provided with a jaw set 8 (see Fig. 16) including a base. The base 80 is formed with a slide rail 81. The two clamp plates 82 and 83 are coupled to the base 80 via a slide 84, so as to be slidable on the base 80 and attached to the base 80 side. A power device 800 (such as a pneumatic cylinder) is provided to provide power control. The two splints 82, 83 are slid open to the sides to be loosened or inwardly merged, and the workpieces are gripped by the two semicircular notches 85, 86 on the plate surface. Then, through the combination of the robot arm 4, the splint 82, 83 is driven to move the workpiece to the processing machine for material processing (as shown in Fig. 17).

Figure 18 is a view showing another embodiment of the clamping device jaw group. The jaw group 8 is horizontally mounted on the coupling seat 7 according to the type of the workpiece to be processed. The power control controls the opening and closing of the two splints 82 and 83 to grip the processed material to the processing machine for processing.

FIG. 19 and FIG. 20 show another embodiment of the present invention, which mainly includes a fixing base 9 and a crank arm group 91 and a jaw set 92. The fixing seat 9 is coupled with the robot arm 4 and coupled with the base. The 90 series is horizontally fixed on the fixing base 9, and an elastic member (not shown) is disposed at the rear end thereof, and is coupled with the power unit 93. The power unit 93 is powered by the power unit 93 to drive the joint 9 forward and backward, and then combined. The 90-top push arm set 91 is driven outwardly so that the two jaws 94, 95 of the jaw set 92 are clamped inwardly to clamp the workpiece 96 to the processing machine (as shown in Fig. 20).

Claims (7)

The utility model relates to a pipe fitting, a thin block shape and a screw clamping feeding positioning mechanism, which mainly comprises: a fixing device, comprising a fixing plate and a bonding plate extending from two sides of the fixing plate, the fixing plate and the displacement end of the mechanical arm The combination joint is coupled to the joint plate of the fixing device through the joint member, and is connected with an elastic member and the joint plate at the rear end to make the joint seat form an elastically stretchable shape, which can be combined The inner space of the plate is displaced, and a lower protruding end of the joint seat is fixed with a forwardly protruding topping device and is located at a clamping jaw of the clamping device; and a plurality of clamping devices are coupled to the coupling through the same coupling member The upper frame includes a set of stand and jaw sets, wherein the set of stand bases is powered by a power device, and the power drive jaw group is clamped inwardly to the workpiece; thereby, the workpiece is clamped by the robot arm. When positioning at the head, the continuation clamping device acts on the elastic member to be in a compressed state, and the elastic member recovering force is pushed forward by the pulling device through the clamping jaw, so that the workpiece is guided and guided. Into a flat position, is conducive to accurate processing of. The pipe fitting, the thin block shape and the screw clamping feeding positioning mechanism according to the first aspect of the patent application, wherein the topping device fixed by the lower edge of the coupling seat comprises a connecting seat, a fixing seat and one perpendicular to the fixing seat The ejector pin is used for pushing the workpiece to be positioned. The pipe fitting, the thin block shape, and the screw clamping feeding positioning mechanism according to the first aspect of the patent application, wherein the clamping device of the clamping device further comprises a base, and the base is provided with a sliding rail for the two clamping plates to pass through The sliding seat and the base are combined with each other; and the power device is connected with the clamping plate on one side of the base to control the opening and closing of the two clamping plates, and the two clamping plates form two semicircular notches. The pipe fitting, the thin block shape, and the screw clamping feeding positioning mechanism according to the first aspect of the patent application scope, wherein the clamping device further comprises a set of standing and interlocking arm sets and a crank arm group and a clamping jaw group; A power device provides power to drive the linkage arm group and the crank arm group, and drives the jaw group to clamp the workpiece to be processed inward. The pipe fitting, the thin block shape, and the screw clamping feeding positioning mechanism according to the first aspect of the patent application, wherein the joint coupling member further comprises a sliding seat and a sliding rail. The pipe fitting, the thin block shape, and the screw clamping feeding positioning mechanism according to the first aspect of the patent application scope, wherein the coupling seat elastic member is further provided as one or more springs. The pipe fitting, the thin block shape and the screw clamping feeding positioning mechanism according to the first aspect of the patent application scope, wherein the fixing plate coupling plate of the fixing device is further configured as a unitary structure.