CN116117579A - Multidirectional grabbing and fixing device for feeding and discharging of robot - Google Patents
Multidirectional grabbing and fixing device for feeding and discharging of robot Download PDFInfo
- Publication number
- CN116117579A CN116117579A CN202211690077.7A CN202211690077A CN116117579A CN 116117579 A CN116117579 A CN 116117579A CN 202211690077 A CN202211690077 A CN 202211690077A CN 116117579 A CN116117579 A CN 116117579A
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- Prior art keywords
- semi
- annular clamping
- fixing device
- multidirectional
- crankshaft
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- 238000007599 discharging Methods 0.000 title claims abstract description 12
- 238000007664 blowing Methods 0.000 claims description 13
- 238000009423 ventilation Methods 0.000 claims description 7
- 230000000694 effects Effects 0.000 claims description 5
- 230000000149 penetrating effect Effects 0.000 claims description 3
- 238000000034 method Methods 0.000 abstract description 9
- 230000000712 assembly Effects 0.000 abstract description 3
- 238000000429 assembly Methods 0.000 abstract description 3
- 210000000078 claw Anatomy 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 238000003754 machining Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
Images
Classifications
-
- 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
- B23Q7/04—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 by means of grippers
- B23Q7/043—Construction of the grippers
-
- 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
- B23Q11/00—Accessories fitted to machine tools for keeping tools or parts of the machine in good working condition or for cooling work; Safety devices specially combined with or arranged in, or specially adapted for use in connection with, machine tools
- B23Q11/0042—Devices for removing chips
- B23Q11/005—Devices for removing chips by blowing
-
- 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
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/12—Gripping heads and other end effectors having finger members with flexible finger members
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a multidirectional grabbing fixing device for robot feeding and discharging, which comprises a top seat, wherein two mounting seats are movably arranged right below the top seat, two semi-annular clamping jaws are symmetrically and rotatably arranged on the inner wall of each mounting seat, air bag layers are arranged on two sides of each semi-annular clamping jaw, and two air supply assemblies are arranged on the top seat; in the using process, after the two semi-annular clamping jaws are closed together, the whole weight of the crankshaft or the camshaft is received, the two semi-annular clamping jaws matched with each other are positioned between the two cranks on the crankshaft, then the air bag layers on the two sides of the semi-annular clamping jaws are inflated and bulged, and the air bag layers are abutted against the side walls of the adjacent cranks and contact with each other, so that the crankshaft is limited and fixed in multiple directions.
Description
Technical Field
The invention relates to the technical field of fixing devices, in particular to a multidirectional grabbing fixing device for robot feeding and discharging.
Background
When the automobile parts are produced and processed, for parts with great processing difficulty, such as crankshafts, camshafts and the like, the parts of the parts need to be processed and operated by a processing center, the robot that usually needs to set up drives the gripper and removes in the machining center with the bent axle centre gripping, then after finishing processing, the rethread robot drives the gripper and removes, takes out the bent axle of finishing processing from the machining center.
The existing grabbing fixing device is usually a mechanical clamping jaw, and the mechanical clamping jaw clamps and fixes the crankshaft and the cam shaft, so that the mechanical clamping jaw with the corresponding size can only clamp the crankshaft and the cam shaft with the corresponding size, and the applicability is poor; and current machinery clamping jaw can only carry out the centre gripping fixed to bent axle and camshaft, can not carry out spacingly to bent axle and camshaft from a plurality of positions, and the result of use is general.
Disclosure of Invention
The invention aims to solve the problems in the prior art, and provides a multidirectional grabbing fixing device for feeding and discharging of a robot.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
the utility model provides a diversified material fixing device that grabs for unloading on robot, includes the footstock, the activity is provided with two mount pads under the footstock, and equal symmetry rotates on the inner wall of every mount pad is provided with two semi-annular clamping jaw, and the both sides of every semi-annular clamping jaw all are provided with the gasbag layer, are provided with two air feed assemblies on the footstock.
As a further technical scheme of the invention, the side walls of two adjacent semi-annular clamping jaws are respectively provided with a mounting through hole, each mounting through hole is obliquely arranged, the two mounting through holes are arranged in a central symmetry manner, and the inner wall of each mounting through hole is fixedly provided with a blowing nozzle.
As a further technical scheme of the invention, the side wall of each semi-annular clamping jaw is provided with a slot matched with the air blowing nozzle, the inner wall of each slot is provided with a vent hole I in a penetrating way, the inner wall of the vent hole I is fixedly provided with a vent pipe I, and the vent pipe I is communicated with the adjacent air bag layer.
As a further technical scheme of the invention, a vent pipe II is communicated between the two air bag layers, and a vent hole II matched with the vent pipe II is formed in the side wall of the semi-annular clamping jaw.
As a further technical scheme of the invention, each air supply assembly comprises a tap fixed on the side wall of the footstock, two lower ventilation hoses are communicated with the side wall of the tap, each lower ventilation hose is communicated with a corresponding blowing nozzle, and an upper ventilation hose is communicated with the side wall of each tap and is communicated with an external air supply pump.
As a further technical scheme of the invention, the bottom of the top seat is provided with a T-shaped chute, two T-shaped sliding blocks are symmetrically and movably arranged in the T-shaped chute, the bottom of each T-shaped sliding block is fixedly provided with a connecting block, and the connecting blocks are fixedly connected with the side wall of the mounting seat.
As a further technical scheme of the invention, two side plates are symmetrically fixed at the bottom of the top seat, a screw rod is rotatably arranged between the two side plates, screw threads of the screw rod penetrate through the two connecting blocks, a guide rod is fixed between the two side plates, and the guide rod movably penetrates through the two connecting blocks.
The invention has the beneficial effects that:
1. after two semi-annular clamping jaws are closed together, the center shaft of the crankshaft or the camshaft is contacted with the lower section of the inner surface of the two semi-annular clamping jaws, so that the whole weight of the crankshaft or the camshaft is supported, the two semi-annular clamping jaws matched with each other are positioned between the two cranks on the crankshaft, then the air bag layers on the two sides of the semi-annular clamping jaws are inflated and bulge, the air bag layers are in abutting contact with the side walls of the adjacent cranks, the crankshaft is subjected to multidirectional limiting fixation, the two semi-annular clamping jaws are symmetrically clamped at different positions of the center shaft of the crankshaft, the crankshaft is clamped and fixed in multiple directions, and the phenomenon that the crankshaft shakes to influence the use effect in the process of driving the crankshaft to move is avoided.
2. After the crankshaft or the camshaft finishes processing in the processing center, the two semi-annular clamping jaws are driven by the robot and the footstock to be close to the crankshaft again, and the two semi-annular clamping jaws work in the process of being close to each other, so that the chips which are adhered to the bottom of the crankshaft center shaft and are not cleaned away are blown away, the chips are prevented from being adhered to the bottom of the crankshaft center shaft, and when the semi-annular clamping jaws carry on the crankshaft, the surface of the crankshaft center shaft or the semi-annular clamping jaws are worn.
Drawings
FIG. 1 is a schematic diagram of the overall structure of the present invention;
FIG. 2 is a schematic diagram illustrating the connection between the mounting base and the connection block according to the present invention;
FIG. 3 is a schematic diagram illustrating an internal structure of a socket according to the present invention;
FIG. 4 is a schematic diagram of the connection of the airbag layer to the vent pipe II according to the present invention.
In the figure: 1. a top base; 2. a mounting base; 3. semi-annular clamping jaw; 4. an air bag layer; 5. mounting through holes; 6. an air blowing nozzle; 7. a slot; 8. a first vent hole; 9. a first vent pipe; 10. a second vent pipe; 11. a tap; 12. a lower vent hose; 13. an upper vent hose; 14. a T-shaped slider; 15. a connecting block; 16. a side plate; 17. a screw rod; 18. a guide rod.
Detailed Description
In order to further describe the technical means and effects adopted by the present invention for achieving the intended purpose, the following detailed description will refer to the specific implementation, structure, characteristics and effects according to the present invention with reference to the accompanying drawings and preferred embodiments.
Referring to fig. 1-4, a multidirectional grabbing fixing device for feeding and discharging of a robot comprises a top seat 1, two mounting seats 2 are movably arranged under the top seat 1, two semi-annular clamping jaws 3 are symmetrically and rotatably arranged on the inner wall of each mounting seat 2, an air bag layer 4 is arranged on two sides of each semi-annular clamping jaw 3, and two air supply assemblies are arranged on the top seat 1.
The fixing device is arranged on the robot and used for clamping and moving the automobile parts, the automobile parts are clamped and moved to the machining center, the machining center is used for machining the automobile parts, and after machining is finished, the robot takes out the machined automobile parts from the machining center through the fixing device.
When the robot drives the footstock 1 to move to the position right above the crankshaft or the camshaft to be grabbed, the robot drives the footstock 1 to move downwards, so that the two semi-annular clamping jaws 3 are driven to move downwards, in an initial state, the two semi-annular clamping jaws 3 are in an open state, the two semi-annular clamping jaws 3 can move downwards to two sides of a central shaft of the crankshaft or the camshaft, then the two semi-annular clamping jaws 3 are clasped together to form a circular ring, the central shaft of the crankshaft or the camshaft is positioned in inner rings of the two semi-annular clamping jaws 3, the size of the inner rings of the two semi-annular clamping jaws 3 is larger than that of the central shaft of the crankshaft or the camshaft, and the semi-annular clamping jaws 3 can grab crankshafts or camshafts with different sizes.
After two semi-annular clamping jaw 3 are closed together, the center pin of bent axle or camshaft contacts with the hypomere position of two semi-annular clamping jaw 3 internal surface to accept the whole weight of bent axle or camshaft, two semi-annular clamping jaw 3 that mutually support are located between two cranks on the bent axle this moment, then the gasbag layer 4 of semi-annular clamping jaw 3 both sides aerify the swell, gasbag layer 4 offset contact with adjacent cranked lateral wall this moment, thereby carry out spacing fixed to the bent axle, and the symmetrical centre gripping of two pairs of semi-annular clamping jaw 3 is in the different positions of bent axle center pin, thereby carry out diversified centre gripping fixed to the bent axle, avoid the robot to appear rocking at the in-process that drives the bent axle and influence result of use at the bent axle.
The side walls of two adjacent semi-annular clamping jaws 3 are respectively provided with a mounting through hole 5, each mounting through hole 5 is obliquely arranged, the two mounting through holes 5 are arranged in a central symmetry mode, and the inner wall of each mounting through hole 5 is fixedly provided with a blowing nozzle 6.
After the crankshaft is processed in the processing center, the two semi-annular clamping jaws 3 are driven by the robot and the footstock 1 to get close to the crankshaft again, and the two semi-annular clamping jaws 3 work in the process of being close to each other, the blowing nozzle 6 blows away the chips which are adhered to the bottom of the crankshaft center shaft and are not cleaned, the chips are prevented from being adhered to the bottom of the crankshaft center shaft, and when the semi-annular clamping jaws 3 carry on the crankshaft, the surface of the crankshaft center shaft or the semi-annular clamping jaws 3 is worn.
The side wall of each semi-annular clamping jaw 3 is provided with a slot 7 matched with the air blowing nozzle 6, the inner wall of each slot 7 is provided with a vent hole I8 in a penetrating mode, the inner wall of each vent hole I8 is fixedly provided with a vent pipe I9, the vent pipe I9 is communicated with the adjacent air bag layers 4, a vent pipe II 10 is communicated between the two air bag layers 4, and the side wall of the semi-annular clamping jaw 3 is provided with a vent hole II matched with the vent pipe II 10.
After two semi-annular clamping jaws 3 that the cooperation was used are cohesive together, blow nozzle 6 inserts slot 7 in this moment to blow in to slot 7, gas is in proper order through slot 7, air vent one 8, breather pipe one 9 gets into in the gasbag layer 4 that corresponds, then in the gas enters into adjacent gasbag layer 4 through breather pipe two 10, until the lateral wall in two gasbag layers 4 that swell offsets the contact with the crank inner wall on the bent axle, thereby carries out spacing fixed to the bent axle.
Every air feed subassembly all includes the tap 11 of fixing on footstock 1 lateral wall, the intercommunication is provided with two down air hose 12 on the lateral wall of tap 11, every down air hose 12 all communicates with the blowing mouth 6 that corresponds, all the intercommunication is provided with air hose 13 on the lateral wall of every tap 11, air hose 13 and external air supply pump intercommunication, the air supply pump work, through last air hose 13 to the air feed in the tap 11, then the gas loops through tap 11 and lower air hose 12, then enter into in the blowing mouth 6 that corresponds, be provided with the solenoid valve on the lateral wall of last air hose 13, at the in-process that gasbag layer 4 was inflated, the solenoid valve is in open state, after each gasbag layer 4 is inflated, the solenoid valve is closed, avoid gas leakage.
T-shaped sliding grooves are formed in the bottom of the footstock 1, two T-shaped sliding blocks 14 are symmetrically and movably arranged in the T-shaped sliding grooves, connecting blocks 15 are fixedly arranged at the bottom of each T-shaped sliding block 14, the connecting blocks 15 are fixedly connected with the side walls of the mounting seats 2, two side plates 16 are symmetrically and fixedly arranged at the bottom of the footstock 1, a screw rod 17 is rotatably arranged between the two side plates 16, screw threads of the screw rod 17 penetrate through the two connecting blocks 15, a guide rod 18 is fixedly arranged between the two side plates 16, the guide rod 18 movably penetrates through the two connecting blocks 15, and a driving box for driving the screw rod 17 to rotate is arranged in the side plate 16.
When the robot drives the footstock 1 to move to the position right above the crankshaft or the camshaft, the screw rod 17 rotates to drive the two connecting blocks 15 to move away from or close to each other, so as to drive the mounting seat 2 and the semi-annular clamping jaw 3 to correspondingly move, when the size of the crankshaft or the camshaft is large, the two connecting blocks 15 move away from each other, and when the size of the crankshaft or the camshaft is small, the two connecting blocks 15 move close to each other, so that the crankshaft or the camshaft can be stressed uniformly after being clamped, and the stability in the moving process is ensured.
When the device is used, when the robot drives the top seat 1 to move to the position right above the crankshaft or the camshaft, the screw rod 17 rotates to drive the two connecting blocks 15 to move away from or approach each other, so that the mounting seat 2 and the semi-annular clamping jaw 3 are driven to correspondingly move, when the size of the crankshaft or the camshaft is large, the two connecting blocks 15 move away from each other, and when the size of the crankshaft or the camshaft is small, the two connecting blocks 15 approach each other, so that the crankshaft or the camshaft can be uniformly stressed after being clamped, and the stability in the moving process is ensured;
then the robot drives the footstock 1 to move downwards so as to drive the two semi-annular clamping jaws 3 to move downwards, and in an initial state, the two semi-annular clamping jaws 3 are in an open state, so that the two semi-annular clamping jaws 3 can move downwards to two sides of a central shaft of a crankshaft or a camshaft, then the two semi-annular clamping jaws 3 are buckled together to form a circular ring, at the moment, the central shaft of the crankshaft or the camshaft is positioned in inner rings of the two semi-annular clamping jaws 3, the size of the inner rings of the two semi-annular clamping jaws 3 is larger than that of the central shaft of the crankshaft or the camshaft, and the semi-annular clamping jaws 3 can grasp crankshafts or camshafts with different sizes, so that the applicability is strong;
after the two semi-annular clamping claws 3 matched for use are cohesive together, the air blowing nozzle 6 is inserted into the slot 7 at the moment, so that air is blown into the slot 7, air sequentially enters the corresponding air bag layers 4 through the slot 7, the first vent hole 8 and the first vent pipe 9, and then enters the adjacent air bag layers 4 through the second vent pipe 10 until the outer side walls of the two bulged air bag layers 4 are abutted against the inner wall of the crank on the crankshaft, so that the crankshaft is subjected to multidirectional limiting fixation;
after the crankshaft or the camshaft finishes processing in the processing center, the two semicircular clamping claws 3 are driven by the robot and the footstock 1 to be close to the crankshaft again, and the two semicircular clamping claws 3 work in the process of being close to each other, so that the chips which are adhered to the bottom of the crankshaft central shaft and are not cleaned away are blown away, the chips are prevented from being adhered to the bottom of the crankshaft central shaft, and when the semicircular clamping claws 3 carry on the crankshaft, the surface of the crankshaft central shaft or the semicircular clamping claws 3 is worn.
The present invention is not limited to the above embodiments, but is capable of modification and variation in detail, and other modifications and variations can be made by those skilled in the art without departing from the scope of the present invention.
Claims (7)
1. The utility model provides a diversified material fixing device that grabs for unloading on robot, includes footstock (1), its characterized in that, activity under footstock (1) is provided with two mount pad (2), and equal symmetry rotation is provided with two semi-annular clamping jaw (3) on the inner wall of every mount pad (2), and the both sides of every semi-annular clamping jaw (3) all are provided with gasbag layer (4), are provided with two air feed components on footstock (1).
2. The multidirectional grabbing fixing device for robot feeding and discharging according to claim 1, wherein two adjacent semi-annular clamping jaws (3) are provided with mounting through holes (5) on the side walls, each mounting through hole (5) is obliquely arranged, the two mounting through holes (5) are arranged in a central symmetry mode, and an air blowing nozzle (6) is fixed on the inner wall of each mounting through hole (5).
3. The multidirectional grabbing fixing device for robot feeding and discharging according to claim 2, wherein slots (7) matched with the blowing nozzles (6) are formed in the side walls of each semicircular clamping jaw (3), vent holes I (8) are formed in the inner wall of each slot (7) in a penetrating mode, vent pipes I (9) are fixed to the inner walls of the vent holes I (8), and the vent pipes I (9) are communicated with the adjacent air bag layers (4).
4. The multidirectional grabbing fixing device for robot feeding and discharging according to claim 1 is characterized in that a vent pipe II (10) is communicated between the two air bag layers (4), and vent holes II matched with the vent pipe II (10) are formed in the side walls of the semi-annular clamping jaws (3).
5. The multidirectional grabbing fixing device for robot feeding and discharging according to claim 2, wherein each air supply assembly comprises a tap (11) fixed on the side wall of a top seat (1), two lower ventilation hoses (12) are communicated with the side wall of the tap (11), each lower ventilation hose (12) is communicated with a corresponding blowing nozzle (6), an upper ventilation hose (13) is communicated with the side wall of each tap (11), and the upper ventilation hose (13) is communicated with an air supply pump outside.
6. The multidirectional grabbing fixing device for robot feeding and discharging according to claim 1, wherein a T-shaped sliding groove is formed in the bottom of the top seat (1), two T-shaped sliding blocks (14) are symmetrically and movably arranged in the T-shaped sliding groove, a connecting block (15) is fixed at the bottom of each T-shaped sliding block (14), and the connecting block (15) is fixedly connected with the side wall of the mounting seat (2).
7. The multidirectional grabbing fixing device for robot feeding and discharging according to claim 6, wherein two side plates (16) are symmetrically fixed at the bottom of the footstock (1), a screw rod (17) is rotatably arranged between the two side plates (16), the screw rod (17) penetrates through the two connecting blocks (15) in a threaded mode, a guide rod (18) is fixed between the two side plates (16), and the guide rod (18) movably penetrates through the two connecting blocks (15).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211690077.7A CN116117579A (en) | 2022-12-27 | 2022-12-27 | Multidirectional grabbing and fixing device for feeding and discharging of robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211690077.7A CN116117579A (en) | 2022-12-27 | 2022-12-27 | Multidirectional grabbing and fixing device for feeding and discharging of robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116117579A true CN116117579A (en) | 2023-05-16 |
Family
ID=86300176
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211690077.7A Pending CN116117579A (en) | 2022-12-27 | 2022-12-27 | Multidirectional grabbing and fixing device for feeding and discharging of robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116117579A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN118927284A (en) * | 2024-10-14 | 2024-11-12 | 江苏德硅凯氟光电科技有限公司 | A shatterproof gripping robot for processing fluoride optical components |
-
2022
- 2022-12-27 CN CN202211690077.7A patent/CN116117579A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN118927284A (en) * | 2024-10-14 | 2024-11-12 | 江苏德硅凯氟光电科技有限公司 | A shatterproof gripping robot for processing fluoride optical components |
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