WO2019056420A1 - 机械手爪 - Google Patents

机械手爪 Download PDF

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Publication number
WO2019056420A1
WO2019056420A1 PCT/CN2017/106159 CN2017106159W WO2019056420A1 WO 2019056420 A1 WO2019056420 A1 WO 2019056420A1 CN 2017106159 W CN2017106159 W CN 2017106159W WO 2019056420 A1 WO2019056420 A1 WO 2019056420A1
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WO
WIPO (PCT)
Prior art keywords
disposed
bearing frame
hole
clamping mechanism
fixing plate
Prior art date
Application number
PCT/CN2017/106159
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English (en)
French (fr)
Inventor
李成征
吴贺毅
赵倩倩
王家宝
Original Assignee
晋城富泰华精密电子有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Application filed by 晋城富泰华精密电子有限公司 filed Critical 晋城富泰华精密电子有限公司
Publication of WO2019056420A1 publication Critical patent/WO2019056420A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors

Definitions

  • the utility model relates to a mechanical hand claw, in particular to a mechanical hand claw capable of automatically loading and unloading between multiple stations.
  • the existing back cover of the mobile phone is operated by manual loading and unloading.
  • there are many manpower requirements for manual loading and unloading high production cost, high labor intensity, low production efficiency, and manual loading and unloading tends to cause scratches and scratches on the workpiece, which in turn affects the quality of the workpiece.
  • the utility model provides a mechanical hand grip, comprising a mechanical connecting handle and a mounting head disposed at one end of the mechanical connecting handle, the mounting head comprising at least three side mounting plates connected in sequence, the mechanical claws further comprising An adsorption mechanism, a first clamping mechanism and a second clamping mechanism on the three side mounting plates of the mounting head, wherein the adsorption mechanism is configured to adsorb a cover of a fixture to open the fixture, the first A clamping mechanism is used to take out a first workpiece located in the jig, and the second clamping mechanism is configured to grip a second workpiece and place it in the jig.
  • the number of the at least three side mounting plates is four
  • the mechanical hand claw further includes an adjusting mechanism
  • the suction mechanism, the first clamping mechanism, the second clamping mechanism and the adjusting mechanism are respectively disposed at the The adjustment mechanism is configured to adjust the position of the second workpiece within the jig on the four side mounting plates.
  • the adjustment mechanism comprises at least one guide post, at least one elastic member and a pressure plate, one end of the at least one guide post is movably disposed on one of the side mounting plates, and the other end is fixed on the pressure plate
  • Each of the elastic members is sleeved on one of the guide posts, and the elasticity Both ends of the piece abut against one of the side mounting plates and the pressure plate, respectively.
  • the first clamping mechanism has the same structure as the second clamping mechanism, and the first clamping mechanism comprises a rotating member, a fixing plate, at least one clamping mechanism and at least one guiding mechanism, the rotating member Located between the fixed plate and one of the side mounting plates, the at least one clamping mechanism and the at least one guiding mechanism are respectively disposed on the fixing plate.
  • the rotating member comprises an outer bearing frame, an inner bearing frame, a thrust bearing and two ball plungers, the outer bearing frame being disposed on one of the side mounting plates, the inner bearing frame being disposed at The outer bearing frame protrudes partially from the top of the outer bearing frame, the thrust bearing sleeve is sleeved on the inner bearing frame, and the two ends respectively abut the outer bearing frame and the inner bearing
  • the two ball plungers are respectively disposed on the side walls of the outer bearing frame and abut against the outer wall of the inner bearing frame.
  • the outer bearing frame includes a receiving hole and a first through hole disposed at one end of the receiving hole, the receiving hole is disposed in communication with the first through hole, and the diameter of the receiving hole is larger than the first a diameter of the through hole, the inner bearing frame including a first end and a second end on a side of the first end, the first end having a diameter larger than a diameter of the second end, the inner bearing frame One end is disposed in the receiving hole, a second end of the inner bearing frame passes through the first through hole and protrudes from the first through hole, and the thrust bearing is sleeved in the second And the two ends of the thrust bearing are respectively abutted on the first end and the inner wall of the receiving hole.
  • each of the ball plungers passes through the side wall of the outer bearing frame and respectively abuts against one of the abutting portions.
  • the fixing plate is provided with a second through hole, two third through holes and two retaining grooves, the second through holes are located at a center position of the fixing plate, and the two third The through holes are disposed on both ends of the fixing plate in a center line symmetrical manner, and the two retaining grooves are disposed on both sides of the fixing plate in a center point symmetrical manner, and the clamping mechanism and the The number of guiding mechanisms is respectively two, and the two clamping mechanisms are respectively disposed on the fixing plate and respectively protrude from the two retaining grooves, and the two guiding mechanisms are respectively disposed on the In the two third through holes.
  • each of the clamping mechanisms includes a cylinder fixing plate and a parallel clamping cylinder disposed on a side of the cylinder fixed plate, and the jaws of the parallel clamping cylinder protrude from the retaining groove, For folder Holding the ridge on the first workpiece.
  • each of the guiding mechanisms comprises a sleeve, a guide post and an elastic returning member, the sleeve being disposed below the fixing plate, each of the sleeves being coaxial with one of the third through holes Arranging that the guide post is disposed in the sleeve, the guide post is provided with a shoulder, one end of the guide post having a shoulder is installed inside the sleeve, and the other end of the guide post is extended Extending from the third through hole, the end of the guide post extending from the third through hole has a tapered opening shape, and the elastic returning member is located in the sleeve Nested on the guide post and abutted on the shoulder.
  • the mechanical hand claw of the utility model can realize automatic loading and unloading between multiple stations, less manpower demand, lower production cost, reduced labor intensity, high production efficiency, and avoiding problems such as scratches and scratches of the workpiece due to manual loading and unloading.
  • FIG. 1 is a schematic perspective view of a mechanical gripper, a workpiece, and a cover plate according to an embodiment of the present invention.
  • FIG. 2 is a partially disassembled schematic view of the mechanical gripper, the workpiece and the cover plate shown in FIG. 1.
  • Fig. 3 is a partially disassembled schematic view of the mechanical gripper and the cover plate of Fig. 2 in the other direction.
  • FIG. 4 is a schematic view showing further disassembly of the mechanical gripper and the cover plate shown in FIG. 2.
  • Fig. 5 is a schematic view showing the further disassembly of the mechanical gripper and the workpiece shown in Fig. 2 in the other direction.
  • Figure 6 is a schematic cross-sectional view of Figure 3 in the direction of VI-VI.
  • Fig. 7 is a schematic view showing the further disassembly of the mechanical gripper shown in Fig. 5.
  • Mechanical claw 100 Mechanical connection handle 10 Mounting head 30 Side mounting plate 31 Main mounting plate 33
  • Adsorption mechanism 40 Adsorption hole 401 First clamping mechanism 50 Rotating piece 51 Outer bearing frame 511 Receiving hole 5111 First through hole 5113 Inner bearing frame 513 First end 5131 Second end 5133 Thrust bearing 515 Ball plunger 517 Fixed plate 53 Second through hole 531 Third through hole 533 Placement slot 535 Clamping mechanism 55 Cylinder fixing plate 551 Parallel clamping cylinder 553 Guiding mechanism 57 Sleeve 571 Guide column 573 Shoulder 5731 Elastic reset 575 Second clamping mechanism 60 Adjustment mechanism 70 Guide column 71
  • FIG. 1 is a schematic structural view of a mechanical gripper 100 .
  • the mechanical gripper 100 includes a mechanical coupling handle 10, a mounting head 30, an adsorption mechanism 40, a first clamping mechanism 50, a second clamping mechanism 60, and an adjustment mechanism 70.
  • the mounting head 30 is disposed on one end of the mechanical coupling handle 10.
  • the adsorption mechanism 40, the first clamping mechanism 50, the second clamping mechanism 60, and the adjustment mechanism 70 are sequentially disposed on the mounting head 30, respectively.
  • the mounting head 30 includes four side mounting plates 31 and one main mounting plate 33.
  • the four side mounting plates 31 are sequentially connected to form a "mouth" shaped frame.
  • Main installation The plate 33 is simultaneously mounted on one side of the four side mounting plates 31.
  • the suction mechanism 40, the first clamping mechanism 50, the second clamping mechanism 60, and the adjustment mechanism 70 are respectively disposed on the four side mounting plates 31.
  • the mechanical connecting handle 10 is disposed on the main mounting plate 33.
  • the adsorption mechanism 40 is provided with at least one adsorption hole 401.
  • the adsorption mechanism 40 is configured to be coupled to an external source of air and to create a vacuum for uncovering the cover 200 of a fixture (not shown).
  • the jig is provided with a receiving portion (not shown).
  • the receiving portion is configured to receive a workpiece 300 that requires high-gloss surface processing.
  • the cover 200 covers the opening of the receiving portion.
  • the first clamping mechanism 50 has the same structure as the second clamping mechanism 60.
  • the first clamping mechanism 50 is used as an example to describe its detailed structure.
  • the first clamping mechanism 50 includes a rotating member 51, a fixing plate 53, two clamping mechanisms 55, and two guiding mechanisms 57.
  • the rotating member 51 is disposed between the fixed plate 53 and one of the side mounting plates 31.
  • the two clamping mechanisms 55 are disposed on both sides of the fixing plate 53 in a center point symmetrical manner.
  • the two guiding mechanisms 57 are disposed on both ends of the fixing plate 53 in a center line symmetrical manner.
  • the rotating member 51 includes an outer bearing frame 511, an inner bearing frame 513, a thrust bearing 515, and two ball plungers 517.
  • the outer bearing frame 511 is disposed on one of the side mounting plates 31.
  • the inner bearing frame 513 is disposed within the outer bearing frame 511 and partially protrudes from the top of the outer bearing frame 511.
  • the thrust bearing 515 is sleeved on the inner bearing frame 513, and the two ends respectively abut the outer bearing frame 511 and the inner bearing frame 513.
  • the two ball plungers 517 are respectively disposed on the side mounting plates of the outer bearing frame 511 and abut against the outer wall of the inner bearing frame 513.
  • the outer bearing frame 511 has a substantially column shape.
  • the outer bearing frame 511 includes a receiving hole 5111 and a first through hole 5113 disposed at one end of the receiving hole 5111.
  • the receiving hole 5111 is disposed in communication with the first through hole 5113 and penetrates the upper and lower surfaces of the outer bearing frame 511, and the diameter of the receiving hole 5111 is larger than the diameter of the first through hole 5113.
  • the inner bearing frame 513 is substantially T-shaped.
  • the inner bearing frame 513 includes a first end 5131 and a second end 5133 at one end of the first end 5131.
  • the diameter of the first end 5131 is greater than The diameter of the second end 5133.
  • the diameter of the first end 5131 is larger than the diameter of the first through hole 5113 and smaller than the diameter of the receiving hole 5111.
  • the two ends of the first end 5131 are respectively provided with a resisting portion 5135.
  • the diameter of the second end 5133 is smaller than the diameter of the first through hole 5113.
  • the first end 5131 of the inner bearing frame 513 is disposed in the receiving hole 5111, and the second end 5133 of the inner bearing frame 513 passes through the first through hole 5113 and from the first through hole 5113 Extend.
  • the thrust bearing 515 is sleeved on the second end 5133, and the two ends of the thrust bearing 515 are respectively abutted on the inner wall of the first end 5131 and the receiving hole 5111.
  • the fixing plate 53 is provided with a second through hole 531, two third through holes 533 and two retaining grooves 535.
  • the second through hole 531 is located at a substantially central position of the fixing plate 53.
  • the two third through holes 533 are disposed on both ends of the fixing plate 53 in a center line symmetrical manner.
  • the two retaining grooves 535 are disposed on both sides of the fixing plate 53 in a center point symmetrical manner, and each of the third through holes 533 is located in the second through hole 531 and one of the Between the bit slots 535.
  • each of the clamping mechanisms 55 includes a cylinder fixing plate 551 and a parallel clamping cylinder 553 disposed on one side of the cylinder fixing plate 551.
  • the jaws of the parallel clamping cylinder 553 extend from the position of the retaining groove 535 to clamp the ribs 310 on the workpiece 300.
  • each of the guide mechanisms 57 includes a sleeve 571, a guide post 573, and an elastic return member 575.
  • the sleeve 571 is disposed below the fixing plate 53.
  • Each of the sleeves 571 is also disposed coaxially with one of the third through holes 533.
  • the guide post 573 is disposed within the sleeve 571.
  • the guide post 573 is substantially "medium” shaped.
  • a shoulder 5731 is disposed at a substantially central position of the guide post 573. One end of the guide post 573 having a shoulder 5731 is mounted inside the sleeve 571.
  • the other end of the guide post 573 protrudes from the sleeve 571 and protrudes from the third through hole 533.
  • the guide post 573 has a hollow shape, and an end thereof extending from the third through hole 533 has a tapered opening shape.
  • the elastic return member 575 is sleeved on the guide post 573 and abuts against the shoulder 5731.
  • the adjustment mechanism 70 includes at least one guide post 71, at least one elastic member 73, and a pressure plate 75.
  • One end of the at least one guiding post 71 is movably disposed on one of the side mounting plates 31, The other end is fixed to the pressure plate 75.
  • Each of the elastic members 73 is sleeved on one of the guide posts 71, and both ends of the elastic member 73 abut against one of the side mounting plates 31 and the pressing plate 75, respectively.
  • the number of the guide posts 71 is two, and the number of the elastic members 73 is also two.
  • the pressure plate 75 is a flexible adjustment pressure plate that prevents the workpiece 300 from being crushed when the position of the workpiece 300 in the jig is adjusted.
  • the mechanical gripper 100 of the present invention can realize multi-station automatic loading and unloading, specifically including the cover plate 200 of the jig being uncovered by the suction mechanism 40, and the first clamping mechanism 50 is taken out from the jig and has been processed by high brightness.
  • the first workpiece 300, the second clamping mechanism 60 takes out the second workpiece 300 from another loading platform and places it in the fixture, and the adjustment mechanism 70 adjusts the second workpiece 300 in the fixture.
  • the position is such that the second workpiece is completely attached to the bottom surface of the jig.
  • the adsorption mechanism 40 further covers the jig cover 200 on the jig to perform high-brightness processing of the second workpiece.
  • the specific process of the second clamping mechanism 60 taking out the second workpiece 300 from another loading platform and placing it in the fixture is that the rotating member 51 is connected between the side mounting plate 31 and the fixing plate 53.
  • the two clamping mechanisms 55 and the two guiding mechanisms 57 are disposed on the fixing plate 53.
  • the two guiding posts 573 are all in the shape of a tapered opening and are symmetrically disposed on the fixing plate 53.
  • Two loading pins are disposed on the loading platform (not shown) corresponding to the first clamping mechanism 50.
  • the two latches are respectively disposed corresponding to the positions of the two guiding mechanisms 57.
  • the mechanical hand claw of the utility model realizes automatic multi-station feeding, and solves the problem that the guide post of the first clamping mechanism cannot be matched with the plug on the loading platform, which brings convenience for actual production. Reduce labor costs and increase production efficiency.
  • the number of the clamping mechanism 55 and the guiding mechanism 57 are not limited to two, respectively, and may be specifically set according to actual needs.
  • the number of the at least one guiding post 71 and the at least one elastic member 73 is not limited to two, and may be specifically set according to actual needs.
  • the adjustment mechanism 70 can be omitted.
  • the mechanical claw 100 is not limited to four stations, and may also be three stations, five stations, etc., and may be specifically set according to actual needs, and the number of the side mounting plates 31 may be corresponding. Set to three, five, and so on.
  • the number of the third through holes 533 and the guiding mechanism 57 are correspondingly set, and are not limited to two, and may be specifically set according to actual needs.
  • the number of the positioning slots 535 and the two clamping mechanisms 55 are correspondingly set, and are not limited to two, and may be specifically set according to actual needs.

Abstract

一种机械手爪(100)，包括机械连接柄(10)和设置在机械连接柄(10)一端的安装头(30)，安装头(30)包括依次相连的至少三个侧安装板(31)，机械手爪(100)还包括分别设置在安装头(30)的三个侧安装板(31)上的吸附机构(40)、第一夹持机构(50)和第二夹持机构(60)，吸附机构(40)用于吸附一治具的盖板(200)以打开治具，第一夹持机构(50)用于取出位于治具内的一第一工件，第二夹持机构(60)用于夹取一第二工件并放置在治具内。该机械手爪(100)能够实现自动化多工位上下料。

Description

机械手爪 技术领域
本实用新型涉及一种机械手爪，尤其涉及一种能够实现在多工位间自动化上下料的机械手爪。
背景技术
现有的手机后盖采用人工上下料的方式作业。然，人工上下料人力需求多，生产成本高，劳动强度大，生产效率低，并且人工上下料容易造成工件碰伤、刮伤，进而影响工件质量。
实用新型内容
有鉴于此，有必要提供一种机械手爪，能够实现多工位间自动化上下料，以解决上述问题。
本实用新型提供一种机械手爪，包括机械连接柄和设置在所述机械连接柄一端的安装头，所述安装头包括依次相连的至少三个侧安装板，所述机械手爪还包括分别设置在所述安装头的所述三个侧安装板上的吸附机构、第一夹持机构和第二夹持机构，所述吸附机构用于吸附一治具的盖板以打开治具，所述第一夹持机构用于取出位于所述治具内的一第一工件，所述第二夹持机构用于夹取一第二工件并放置在所述治具内。
优选地，所述至少三个侧安装板的数量为四个，所述机械手爪还包括调整机构，所述吸附机构、第一夹持机构、第二夹持机构和调整机构分别设置在所述四个侧安装板上，所述调整机构用于调整所述第二工件在所述治具内的位置。
优选地，所述调整机构包括至少一个导向柱、至少一个弹性件和压板，所述至少一个导向柱的一端可活动地设置在其中一个所述侧安装板上，另一端固定在所述压板上，每个所述弹性件套设在其中一个所述导向柱上，且所述弹性 件的两端分别抵在其中一个所述侧安装板和所述压板上。
优选地，所述第一夹持机构与所述第二夹持机构结构相同，所述第一夹持机构包括转动件、固定板、至少一个夹紧机构和至少一个导向机构，所述转动件设置在所述固定板和其中一个所述侧安装板之间，所述至少一个夹紧机构和所述至少一个导向机构分别设置在所述固定板上。
优选地，所述转动件包括外轴承架、内轴承架、止推轴承和两个球头柱塞，所述外轴承架设置在其中一个所述侧安装板上，所述内轴承架设置在所述外轴承架内并且部分从所述外轴承架的顶部伸出，所述止推轴承套设在所述内轴承架上，且两端分别抵持所述外轴承架和所述内轴承架上，所述两个球头柱塞分别穿设在所述外轴承架的侧壁上并抵持在所述内轴承架的外壁上。
优选地，所述外轴承架包括收容孔和设置在所述收容孔一端的第一通孔，所述收容孔与所述第一通孔相通设置，所述收容孔的直径大于所述第一通孔的直径，所述内轴承架包括第一端和位于所述第一端一侧的第二端，所述第一端的直径大于所述第二端的直径，所述内轴承架的第一端设置在所述收容孔内，所述内轴承架的第二端穿过所述第一通孔并从所述第一通孔伸出，所述止推轴承套设在所述第二端上，且所述止推轴承的两端分别抵持在所述第一端和所述收容孔的内壁上。
优选地，所述第一端的两侧分别设置有抵持部，每个所述球头柱塞穿过所述外轴承架的侧壁并分别抵持在其中一个所述抵持部上。
优选地，所述固定板上设置有第二通孔、两个第三通孔和两个让位槽，所述第二通孔位于所述固定板的中心位置上，所述两个第三通孔以中心线对称的方式设置在所述固定板的两端上，所述两个让位槽以中心点对称的方式设置在所述固定板的两侧上，所述夹紧机构和所述导向机构的数量分别为两个，所述两个夹紧机构分别设置在所述固定板上并且分别从所述两个让位槽上伸出，所述两个导向机构分别设置在所述两个第三通孔中。
优选地，每个所述夹紧机构包括气缸固定板和设置在所述气缸被固定板一侧的平行夹紧气缸，所述平行夹紧气缸的夹爪从所述让位槽中伸出，以用于夹 持所述第一工件上的凸条。
优选地，每个所述导向机构包括套筒、导柱和弹性复位件，所述套筒设置在所述固定板的下方，每个所述套筒与其中一个所述第三通孔同轴设置，所述导柱设置在所述套筒内，所述导柱上设置有凸肩，所述导柱具有凸肩的一端安装在所述套筒的内部，所述导柱的另一端伸出所述套筒，并从所述第三通孔中伸出，所述导柱伸出所述第三通孔的一端呈锥形开口状，所述弹性复位件位于所述套筒内并套在所述导柱上且抵持在所述凸肩上。
本实用新型的机械手爪能够实现多工位间自动化上下料，人力需求少，生产成本降低，劳动强度减小，生产效率高，并且避免人工上下料容易造成工件碰伤、刮伤等的问题。
附图说明
图1为本实用新型一实施方式中的机械手爪、工件和盖板的立体结构示意图。
图2为图1所示的机械手爪、工件和盖板的局部拆解示意图。
图3为图2所示的机械手爪和盖板在另一个方向上的局部拆解示意图。
图4为图2所示的机械手爪和盖板的进一步拆解示意图。
图5为图2所示的机械手爪和工件在另一个方向上的进一步拆解示意图。
图6为图3在VI-VI方向上的剖面示意图。
图7为图5所示的机械手爪的进一步拆解示意图。
主要元件符号说明
机械手爪 100
机械连接柄 10
安装头 30
侧安装板 31
主安装板 33
吸附机构 40
吸附孔 401
第一夹持机构 50
转动件 51
外轴承架 511
收容孔 5111
第一通孔 5113
内轴承架 513
第一端 5131
第二端 5133
止推轴承 515
球头柱塞 517
固定板 53
第二通孔 531
第三通孔 533
让位槽 535
夹紧机构 55
气缸固定板 551
平行夹紧气缸 553
导向机构 57
套筒 571
导柱 573
凸肩 5731
弹性复位件 575
第二夹持机构 60
调整机构 70
导向柱 71
弹性件 73
压板 75
盖板 200
工件 300
凸条 310
如下具体实施方式将结合上述附图进一步说明本实用新型。
具体实施方式
下面将结合本实用新型实施方式中的附图，对本实用新型实施方式中的技术方案进行清楚、完整地描述，显然，所描述的实施方式仅是本实用新型一部分实施方式，而不是全部的实施方式。基于本实用新型中的实施方式，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其它实施方式，都属于本实用新型保护的范围。
需要说明的是，当一个元件被认为是“连接”另一个元件，它可以是直接连接到另一个元件或者可能同时存在居中元件。
除非另有定义，本文所使用的所有的技术和科学术语与属于本实用新型的技术领域的技术人员通常理解的含义相同。本文中在本实用新型的说明书中所使用的术语只是为了描述具体实施方式的目的，不是旨在限制本实用新型。本文所使用的术语“及/或”包括一个或多个相关的所列项目的任意的和所有的组合。
请参考图1，图1为机械手爪100的结构示意图。所述机械手爪100包括机械连接柄10、安装头30、吸附机构40、第一夹持机构50、第二夹持机构60和调整机构70。所述安装头30设置在所述机械连接柄10的一端上。所述吸附机构40、第一夹持机构50、第二夹持机构60和调整机构70分别依次设置在所述安装头30上。
具体地，请一并参考图2，所述安装头30包括四个侧安装板31和一个主安装板33。所述四个侧安装板31依次相连形成一“口”字状框架。所述主安装 板33同时安装在所述四个侧安装板31的一侧上。所述吸附机构40、第一夹持机构50、第二夹持机构60和调整机构70分别设置在所述四个侧安装板31上。所述机械连接柄10设置在所述主安装板33上。
具体地，请一并参考图3和图4，所述吸附机构40上设置有至少一个吸附孔401。所述吸附机构40用于与一外部气源连接并产生真空以用于将一治具(图未示)的盖板200揭开。可理解，所述治具上设置有收容部(图未示)。所述收容部用于收容一需进行高光亮表面加工的工件300。所述盖板200盖在所述收容部的开口处。
所述第一夹持机构50与所述第二夹持机构60结构相同，此处仅以所述第一夹持机构50为例说明其细部结构。
具体地，请一并参考图5、图6和图7，所述第一夹持机构50包括转动件51、固定板53、两个夹紧机构55和两个导向机构57。所述转动件51设置在所述固定板53和其中一个所述侧安装板31之间。所述两个夹紧机构55以中心点对称的方式设置在所述固定板53的两侧上。所述两个导向机构57以中心线对称的方式设置在所述固定板53的两端上。
所述转动件51包括外轴承架511、内轴承架513、止推轴承515和两个球头柱塞517。所述外轴承架511设置在其中一个所述侧安装板31上。所述内轴承架513设置在所述外轴承架511内并且部分从所述外轴承架511的顶部伸出。所述止推轴承515套设在所述内轴承架513上，且两端分别抵持所述外轴承架511和所述内轴承架513上。所述两个球头柱塞517分别穿设在所述外轴承架511的侧安装板上并抵持在所述内轴承架513的外壁上。
具体地，所述外轴承架511大致呈柱形状。所述外轴承架511包括收容孔5111和设置在所述收容孔5111一端的第一通孔5113。所述收容孔5111与所述第一通孔5113相通设置，且贯穿所述外轴承架511的上下表面，并且，所述收容孔5111的直径大于所述第一通孔5113的直径。
具体地，所述内轴承架513大致呈T形状。所述内轴承架513包括第一端5131和位于所述第一端5131一端的第二端5133。所述第一端5131的直径大于 所述第二端5133的直径。所述第一端5131的直径大于所述第一通孔5113的直径且小于等于所述收容孔5111的直径。所述第一端5131的两侧分别设置有抵持部5135。所述第二端5133的直径小于所述第一通孔5113的直径。所述内轴承架513的第一端5131设置在所述收容孔5111内，且所述内轴承架513的第二端5133穿过所述第一通孔5113并从所述第一通孔5113伸出。
所述止推轴承515套设在所述第二端5133上，且所述止推轴承515的两端分别抵持在所述第一端5131和所述收容孔5111的内壁上。
所述固定板53上设置有第二通孔531、两个第三通孔533和两个让位槽535。所述第二通孔531位于所述固定板53的大致中心位置上。所述两个第三通孔533以中心线对称的方式设置在所述固定板53的两端上。所述两个让位槽535以中心点对称的方式设置在所述固定板53的两侧上，而且，每个所述第三通孔533位于所述第二通孔531和其中一个所述让位槽535之间。
所述两个夹紧机构55分别设置在所述两个让位槽535上。具体地，每个所述夹紧机构55包括气缸固定板551和设置在所述气缸固定板551一侧的平行夹紧气缸553。所述平行夹紧气缸553的夹爪从所述让位槽535的位置伸出，以夹持工件300上的凸条310。
所述两个导向机构57分别设置在所述两个第三通孔533中。具体地，每个所述导向机构57包括套筒571、导柱573和弹性复位件575。所述套筒571设置在所述固定板53的下方。每个所述套筒571还与其中一个所述第三通孔533同轴设置。所述导柱573设置在所述套筒571内。所述导柱573大致呈“中”字状。所述导柱573的大致中部位置上设置有凸肩5731。所述导柱573具有凸肩5731的一端安装在所述套筒571的内部。所述导柱573的另一端伸出所述套筒571，并从所述第三通孔533中伸出。具体地，所述导柱573呈中空状，且其伸出所述第三通孔533的一端呈锥形开口状。所述弹性复位件575套在所述导柱573上并抵持在所述凸肩5731上。
所述调整机构70包括至少一个导向柱71、至少一个弹性件73和压板75。所述至少一个导向柱71的一端可活动地设置在其中一个所述侧安装板31上， 另一端固定在所述压板75上。每个所述弹性件73套设在其中一个所述导向柱71上，且所述弹性件73的两端分别抵在其中一个所述侧安装板31和所述压板75上。具体地，本实施方式中，所述导向柱71的数量为两个，所述弹性件73的数量也为两个。可理解，所述压板75为柔性调整压力板，防止在调整所述治具中的所述工件300的位置时压伤所述工件300。
本实用新型的机械手爪100能够实现多工位自动化上下料，具体包括通过其吸附机构40揭开治具的盖板200，第一夹持机构50从所述治具中取出已经经过高光亮加工的第一工件300，第二夹持机构60从另一上料平台上取出第二工件300并放置在所述治具中，调整机构70调整所述第二工件300在所述治具中的位置，使得所述第二工件完全贴附在所述治具的底面上。所述吸附机构40再将所述治具盖板200盖设在所述治具上以进行所述第二工件的高光亮加工。
第二夹持机构60从另一上料平台上取出第二工件300并放置在所述治具中的具体过程为：所述转动件51连接在所述侧安装板31和固定板53之间，所述两个夹紧机构55和两个导向机构57均设置在所述固定板53上，所述两个导柱573均呈锥形开口状，且对称设置在所述固定板53上。与所述第一夹持机构50对应的上料平台(图未示)上设置有两个插销。所述两个插销与所述两个导向机构57的位置分别相对应设置。然，实际通过所述上料平台上料时，所述两个导向机构57的位置与所述两个插销的位置之间存在偏差，此时，所述两个插销分别插在所述两个导向机构57的导柱573内，并分别对所述导柱573的锥形斜面施加压力，所述转动件51因而被驱动在一定范围内绕着且轴线微微转动，使得所述固定板53、位于所述固定板53上的所述两个夹紧机构55和两个导向机构57一同微微转动，进而使得所述两个导柱573分别与对应的所述插销的位置完全对应，使得两个所述插销分别插在所述两个导柱573内。此时，每个夹紧机构55的平行夹紧气缸553的两个夹爪相向运动并夹住位于所述上料平台上的工件300的凸条310，以完成上料动作。
本实用新型的机械手爪实现自动化多工位上料，并且解决了现有的第一夹持机构的导柱无法与上料平台上的插销无法配合的问题，为实际生产带来便利， 降低人力成本，提高了生产效率。
可理解，在其它实施方式中，所述夹紧机构55和导向机构57的数量分别不限于两个，具体可根据实际需要设置。
可理解，在其它实施方式中，所述至少一个导向柱71、至少一个弹性件73的数量不限于两个，具体可根据实际需要设置。
可理解，在其它实施方式中，所述调整机构70可省略。
可理解，在其它实施方式中，所述机械手爪100不限定于四工位，还可以是三工位、五工位等，具体可根据实际需要设置，所述侧安装板31的数量可相应设置为三个、五个等。
可理解，在其它实施方式中，所述第三通孔533和所述导向机构57的数量相对应设置，且均不限定于两个，具体可根据实际需要设置。
可理解，在其它实施方式中，所述让位槽535和所述两个夹紧机构55的数量相对应设置，且均不限定于两个，具体可根据实际需要设置。
我们应当认识到，以上的实施方式仅是用来说明本实用新型，而并非用作为对本实用新型的限定，只要在本实用新型的实质精神范围之内，对以上实施方式所作的适当改变和变化都落在本实用新型要求保护的范围之内。

Claims (10)

  1. 一种机械手爪，包括机械连接柄和设置在所述机械连接柄一端的安装头，其特征在于，所述安装头包括依次相连的至少三个侧安装板，所述机械手爪还包括分别设置在所述三个侧安装板上的吸附机构、第一夹持机构和第二夹持机构，所述吸附机构用于吸附一治具的盖板以打开治具，所述第一夹持机构用于取出位于所述治具内的一第一工件，所述第二夹持机构用于夹取一第二工件并放置在所述治具内。
  2. 如权利要求1所述的机械手爪，其特征在于：所述至少三个侧安装板的数量为四个，所述机械手爪还包括调整机构，所述吸附机构、第一夹持机构、第二夹持机构和调整机构分别设置在所述四个侧安装板上，所述调整机构用于调整所述第二工件在所述治具内的位置。
  3. 如权利要求2所述的机械手爪，其特征在于：所述调整机构包括至少一个导向柱、至少一个弹性件和压板，所述至少一个导向柱的一端可活动地设置在其中一个所述侧安装板上，另一端固定在所述压板上，每个所述弹性件套设在其中一个所述导向柱上，且所述弹性件的两端分别抵在其中一个所述侧安装板和所述压板上。
  4. 如权利要求1或2任一项所述的机械手爪，其特征在于：所述第一夹持机构与所述第二夹持机构结构相同，所述第一夹持机构包括转动件、固定板、至少一个夹紧机构和至少一个导向机构，所述转动件设置在所述固定板和其中一个所述侧安装板之间，所述至少一个夹紧机构和所述至少一个导向机构分别设置在所述固定板上。
  5. 如权利要求4所述的机械手爪，其特征在于：所述转动件包括外轴承架、内轴承架、止推轴承和两个球头柱塞，所述外轴承架设置在其中一个所述侧安装板上，所述内轴承架设置在所述外轴承架内并且部分从所述外轴承架的顶部伸出，所述止推轴承套设在所述内轴承架上，且两端分别抵持所述外轴承架和所述内轴承架上，所述两个球头柱塞分别穿设在所述外轴承架的侧壁上并抵持在所述内轴承架的外壁上。
  6. 如权利要求5所述的机械手爪，其特征在于：所述外轴承架包括收容孔和设置在所述收容孔一端的第一通孔，所述收容孔与所述第一通孔相通设置，所述收容孔的直径大于所述第一通孔的直径，所述内轴承架包括第一端和位于所述第一端一侧的第二端，所述第一端的直径大于所述第二端的直径，所述内轴承架的第一端设置在所述收容孔内，所述内轴承架的第二端穿过所述第一通孔并从所述第一通孔伸出，所述止推轴承套设在所述第二端上，且所述止推轴承的两端分别抵持在所述第一端和所述收容孔的内壁上。
  7. 如权利要求6所述的机械手爪，其特征在于：所述第一端的两侧分别设置有抵持部，每个所述球头柱塞穿过所述外轴承架的侧壁并分别抵持在其中一个所述抵持部上。
  8. 如权利要求4所述的机械手爪，其特征在于：所述固定板上设置有第二通孔、两个第三通孔和两个让位槽，所述第二通孔位于所述固定板的中心位置上，所述两个第三通孔以中心线对称的方式设置在所述固定板的两端上，所述两个让位槽以中心点对称的方式设置在所述固定板的两侧上，所述夹紧机构和所述导向机构的数量分别为两个，所述两个夹紧机构分别设置在所述固定板上并且分别从所述两个让位槽上伸出，所述两个导向机构分别设置在所述两个第三通孔中。
  9. 如权利要求8所述的机械手爪，其特征在于：每个所述夹紧机构包括气缸固定板和设置在所述气缸被固定板一侧的平行夹紧气缸，所述平行夹紧气缸的夹爪从所述让位槽中伸出，以用于夹持所述第一工件上的凸条。
  10. 如权利要求8所述的机械手爪，其特征在于：每个所述导向机构包括套筒、导柱和弹性复位件，所述套筒设置在所述固定板的下方，每个所述套筒与其中一个所述第三通孔同轴设置，所述导柱设置在所述套筒内，所述导柱上设置有凸肩，所述导柱具有凸肩的一端安装在所述套筒的内部，所述导柱的另一端伸出所述套筒，并从所述第三通孔中伸出，所述导柱伸出所述第三通孔的一端呈锥形开口状，所述弹性复位件位于所述套筒内并套在所述导柱上且抵持在所述凸肩上。
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CN206493609U (zh) * 2017-02-21 2017-09-15 广州市天锐机械科技有限公司 一种自动上下料的机械手夹具

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