WO2020211212A1

WO2020211212A1 - Gripper assembly with adjustable distance

Info

Publication number: WO2020211212A1
Application number: PCT/CN2019/097676
Authority: WO
Inventors: 陈优飞; 罗习达; 王忠岐; 吴娟娥
Original assignee: 科达制造股份有限公司
Priority date: 2019-04-19
Filing date: 2019-07-25
Publication date: 2020-10-22
Also published as: CN109927958B; CN109927958A

Abstract

A gripper assembly with an adjustable distance comprises a cylinder, an installation plate and an ejector plate assembly (9). The ejector plate assembly (9) comprises a slide block installation base (9.4), an ejector plate (9.3), an ejector bar (9.1) and a spring (9.2). The slide block installation base (9.4) is u-shaped, and comprises a base portion (9.4.3) and two sidewalls, a first sidewall (9.4.1) and a second sidewall (9.4.2). The ejector plate (9.3) is provided between the first sidewall (9.4.1) and the second sidewall (9.4.2). The spring (9.2) is provided between the ejector plate (9.3) and the second sidewall (9.4.2). The ejector bar (9.1) sequentially passes through the first sidewall (9.4.1), the ejector plate (9.3), the spring (9.2) and the second sidewall (9.4.2). A movable claw installation base (4.1) is provided at the base portion of the slide block installation base (9.4). The ejector plate (9.3) is pushed by a cylinder push rod to drive the ejector plate assembly (9) to move, thereby adjusting a distance between movable claw installation bases (4.1).

Description

Fixture assembly with adjustable distance

Technical field

The invention relates to the field of clamps, in particular to a clamp assembly with adjustable distance.

Background technique

The existing glass bottle packing machine, which is a machine that puts glass bottles in the packaging box, usually uses a set of glass bottle clamps installed at the front end of the robot arm, and the front end of the clamp is equipped with movable claws. The glass bottle clamp moves downwards with the robot arm. The claw grabs the glass bottle on the conveyor line, then lifts the glass bottle and places it in the packing box. The glass bottle fixture includes a clamping jaw assembly, and the clamping jaw assembly in a set of glass bottle fixture is immutable.

In glass bottle manufacturers, glass bottle shapes are various, such as wide mouth, narrow mouth, round, square, oval, etc.; the size difference is also very large, ranging from 40 mm to more than 100 mm in diameter; and the same specification The number of glass bottles is not exactly the same according to market demand. For example, the number of small boxes is 3X4, the number of middle boxes is 4X6, and the number of large boxes is 6X8. The existing packing methods include primitive manual packing, which is inefficient and does not meet the needs of automated production. At present, the glass bottle packing machine commonly used in the industry, a set of fixtures can be used for one type of glass bottle of one specification The box specification, when one of the parameters is changed, it is necessary to manually replace the appropriate fixture, wasting manpower and material resources, the operation efficiency is very low, the difficulty is large, and even the entire fixture device needs to be redesigned.

Summary of the invention

In order to solve the above problems, the present invention provides a clamp assembly with adjustable distance. The ejector pin plate is pushed by an air cylinder, so that the entire ejector pin plate assembly is released from the mounting plate, and then the air cylinder push rod abuts against the sliding plate. On the block mounting seat, the entire top pin plate assembly can move with the movement of the cylinder. Clamping jaws are arranged under the slider mounting seat, so the distance between the clamping jaws can be adjusted. The details are as follows:

A clamp assembly with adjustable distance, comprising an air cylinder, a mounting plate, and a top pin plate assembly. The mounting plate is provided with a sliding groove; the top pin plate assembly includes a slider mounting seat, a top pin plate, and a top pin rod And a spring, the slider mounting seat is U-shaped and includes two side walls and a bottom. The two side walls are divided into a first side wall and a second side wall. A first side wall is provided on the first side wall. Mounting hole, a second mounting hole is provided on the second side wall, the top pin plate is disposed between the first side wall and the second side wall, and the spring is disposed on the top pin plate and Between the second side walls, the top pin rod passes through the mounting holes on the first side wall, the top pin plate, the spring and the mounting holes on the second side wall in sequence, and the top pin plate abuts against the On the mounting plate, the top pin rod is fixedly connected to the top pin plate; the air cylinder is arranged on the outside of the first side wall, and the push rod of the air cylinder is used to push the top pin plate, A movable claw mounting seat is provided at the bottom of the slider mounting seat.

Preferably, the top pin plate protrudes from the first side wall along the length direction of the mounting plate, and the push rod of the air cylinder pushes the top pin plate after passing through the sliding groove. When the distance needs to be adjusted, the cylinder moves, the cylinder push rod extends, pushes the top pin plate and then compresses the spring, thereby loosening the top pin assembly from the mounting plate, and then the cylinder push rod abuts On the side of the first side wall of the sliding block mounting seat, when the air cylinder moves, the top pin assembly can be driven to move, thereby adjusting the distance between the movable claw mounting seats.

Preferably, the top pin plate simultaneously extends from the left and right sides of the first side wall. The top pin plate extends out of the left and right sides of the first side wall at the same time so that the air cylinder can push the top pin plate on the left or right side so as to drive the clamp to move forward or backward. Adjust the distance in both directions.

Preferably, a third mounting hole is further provided on the first side wall, and the cylinder push rod passes through the third mounting hole to push the top pin plate.

Preferably, a push rod groove is provided on the side of the first side wall. The push rod of the cylinder is clamped in the push rod groove, and the ejector pin assembly can be easily pushed.

Preferably, a guiding structure is provided on the third mounting hole. Therefore, the cylinder push rod can easily extend into the third mounting hole.

The beneficial effects of the present invention are as follows:

The ejector pin plate is pushed by the cylinder push rod, and then the ejector pin assembly is driven to move, so as to adjust the distance between the movable claw mounting seats, so the clamp assembly can meet the packaging specifications of multi-specification glass bottles; The component has simple structure, beautiful appearance, fast running speed, fully automatic positioning, good compatibility, and easy implementation. The clamp assembly can be applied not only in the field of glass bottle clamps, but also in other structures where the distance needs to be adjusted, with a wide range of applications.

Description of the drawings

Figure 1 is a first view of the glass bottle clamp;

Figure 2 is a second view of the glass bottle clamp;

Figure 3 is a structural diagram of the guide rod shaft of the present invention;

Figure 4 is a structural diagram of the ejector pin assembly of the present invention;

Figure 5 is a structural diagram of the shift pin assembly of the present invention.

The technical features indicated by the reference signs in the figure are as follows:

1. Length direction drive assembly; 2. Frame; 3. Width direction drive assembly; 4. Clamp assembly; 5. Detach pin assembly; 1.1. Length direction servo motor; 1.2. Length direction screw rod; 1.3. Length direction guide rod 3.1. Width direction servo motor; 3.2. Timing belt; 3.3. Width direction screw rod; 3.4. Guide rod shaft assembly; 3.5. The first movable claw installation side plate; 3.6. The second movable claw installation side plate; 3.7. Three movable claws to install the side plate; 3.8, shaft shoulder; 3.4.1, the first guide rod axis; 3.4.2, the second guide rod axis; 4.1, movable claw mounting seat; 7, sliding groove; 8, sliding block; 9 , Ejector pin assembly; 9.1, ejector rod; 9.2, spring; 9.3, ejector plate; 9.4, slider mounting seat; 9.4.1, the first side wall; 9.4.2, the second side wall; 9.4.3, bottom.

detailed description

The specific embodiments of the present invention will be further described below in conjunction with the drawings:

The clamp assembly can be applied not only in the field of glass bottle clamps, but also in other structures where the distance needs to be adjusted, with a wide range of applications. The working process of the clamp assembly is described below by taking the application of the clamp assembly on the glass bottle clamp assembly to adjust the distance along the length of the clamp as an example.

As shown in FIG. 1, a glass bottle holder with adjustable distance includes a frame 2, a length direction drive assembly 1, a width direction drive assembly 3, a clamping jaw assembly 4 and a detent assembly 5. The clamping jaw assembly 4 includes a plurality of movable jaw mounting seats 4.1. The movable jaw mounting seats 4.1 are arranged in a matrix. Along the length of the frame 2 is the number of rows of movable jaw mounting seats 4.1. The width direction of 2 is the number of columns of the movable jaw mounting seat 4.1. In this embodiment, the number of rows of the movable jaw mounting seat 4.1 is 12 rows and the number of columns is 3 columns.

As shown in Figure 2, the length direction drive assembly includes a length direction servo motor 1.1, a length direction screw 1.2 and a pin assembly 5; the length direction servo motor 1.1 is used to drive the length direction screw 1.2 to rotate, and the lock pin assembly 5 is set in The length direction screw rod 1.2 is on, so the detent assembly 5 can slide on the length direction screw rod 1.2. The length direction driving assembly further includes a length direction guide rod 1.3, the detent assembly 5 is also sleeved on the length direction guide rod 1.3, and the length direction guide rod 1.3 plays a guiding role so that the detent assembly 5 is more stable when sliding on the screw rod in the length direction. As shown in Fig. 5, the detent assembly 5 includes an air cylinder.

The width direction drive assembly includes a width direction servo motor 3.1, a width direction screw 3.3, a number of guide rod shaft assemblies 3.4, a first movable claw mounting side plate 3.5, a second movable claw mounting side plate 3.6 (i.e., mounting plate), Three movable claws are installed on the side plate 3.7, the width direction servo motor 3.1 is used to drive the width direction screw 3.3 to rotate, the number of the width direction screw 3.3 is two, which are respectively arranged on the front and rear of the frame 2. At the end, the two screw rods 3.3 in the width direction are connected by a timing belt 3.2. The length direction of the frame 2 is the front and back direction, and the width direction of the frame 2 is the left and right direction. The two width direction screw rods 3.3 are connected by a timing belt 3.2, so the two width direction screw rods 3.3 can be in one Simultaneous movement under the drive of the width direction servo motor 3.1. Both ends of the first movable claw mounting side plate 3.5 are respectively sleeved on the two width direction screw rods 3.3, and both ends of the third movable claw installation side plate 3.7 are respectively sleeved on the two width direction screws On the rod 3.3, the thread directions of the upper and lower parts of the width direction screw 3.3 are opposite, so when the width direction screw 3.3 rotates, the first movable jaw mounting side plate 3.5 and the third movable jaw mounting side plate 3.7 The direction of movement is opposite. The number of the guide rod shaft assembly 3.4 is equal to the number of rows of the movable pawl mounting seat 4.1, and each guide rod shaft assembly 3.4 passes through the first movable pawl mounting side plate 3.5, a row of movable pawl mounting seat 4.1, The third movable pawl is installed with the side plate 3.7, the guide rod shaft assembly 3.4 is fixedly connected with the first row of movable pawl mounting seats 4.1 and the third row of movable pawl mounting seats, and the guide rod shaft assembly 3.4 is installed with the second row of movable pawls The seat 4.1 is movably connected; and each of the guide rod shaft assemblies 3.4 includes a first guide rod shaft 3.4.1 and a second guide rod shaft 3.4.2, and the first guide rod shaft 3.4.1 and the second guide rod shaft 3.4.2 Parallel and opposite in direction, two shoulders 3.8 are provided on the first guide rod shaft 3.4.1, and the first movable claw mounting side plate 3.5 is provided on the first guide rod shaft 3.4.1 Between the two shoulders 3.8; as shown in Figure 3, the second guide rod shaft 3.4.2 is provided with two shoulders 3.8, the third movable pawl mounting side plate 3.7 is provided on the second Between the two shoulders 3.8 of the guide shaft 3.4.2. Each guide rod shaft assembly 3.4 can slide along the length direction on the first movable claw mounting side plate 3.5 and the third movable claw mounting side plate 3.7, due to the first movable claw mounting side plate 3.5 and the third movable claw mounting side plate 3.5 The side plates 3.7 are respectively clamped in the shaft shoulder 3.8, so when the width direction screw 3.3 rotates, the first movable claw mounting side plate 3.5 can drive the first row of movable claw mounting seats 4.1 to move along the width direction of the frame 2. The third movable claw mounting side plate 3.7 can drive the third row of movable claw mounting seats 4.1 to move along the width direction of the frame 2.

The first guide rod shaft 3.4.1 is fixedly connected to the movable claw mounting seat of the first row, and the first guide rod shaft 3.4.1 is movably connected to the movable pawl mounting seat of the third row; the second The guide rod shaft 3.4.2 is fixedly connected with the movable claw mounting seat of the third row, and the second guide rod shaft 3.4.2 is movably connected with the movable pawl mounting seat of the first row; when the first row When the movable pawl mounting seat moves along the width direction of the frame 2, the second guide shaft 3.4.2 plays a guiding role, when the movable pawl mounting seat of the third row moves along the width direction of the frame 2 At this time, the first guide rod shaft 3.4.1 plays a guiding role.

The second movable claw mounting side plate 3.6 is fixedly connected to the frame 2, and the second movable claw mounting side plate is L-shaped, including side walls and a bottom, and a slide rail is provided at the bottom of the mounting side plate 3.6 (Not shown in the figure), a slider mounting seat 9.4 is provided between the second movable jaw mounting side plate 3.6 and the second row of movable jaw mounting seats 4.1, and each movable jaw mounting seat in the second row 4.1 It is fixedly connected with the sliding block mounting base 9.4, and a sliding block 8 is fixedly arranged on each sliding block mounting base, and the sliding block 8 slides on the sliding rail. The glass bottle clamp also includes a number of ejector pin assemblies 9, the number of the ejector pin assemblies 9 is equal to the number of rows of the movable jaw mounting seat 4.1, that is, each movable jaw mounting seat 4.1 in the second column corresponds to one The top pin assembly 9, as shown in Figure 4, the top pin assembly includes a top pin rod 9.1, a spring 9.2, a top pin plate 9.3 and a slider mounting seat 9.4, on the second movable pawl mounting side plate 3.6 is provided Sliding groove 7; the slider mounting seat is U-shaped, including two side walls and a bottom 9.4.3, the two side walls are divided into a first side wall 9.4.1 and a second side wall 9.4.2, A first mounting hole is provided on the first side wall 9.4.1, a second mounting hole is provided on the second side wall 9.4.2, and the top pin plate 9.3 is provided on the first side wall 9.4.1 and the second side wall 9.4.2, the spring 9.2 is arranged between the top pin plate 9.3 and the second side wall 9.4.2, the top pin rod 9.1 passes through the first The mounting holes on the side wall 9.4.1, the top pin plate 9.3, the spring 9.2 and the mounting holes on the second side wall 9.4.2, the top pin plate 9.3 abuts on the second movable claw mounting side plate 3.6 , So that the side wall of the second movable claw mounting side plate is arranged between the first side wall 9.4.1 and the top pin plate 9.3, and the top pin rod 9.1 is fixedly connected to the top pin plate 9.3, so The fixed connection method can be welding or other conventional fixed connection methods. When there is no need to adjust the distance along the length of the frame, the compression force of the spring 9.2 pushes the top pin plate 9.3 against the second movable claw mounting side plate 3.6 to fix each row The movable claw mount 4.1.

The top pin plate 9.3 protrudes from the first side wall 9.4.1 along the length of the second movable pawl mounting side plate 3.6, so the push rod of the cylinder can be pushed after passing through the sliding groove 7 The top pin plate 9.3. When the distance in the length direction needs to be adjusted, the cylinder moves, the cylinder push rod extends, pushes the top pin plate 9.3 and then compresses the spring 9.2, thereby moving the movable pawl mounting seat 4.1 of each row from the second movable The claw mounting side plate 3.6 is loosened, and then the push rod of the cylinder abuts against the side of the first side wall 9.4.1 of the slider mounting seat 9.4. When the cylinder moves, it can drive each row The movable claw mounting seat 4.1 moves to adjust the distance in the length direction.

Preferably, the top pin plate 9.3 extends out of the left and right sides of the first side wall 9.4.1 at the same time, and the left and right sides of the top pin plate 9.3 mean along the second movable claw Install both sides of the side plate 3.6 in the length direction. The top pin plate 9.3 simultaneously extends out of the left and right sides of the first side wall 9.4.1 so that the cylinder can push the cylinder on the left or right side. The top pin plate 9.3 can drive the movable claw mounting seat 4.1 of each row to move forward or backward along the length direction. A push rod groove is provided on the side of the first side wall 9.4.1, and the push rod of the cylinder is clamped in the push rod groove, and the movable claw mounting seat of each row can be easily pushed.

As another embodiment, a third mounting hole is further provided on the first side wall 9.4.1, the cylinder push rod passes through the third mounting hole and pushes the top pin plate 9.3, and The third mounting hole is provided with a guiding structure, so that the cylinder push rod can easily extend into the third mounting hole.

The frame is installed on a mechanical arm, and a movable claw is connected to the movable claw mounting seat 4.1, and the movable claw can complete the grabbing of the glass bottle. When packing, the mechanical arm moves downwards, the movable claw grabs the glass bottle on the conveyor line, and then lifts the glass bottle and places it in the packing box to realize automatic intelligent packing. The working steps of the adjustable distance glass bottle clamp of the present invention are as follows:

1. The program sends instructions. The lengthwise servo motor 1.1 drives the lengthwise screw 1.2 to rotate, and drives the detent assembly 5 to move along the lengthwise guide rod 1.3. The detent assembly 5 includes a cylinder and a cylinder push rod. When the pin assembly 5 reaches the position of the single movable pawl mounting seat 4.1 in the second row, the cylinder moves and the cylinder push rod extends to push out the ejector pin plate on the ejector pin assembly 9, compressing the spring, so the ejector pin The assembly 9 can be released from the second movable claw mounting side plate, and the push rod of the cylinder abuts on the sliding block mounting seat, so when the cylinder moves, it can drive a single movable claw mounting seat 4.1 to move. A row of movable jaw mounting seats 4.1 are connected in series on the guide rod shaft, so the movement of a single movable jaw mounting seat 4.1 can drive a row of movable jaw mounting seats to move; realize the distance change between two adjacent movable jaw mounting seats, when the distance is satisfied When the command is required, the cylinder push rod retracts, the ejector pin assembly 9 springs back to fix the movable pawl mounting seat, and the detent pin assembly 5 goes to the position of the next movable pawl mounting seat 4.1 to continue the above action until the length direction Complete the requirements of the program instructions.

2. When the distance in the length direction meets the requirements, the width direction servo motor 3.1 moves, and the two width direction screw rods 3.3 are driven to rotate at the same time through the timing belt 3.2, so the first movable claw installs the side plate 3.5 and the third movable claw The claw mounting side plate 3.7 can move up and down on the screw 3.3 at the same time. Because the thread directions of the upper and lower parts of the width direction screw 3.3 are opposite, the first movable claw mounting side plate 3.5 and the third movable claw The movement direction of the claw installation side plate 3.7 is opposite, that is, it moves toward the second movable claw installation side plate 3.6 at the same time or moves away from the second movable claw installation side plate 3.6; the first movable claw installation side plate 3.5 drives The movable jaw mounting seat 4.1 of the first row moves; the third movable jaw mounting side plate 3.7 drives the movable jaw mounting seat 4.1 of the third row to move, so as to realize the change of the distance between the clamps in the width direction. When the distance meets the instruction requirements, The servo motor 3.1 stops moving.

The above only gives an embodiment in which the clamp assembly of the present invention is applied to a glass bottle clamp so that the glass bottle clamp can realize a distance change of four degrees of freedom in two directions. The clamp assembly can also be applied to other devices that need to adjust the distance.

Specific examples are used in this article to illustrate the principle and implementation of the present invention. The description of the above examples is only used to help understand the core idea of the present invention. It should be pointed out that for those of ordinary skill in the art, without departing from the principle of the present invention, several improvements and modifications can be made to the present invention, and these improvements and modifications also fall within the protection scope of the claims of the present invention. .

Claims

A clamp assembly with adjustable distance, which is characterized in that it comprises an air cylinder, a mounting plate and a top pin plate assembly, and a sliding groove is provided on the mounting plate; the top pin plate assembly includes a slider mounting seat and a top pin plate , Ejector pin and spring, the slider mounting seat is U-shaped, including two side walls and a bottom, the two side walls are divided into a first side wall and a second side wall, on the first side wall A first mounting hole is provided, a second mounting hole is provided on the second side wall, the top pin plate is provided between the first side wall and the second side wall, and the spring is provided on the Between the top pin plate and the second side wall, the top pin rod sequentially passes through the mounting hole on the first side wall, the top pin plate, the spring, and the mounting hole on the second side wall. Against the mounting plate, the top pin rod is fixedly connected to the top pin plate; the cylinder is arranged on the outer side of the first side wall, and the push rod of the cylinder is used to push the top The pin plate is provided with a movable claw mounting seat at the bottom of the sliding block mounting seat.
The clamp assembly with adjustable distance according to claim 1, wherein the top pin plate extends from the first side wall along the length of the mounting plate, and the push rod of the cylinder penetrates Push the top pin plate after passing through the sliding groove.
The clamp assembly with adjustable distance according to claim 2, wherein the top pin plate protrudes from the left and right sides of the first side wall at the same time.
The clamp assembly with adjustable distance according to claim 1, wherein a third mounting hole is further provided on the first side wall, and the cylinder push rod passes through the third mounting hole. Push the top pin plate.
The clamp assembly with adjustable distance according to claim 1, wherein a push rod groove is provided on the side of the first side wall.
The clamp assembly with adjustable distance according to claim 4, wherein a guide structure is provided on the third mounting hole.