CN110155703B

CN110155703B - Short shaft part grabbing mechanism

Info

Publication number: CN110155703B
Application number: CN201910384864.0A
Authority: CN
Inventors: 吴明格; 陈连杰; 王磊; 章城
Original assignee: Institute of Laser and Optoelectronics Intelligent Manufacturing of Wenzhou University
Current assignee: Institute of Laser and Optoelectronics Intelligent Manufacturing of Wenzhou University
Priority date: 2019-05-09
Filing date: 2019-05-09
Publication date: 2020-09-04
Anticipated expiration: 2039-05-09
Also published as: CN110155703A

Abstract

The invention relates to a short shaft part grabbing mechanism which comprises a rotary cylinder, a claw grabbing unit and a claw core gear unit matched with the claw grabbing unit, the claw part grabbing unit comprises a mechanical clamping jaw I and a mechanical clamping jaw II, the claw part core gear unit comprises a top plate, a stepping motor, a top plate connecting piece, a bevel gear I and a bevel gear II, the mechanical clamping jaw I and the mechanical clamping jaw II are arranged on a top plate, the top plate is matched and connected with a rotating platform of the rotary cylinder, the top plate connecting piece is arranged on the other side of the top plate opposite to the rotary cylinder and is vertical to the top plate, the stepping motor is connected with the top plate connecting piece in a matching way, an output shaft of the stepping motor is connected with the bevel gear I in a matching way, bevel gear I passes through step motor's output shaft and mechanical clamping jaw I linkage cooperation, bevel gear II realizes through the intermeshing transmission with bevel gear I and mechanical clamping jaw II linkage cooperation.

Description

Short shaft part grabbing mechanism

Technical Field

The invention relates to the technical field of industrial automation equipment, in particular to a short shaft part grabbing mechanism.

Background

Nowadays, the automatic feeding and discharging manipulator is increasingly becoming an indispensable ring on an automatic production line, has the advantages of convenient operation, high efficiency and the like, and can save operators from heavy and monotonous working environment. Aiming at different working environments, the structures of the automatic loading and unloading mechanical arms are also quite different, and in some working environments requiring simpler movement paths, the structures of the mechanical arms are not too complicated; in some working environments with complex motion paths, the manipulator is required to have higher degree of freedom, and in contrast, the number of used actuators is increased, and the structure is more variable.

When the shaft parts to be machined on the assembly line form an included angle of 90 degrees with finished products machined on the workbench, the exchange of the positions of two sides of the parts is generally difficult to complete by one-time rotation, and the related movement process is more complicated. In response to the situation, the existing feeding and discharging manipulator mostly completes feeding and discharging through the superposition combination of the execution elements, and although the mechanism is high in flexibility, the required execution elements are more, the occupied space is larger, the mass is heavier, and the overall cost is higher. Therefore, it is necessary to design an innovative automatic loading and unloading manipulator aiming at the above situations, so that the manipulator can overcome the defects in the prior art while realizing the above complex motions and completing the specified loading and unloading actions.

Disclosure of Invention

The invention aims to solve the problems in the prior art and provides a short-shaft part grabbing mechanism.

In order to achieve the purpose, the invention provides the following technical scheme: a short shaft part grabbing mechanism comprises a rotary cylinder, a claw grabbing unit and a claw core gear unit matched with the claw grabbing unit, the claw part grabbing unit comprises a mechanical clamping jaw I and a mechanical clamping jaw II, the claw part core gear unit comprises a top plate, a stepping motor, a top plate connecting piece, a bevel gear I and a bevel gear II, the mechanical clamping jaw I and the mechanical clamping jaw II are arranged on a top plate, the top plate is matched and connected with a rotating platform of the rotary cylinder, the top plate connecting piece is arranged on the other side of the top plate opposite to the rotary cylinder and is vertical to the top plate, the stepping motor is connected with the top plate connecting piece in a matching way, an output shaft of the stepping motor is connected with the bevel gear I in a matching way, bevel gear I passes through step motor's output shaft and mechanical clamping jaw I linkage cooperation, bevel gear II realizes through the intermeshing transmission with bevel gear I and mechanical clamping jaw II linkage cooperation.

Through adopting above-mentioned technical scheme, snatch the mechanism through external drive assembly drive and snatch the stub axle type part on assembly line or the workstation, the claw core gear unit drive claw portion of snatching the mechanical clamping jaw I and the mechanical clamping jaw II of unit snatch the stub axle type part on assembly line or the workstation. The roof of claw portion core gear unit is connected with revolving cylinder's rotary platform cooperation, the roof connecting piece sets up perpendicularly on the roof, step motor passes through the fastener and sets up on the roof connecting piece, step motor's output shaft and I cooperation of bevel gear, bevel gear I and I linkage cooperation of mechanical clamping jaw, bevel gear II and I intermeshing transmission of bevel gear, bevel gear II and II linkage cooperations of mechanical clamping jaw, step motor drive and its output shaft's bevel gear I and rotate with I intermeshing's bevel gear II of bevel gear, thereby drive mechanical clamping jaw I and mechanical clamping jaw II carry out the action of snatching or releasing of switching. The bevel gear I and the bevel gear II are the same in structural size, the crossed axes angles are perpendicular to each other in the meshed state, namely the included angle between the mechanical clamping jaw I and the mechanical clamping jaw II is 90 degrees, the mechanical clamping jaw I and the mechanical clamping jaw II which are 90 degrees can be driven to move relatively under the driving of the driving mechanism through the meshing transmission of the stepping motor and the bevel gears, the claw part grabbing unit can grab short shaft parts on a production line or a workbench better, the grabbed short shaft parts are driven to rotate and change positions under the driving of the rotary cylinder, and the grabbing mechanism is driven to carry out loading and unloading.

The invention further provides that: the mechanical clamping jaw I comprises a driving assembly I and a driven assembly I connected with the driving assembly I in a matched mode, the driving assembly I comprises a gear shaft I, a driving piece I and two gear shaft fixing pieces I connected with the gear shaft I in a matched mode, the two gear shaft fixing pieces I and the central axis of the gear shaft I are arranged on the same straight line, the two gear shaft fixing pieces I are arranged on the top plate relatively through fasteners, the central holes of the two gear shaft fixing pieces I are coaxially arranged with the gear shaft I, the gear shaft I penetrates through the two gear shaft fixing pieces I and is in interference fit with the two gear shaft fixing pieces through bearings, one end, corresponding to the bevel gear I, of the gear shaft I is connected with the bevel gear I in a matched mode, and the driving piece I is sleeved on the gear shaft I and is in.

Through adopting above-mentioned technical scheme, drive assembly I and the I cooperation of driven subassembly of mechanical clamping jaw I are connected, two gear shaft mountings I and the roof of drive assembly I are connected, gear shaft I passes through the bearing and is connected with the I cooperation of two gear shaft mountings, gear shaft I corresponds step motor's one end and is connected with I cooperation of bevel gear, I cover of driving piece is located on gear shaft I, step motor's output shaft drives gear shaft I and rotates, drive driving piece I and rotate and with I linkage cooperation of driven subassembly, make drive assembly I and I cooperation of driven subassembly, realize that I action that snatchs or put down to the stub axle type part on assembly line or the workstation of mechanical clamping jaw.

The invention further provides that: driven subassembly I includes driven shaft I, fixation clamp 1a, fixation clamp 1b, driven clamp 1a and driven clamp 1b, fixation clamp 1a sets up on the roof through the fastener relatively with fixation clamp 1b the both ends cover of driven shaft I respectively in fixation clamp 1a and fixation clamp 1 b's centre bore cooperation is connected, driven clamp 1a cover is located driven shaft I and is corresponded fixation clamp 1a one side and cooperate with fixation clamp 1a, driven clamp 1b cover is located driven shaft I and is corresponded fixation clamp 1b one side and cooperate with fixation clamp 1b, driven clamp 1a and driven clamp 1b and driving piece I are through linkage subassembly I linkage cooperation to through linkage subassembly I and fixation clamp 1a and fixation clamp 1b linkage cooperation.

Through adopting above-mentioned technical scheme, fixation clamp 1a and fixation clamp 1b of driven subassembly set up on the roof through relative, the both ends of driven shaft I are passed through the bearing and are connected with fixation clamp 1a and fixation clamp 1b cooperation respectively, driven clamp 1a and driven clamp 1b cover are located on driven shaft I and are cooperateed with fixation clamp 1a and fixation clamp 1b respectively, driven clamp 1a and driven clamp 1b cooperate through I linkage of linkage subassembly with driving piece I, drive when driving piece I is rotatory through step motor, will rotate the transmission to driven clamp 1a and driven clamp 1b through linkage subassembly I, make driven clamp 1a and driven clamp 1b cooperate with fixation clamp 1a and fixation clamp 1b respectively, realize that mechanical clamping jaw I snatchs or the action of putting down to the stub axle class part on assembly line or the workstation.

The invention further provides that: linkage subassembly I is including setting up in convex part I that driving piece I corresponds I one side of driven subassembly, setting up drive rod portion I on the convex part, set up in driven slot part I that presss from both sides 1a and correspond I one side of driving piece from both sides 1b, drive rod portion I and I phase-match of slot part, convex part I rotates through driving piece I and drives drive rod portion I and move along I motion of slot part.

Through adopting above-mentioned technical scheme, linkage subassembly I is including setting up convex part I on driving piece I, set up drive pole portion I on the convex part, set up in driven slot part I that matches with drive pole portion I on pressing from both sides 1a and driven clamp 1b, pass through the rotatory drive of step motor when driving piece I, drive pole portion I on the driving piece I rotates along with driving piece I, I motion along slot part of drive pole portion, drive simultaneously driven clamp 1a with, driven clamp 1b and driven shaft I rotate, form intermittent motion, make driving piece I and driven clamp 1a and driven clamp 1b realize opening and closing and the auto-lock of mechanical clamping jaw I through linkage subassembly I, mechanical clamping jaw I realizes the action of snatching or putting down minor axis class part on assembly line or the workstation promptly.

The invention further provides that: the slot part I comprises an abutting section and a self-locking section, wherein the abutting section is matched with the driving rod part I, and the abutting section is communicated with the self-locking section.

By adopting the technical scheme, when the driving piece I drives the driving rod part I on the convex part I to move along the track of the groove part I, the driving rod part I rotates along the abutting section to drive the driven clamp 1a and the driven clamp 1b to rotate to be close to the self-locking section, and the driven clamp 1a and the driven clamp 1b are respectively matched with the fixed clamp 1a and the fixed clamp 1b to grab the short-shaft parts; when driving piece I drives driving lever portion I and continues to rotate until the relative butt section port of the other end of auto-lock section along the auto-lock section, rotate the in-process and make driving lever portion I and auto-lock section offset, realize that driven clamp 1a and driven clamp 1b cooperate the auto-lock of snatching the minor axis class part with fixation clamp 1a and fixation clamp 1b respectively. When the self-locking needs to be released, the driving piece I is driven to move from the self-locking section to the abutting section of the groove part I through the stepping motor, the self-locking state is released, the driven clamp 1a and the driven clamp 1b are driven to be far away from the fixed clamp 1a and the fixed clamp 1b, and the short shaft type part is put down. When the mechanical clamping jaw I is self-locked, the bevel gear I and the bevel gear II transmit torque to the mechanical clamping jaw II through meshing transmission, so that the mechanical clamping jaw II can grab or put down short-shaft parts when the mechanical clamping jaw I is self-locked.

The invention further provides that: the mechanical clamping jaw II comprises a driving component II and a driven component II matched with the driving component II, the driving assembly II comprises a gear shaft II, a differential part, a driving part II and two gear shaft fixing parts II matched with the gear shaft II, the two gear shaft fixing pieces II are oppositely arranged on the top plate through fasteners, two ends of the gear shaft II are matched and connected with a central hole of the gear shaft fixing piece II through bearings, the bevel gear II is arranged at one end of the gear shaft II, which corresponds to the mechanical clamping jaw I, the bevel gear II and the bevel gear I are in meshed transmission, the differential piece is arranged at the other end, opposite to the bevel gear II, of the gear shaft II through a fastening piece, the driving piece II is arranged on the gear shaft II through a bearing sleeve and is in linkage fit with the differential piece through a linkage assembly II, and the driving piece II is in linkage fit with the driven assembly II through a linkage assembly III.

By adopting the technical scheme, the driving component II of the mechanical clamping jaw II is matched with the driven component II, the two gear shaft fixing pieces II of the driving component II are connected with the top plate, the gear shaft II is matched and connected with the two gear shaft fixing pieces II through a bearing, the bevel gear II is arranged at one end of the gear shaft II corresponding to the mechanical clamping jaw I, the differential part is arranged at the other end of the gear shaft II opposite to the mechanical clamping jaw I through a fastening piece and is in linkage fit with the driving piece II which is sleeved on the gear shaft II through the bearing through the linkage piece II, when the torque on the bevel gear I is transmitted to the bevel gear II, the bevel gear II drives the gear shaft II to rotate, and drives the differential part on the gear shaft II to rotate, the differential part drives the driving part II to rotate through the linkage component II, so that the driving part II is in linkage fit with the driven component II through the linkage component III, therefore, the action that the mechanical clamping jaw II grabs or puts down the short shaft parts on the assembly line or the workbench is realized.

The invention further provides that: linkage subassembly II is including setting up convex part II on differential piece, setting up in convex part II correspond drive rod part II on one side of II driving pieces of driving piece and set up slot part II on driving piece II, drive rod part II and II phase-matchs of slot part, convex part II rotates through differential piece and drives drive rod part II and move along slot part II.

Through adopting above-mentioned technical scheme, linkage subassembly II is including setting up convex part II on the differential piece, set up drive rod part II on convex part II, set up in slot part II that II and drive rod part of driving piece match, on bevel gear II transmits torque to gear shaft II, II rotations of gear shaft drive differential piece rotate, make II motions along slot part II of drive rod part on the differential piece convex part II, drive driving piece II and gear shaft II simultaneously and rotate, form intermittent motion, make the action that differential piece drive driving piece II snatchs or puts down to stub axle type part on assembly line or the workstation through III control mechanical clamping jaw II of linkage subassembly.

The invention further provides that: driven subassembly II includes driven shaft II, fixation clamp 2a, fixation clamp 2b, driven clamp 2a and driven clamp 2b, fixation clamp 2a sets up on the roof through the fastener relatively with fixation clamp 2b, the both ends of driven shaft II pass through the bearing with the centre bore cooperation of fixation clamp 2a and fixation clamp 2b is connected, driven clamp 2a cover is located driven shaft II and is corresponded fixation clamp 2a one side and cooperatees with fixation clamp 2a, driven clamp 2b cover is located driven shaft II and is corresponded fixation clamp 2b one side and cooperatees with fixation clamp 2b, driven clamp 2a and driven clamp 2b and driving piece II are through the linkage assembly III linkage cooperation to through linkage assembly III and fixation clamp 2a and fixation clamp 2b linkage cooperation.

Through adopting above-mentioned technical scheme, fixation clamp 2a and fixation clamp 2b of driven subassembly II set up relatively on the roof, driven shaft II passes through the bearing and is connected with fixation clamp 2a and fixation clamp 2b cooperation, driven clamp 2a and driven clamp 2b cover are located on driven shaft II and cooperate with fixation clamp 2a and fixation clamp 2b respectively, driven clamp 2a and driven clamp 2b and driving piece II are through the cooperation of the linkage of linkage subassembly III, when driving piece II is rotatory through linkage subassembly II and is driven, will rotate the transmission to on driven clamp 2a and the driven clamp 2b through linkage subassembly III, make driven clamp 2a and driven clamp 2b respectively with fixation clamp 2a and fixation clamp 2b cooperation, realize that mechanical clamping jaw II snatchs or the action of putting down to the short axle class part on assembly line or the workstation.

The invention further provides that: linkage subassembly III is including setting up in the convex part III that II one sides of driven subassembly are corresponded to driving piece II, set up in driving lever portion III on convex part III, set up in driven clamp 2a and driven clamp 2b correspond the slot part III of II one sides of driving piece, driving lever portion III and III phase-matchs of slot part, convex part III rotates through driving piece II and drives driving lever portion III and follow the motion of slot part III.

Through adopting above-mentioned technical scheme, linkage subassembly III is including setting up convex part III on driving piece II, set up driving rod part III on convex part III and set up on driven clamp 2a and driven clamp 2b with driving rod part III assorted slot part III, transmit to driving piece II from differential part when the torque, through the III movements of convex part III on driving piece II and driving rod part III along slot part, drive driven clamp 2a simultaneously, driven clamp 2b and driven shaft II rotate, form intermittent motion, make driving piece II with driven clamp 2a and driven clamp 22b realize opening and closing and the auto-lock of mechanical clamping jaw II through linkage subassembly II, mechanical clamping jaw II realizes the action of snatching or putting down minor axis class part on assembly line or the workstation promptly. When the driving rod part I of the mechanical clamping jaw I rotates to the self-locking section for self-locking, the bevel gear I and the bevel gear II transmit torque to the mechanical clamping jaw II through meshing transmission, so that the driving rod part III on the convex part III of the driving part II moves along the groove part III, and when the driving rod part moves from the position of the groove part III close to one end of the driven shaft II to the port of the groove part III far away from one end of the driven shaft II, the driven clamp 2a and the driven clamp 2b are obtained to be close to the fixed clamp 2a and the fixed clamp 2b, and the short shaft type parts are grabbed; when the driving rod part III moves to the opening of the groove part III, the driving rod part III is mutually abutted with the side wall of the groove part III to realize self-locking of grabbing of the short shaft parts; when the driving rod part III moves from the opening of the groove part III to the port of the groove part III, which is far away from one end of the driven shaft II, the driven clamp 2a and the driven clamp 2b are close to the fixed clamp 2a and the fixed clamp 2b, and the short shaft type part is put down.

The invention further provides that: the other ends of the fixed clips 1a and 1b, which are connected with the top plate, are provided with first arc-shaped clamping parts I, the other ends of the driven clips 1a and 1b, which are opposite to the driving part I, are provided with second arc-shaped clamping parts I, and the first arc-shaped clamping parts I are matched with the second arc-shaped clamping parts I; the other end that fixation clamp 2a and fixation clamp 2b and roof are connected is provided with first arc clamping part II, the other end that driven clamp 2a and driven clamp 2b driving piece II relatively is provided with second arc clamping part II, first arc clamping part II cooperatees with second arc clamping part II.

By adopting the technical scheme, one end of the fixed clamp 1a and the fixed clamp 1b is provided with a first arc-shaped clamping part I, one end of the driven clamp 1a and the driven clamp 1b is provided with a second arc-shaped clamping part I, one end of the fixed clamp 2a and the fixed clamp 2b is provided with a first arc-shaped clamping part II, one end of the driven clamp 2a and the driven clamp 2b is provided with a second arc-shaped clamping part II, the first arc-shaped clamping part I is matched with the second arc-shaped clamping part I, the first arc-shaped clamping part II is matched with the second arc-shaped clamping part II, the second arc-shaped clamping part I, the first arc-shaped clamping part II and the second arc-shaped clamping part are matched with the outer circumferential wall of the short-axis part on the assembly line, when the driven clamp 1a and the driven clamp 1b are driven to be close to the fixed clamp 1a and the fixed clamp 1b through the driving component I, the driven clamp 2a and the driven clamp 2b are driven to be close to the fixed clamp 2a and, make first arc clamping part I and second arc clamping part I be close to each other, first arc clamping part II and second arc clamping part II are close to each other and are lived the short shaft class part centre gripping on assembly line or the workstation.

The invention further provides that: be provided with on the roof with driving piece II complex anti-skidding subassembly, anti-skidding subassembly includes clutch blocks, rubber connecting piece and roof bolt, the rubber connecting piece sets up in II one sides of roof correspondence driving piece and is connected with the roof through the roof bolt, the clutch blocks cover is located on the rubber connecting piece and is matched with the outer periphery wall of driving piece II.

Through adopting above-mentioned technical scheme, be provided with on the roof with II complex anti-skidding subassemblies of driving piece, anti-skidding subassembly's rubber connecting piece passes through the roof bolt and is connected with the roof, the outside of rubber connecting piece is located to the clutch blocks cover, drive pole portion II on receiving differential piece is along slot part II on the driving piece II, drive pole portion II drives driving piece II and rotates to the certain extent, the outer periphery wall and the clutch blocks looks butt of driving piece II for driving piece II keep the position unchangeable, make mechanical clamping jaw II can not take place to slide and keep the auto-lock.

The invention further provides that: and rubber coatings are coated on the inner side arc surfaces of the first arc-shaped clamping part I, the second arc-shaped clamping part I, the first arc-shaped clamping part II and the second arc-shaped clamping part II.

Through adopting above-mentioned technical scheme, first arc clamping part I, second arc clamping part I, scribble the rubber picture layer on the inboard cambered surface of first arc clamping part II and second arc clamping part II, it is close to fixation clamp 1a and fixation clamp 1b through the I drive of drive assembly to press from both sides 1a and driven clamp 1b when driven, it is close to fixation clamp 2a and fixation clamp 2b through the drive assembly II drive to press from both sides 2a and driven clamp 2b, make first arc clamping part I and second arc clamping part I be close to each other, first arc clamping part II and second arc clamping part II are close to each other and are lived the minor axis class part centre gripping on assembly line or the workstation, make it have the elastic force when pressing from both sides tight minor axis class part, can prevent simultaneously that the condition of slippage from taking place after the minor axis class part is snatched.

The invention is further described with reference to the following drawings and detailed description.

Drawings

FIG. 1 is a first schematic diagram of the overall structure of an embodiment of the present invention;

FIG. 2 is a schematic overall structure diagram of the second embodiment of the present invention;

FIG. 3 is a third schematic view of the overall structure of the embodiment of the present invention;

FIG. 4 is a first partial schematic structural diagram according to an embodiment of the present invention;

FIG. 5 is a view showing an open/close state of a mechanical jaw I according to an embodiment of the present invention;

FIG. 6 is an enlarged view taken at A in FIG. 5;

FIG. 7 is a second partial schematic structural diagram according to an embodiment of the present invention;

FIG. 8 is an open/close state view of a mechanical jaw II according to an embodiment of the present invention;

FIG. 9 is an enlarged view of FIG. 8 at B;

FIG. 10 is an enlarged view at C of FIG. 8;

FIG. 11 is a motion flow diagram of an embodiment of the present invention;

FIG. 12 is a sequence of movement of the jaws, differential and lever slots of the present invention;

the reference numbers in the figures mean: a claw part grabbing unit-11, a mechanical clamping jaw I-111, a driving assembly I-1111, a gear shaft I-11112, a driving piece I-11113, a gear shaft fixing piece I-11114, a driven assembly I-1112, a driven shaft I-11121, a fixing clamp 1a-11122, a fixing clamp 1b-11123, a first arc-shaped clamping part I-11124, a driven clamp 1a-11125, a driven clamp 1b-11126, a second arc-shaped clamping part I-11127, a mechanical clamping jaw II-112, a driving assembly II-1121, a gear shaft II-11211, a differential piece-11212, a driving piece II-11213, a gear shaft fixing piece II-11214, a driven assembly II-1122, a driven shaft II-11221, a fixing clamp 2a-11222, a fixing clamp 2b-11223, a first arc-shaped clamping part II-11224 and a driven clamp 2a-11225, the driven clamp comprises a driven clamp 2b-11226, a second arc-shaped clamping part II-11227, a linkage assembly I-113, a convex part I-1131, a driving rod part I-1132, a groove part I-1133, an abutting part-11331, a self-locking part-11332, a linkage assembly II-114, a convex part II-1141, a driving rod part II-1142, a groove part II-1143, a linkage assembly III-115, a convex part III-1151, a driving rod part III-1152, a groove part III-1153, a claw part core gear unit-12, a top plate-121, a stepping motor-122, a top plate connecting part-123, a bevel gear I-124, a bevel gear II-125, an anti-slip assembly-13, a friction block-131, a rubber connecting part-132, a top plate bolt-133, a rotary cylinder-2 and a short shaft type part-.

Detailed Description

The present embodiment is only an explanation of the present embodiment, and it is not a limitation of the present embodiment, and a person skilled in the art can make modifications without inventive contribution to the present embodiment as needed after reading the present specification, but all of them are protected by patent laws within the scope of the claims of the present embodiment.

Referring to fig. 1-12, the embodiment discloses a short-shaft part grabbing mechanism, which includes a rotary cylinder 2, a claw grabbing unit 11, and a claw core gear unit 12 engaged with the claw grabbing unit 11, where the claw grabbing unit 11 includes a mechanical clamping jaw i 111 and a mechanical clamping jaw ii 112, the claw core gear unit 12 includes a top plate 121, a stepping motor 122, a top plate connector 123, a bevel gear i 124, and a bevel gear ii 125, the mechanical clamping jaw i 111 and the mechanical clamping jaw ii 112 are disposed on the top plate 121, the top plate 121 is engaged with a rotary platform of the rotary cylinder 2, the top plate connector 123 is disposed on the other side of the top plate 121 opposite to the rotary cylinder 2 and perpendicular to the top plate 121, the stepping motor 122 is engaged with the top plate connector 123, and an output shaft of the stepping motor 122 is engaged with the bevel gear i 124, the bevel gear I124 is in linkage fit with the mechanical clamping jaw I111 through an output shaft of the stepping motor 122, and the bevel gear II 125 is in linkage fit with the mechanical clamping jaw II 112 through meshing transmission with the bevel gear I124.

The embodiment further provides that: the mechanical clamping jaw I111 comprises a driving component I1111 and a driven component I1112 matched and connected with the driving component I1111, the driving assembly I1111 comprises a gear shaft I11112, a driving part I11113 and two gear shaft fixing parts I11114 which are matched and connected with the gear shaft I11112, the central axes of the two gear shaft fixing pieces I11114 and the gear shaft I11112 are arranged on the same straight line, the two gear shaft fixing pieces I11114 are oppositely arranged on the top plate 121 through fasteners, the central holes of the two gear shaft fixing pieces I11114 are coaxially arranged with the gear shaft I11112, the gear shaft I11112 penetrates through the two gear shaft fixing pieces I11114 and is in interference fit with the two gear shaft fixing pieces I11114 through bearings, one end of the gear shaft I11112, which corresponds to the bevel gear I124, is matched and connected with the bevel gear I124, the driving piece I11113 is sleeved on the gear shaft I11112 and is in linkage fit with the driven component I1112 along with the rotation of the gear shaft I11112.

The embodiment further provides that: the driven assembly I1112 comprises a driven shaft I11121, a fixing clamp 1a11122, a fixing clamp 1b11123, a driven clamp 1a11125 and a driven clamp 1b11126, wherein the fixing clamp 1a11122 and the fixing clamp 1b11123 are oppositely arranged on a top plate 121 through fasteners, two end sleeves of the driven shaft I11121 are respectively matched and connected with central holes of the fixing clamp 1a11122 and the fixing clamp 1b11123 through bearings, the driven clamp 1a11125 is sleeved on one side of the driven shaft I11121 corresponding to the fixing clamp 1a11122 and matched with the fixing clamp 1a11122, the driven clamp 1b11126 is sleeved on one side of the driven shaft I11121 corresponding to the fixing clamp 1b11123 and matched with the fixing clamp 1b11123, the driven clamp 1a11125 and the driven clamp 1b11126 are matched with a driving piece I11113 through a linkage assembly I113 in a linkage manner, and matched with the fixing clamp 1a11122 and the fixing clamp 1b11123 through a linkage assembly I113 in a linkage manner.

The embodiment further provides that: linkage subassembly I113 is including setting up in I11113 of driving part corresponds I1131 of convex part on one side of driven subassembly I1112, set up the drive pole portion I1132 on the convex part, set up in driven clamp 1a11125 and driven clamp 1b11126 correspond I1133 of slot part on one side of driving part I11113, drive pole portion I1132 and I1133 phase-match of slot part, I1131 of convex part rotates through driving part I11113 and drives I1132 along the motion of slot part I1133.

The invention further provides that: the slot portion I1133 comprises an abutting section 11331 and a self-locking section 11332 which are matched with the driving rod portion I1132, and the abutting section 11331 is communicated with the self-locking section 11332.

The embodiment further provides that: the mechanical clamping jaw II 112 comprises a driving assembly II 1121 and a driven assembly II 1122 matched with the driving assembly II 1121, the driving assembly II 1121 comprises a gear shaft II 11211, a differential piece 11212, a driving piece II 11213 and two gear shaft fixing pieces II 11214 matched with the gear shaft II 11211, the two gear shaft fixing pieces II 11214 are oppositely arranged on the top plate 121 through fasteners, two ends of the gear shaft II 11211 are matched and connected with a central hole of the gear shaft fixing piece II 11214 through bearings, the bevel gear II 125 is arranged at one end, corresponding to the mechanical clamping jaw I111, of the gear shaft II 11211, the bevel gear II 125 and the bevel gear I124 are in meshing transmission with each other, the differential piece 11212 is arranged at the other end, corresponding to the bevel gear II 125, of the gear shaft II 11211 through fasteners, the driving piece II 11213 is sleeved on the gear shaft II 11211 through bearings and is in linkage matching with the differential piece, the driving piece II 11213 is in linkage fit with the driven component II 1122 through a linkage component III.

The embodiment further provides that: the linkage assembly II 114 comprises a convex part II 1141 arranged on the differential part 11212, a driving rod part II 1142 arranged on one side of the convex part II 1141 corresponding to the driving part II 11213 and a groove part II 1143 arranged on the driving part II 11213, the driving rod part II 1142 is matched with the groove part II 1143, and the convex part II 1141 rotates through the differential part 11212 to drive the driving rod part II 1142 to move along the groove part II 1143.

The embodiment further provides that: the driven assembly II 1122 comprises a driven shaft II 11221, a fixing clamp 2a11222, a fixing clamp 2b11223, a driven clamp 2a11225 and a driven clamp 2b11226, wherein the fixing clamp 2a11222 and the fixing clamp 2b11223 are oppositely arranged on the top plate 121 through fasteners, two ends of the driven shaft II 11221 are matched and connected with central holes of the fixing clamp 2a11222 and the fixing clamp 2b11223 through bearings, the driven clamp 2a11225 is sleeved on one side, corresponding to the fixing clamp 2a11222, of the driven shaft II 11221 and matched with the fixing clamp 2a11222, the driven clamp 2b11226 is sleeved on one side, corresponding to the fixing clamp 2b11223, of the driven shaft II 11221 and matched with the fixing clamp 2b11223, the driven clamp 2a 25 and the driven clamp 2b11226 are in linkage matching with the driving piece II 11213 through a linkage assembly III and are in linkage matching with the fixing clamp 2a11222 and the fixing clamp 2b11223 through a linkage assembly III.

The embodiment further provides that: linkage subassembly III including set up in the convex part III that driving piece II 11213 corresponds driven subassembly II 1122 one side, set up drive rod portion III on convex part III, set up in driven clamp 2a11225 and driven clamp 2b11226 correspond slot part III of driving piece II 11213 one side, drive rod portion III and slot part III phase-match, convex part III rotates through driving piece II 11213 and drives drive rod portion III and follow the motion of slot part III.

The embodiment further provides that: the other ends of the fixing clamps 1a11122 and 1b11123 connected with the top plate 121 are provided with first arc-shaped clamping parts I11124, the other ends of the driven clamps 1a11125 and 1b11126 opposite to the driving part I11113 are provided with second arc-shaped clamping parts I11127, and the first arc-shaped clamping parts I11124 are matched with the second arc-shaped clamping parts I11127; the other ends of the fixing clamps 2a11222 and 2b11223 connected with the top plate 121 are provided with first arc-shaped clamping parts II 11224, the other ends of the driven clamps 2a11225 and 2b11226 opposite to the driving part II 11213 are provided with second arc-shaped clamping parts II 11227, and the first arc-shaped clamping parts II 11224 are matched with the second arc-shaped clamping parts II 11227.

The embodiment further provides that: be provided with on the roof 121 with driving piece II 11213 complex anti-skidding subassembly 13, anti-skidding subassembly 13 includes clutch blocks 131, rubber connector 132 and roof bolt 133, rubber connector 132 sets up and is connected with roof 121 in roof 121 corresponds driving piece II 11213 one side and through roof bolt 133, clutch blocks 131 cover is located on rubber connector 132 and is cooperateed with the outer circumferential wall of driving piece II 11213.

The embodiment further provides that: and rubber coatings are coated on the inner arc surfaces of the first arc-shaped clamping part I11124, the second arc-shaped clamping part I11127, the first arc-shaped clamping part II 11224 and the second arc-shaped clamping part II 11227.

At the initial moment, the core grabbing mechanism 10 is positioned in a waiting area right above the production line; the two mechanical clamping jaws are in an open state.

In loading and unloading, the opening and closing states of the two mechanical clamping jaws and the movement sequence of the differential 11212 in the groove II 1143 of the driving piece II 11213 refer to the attached figure 12.

The first step is as follows: the external driving assembly enables the core grabbing mechanism 10 and the rotary cylinder 2 to descend to the designated clamping position, namely the semicircular claw parts of the fixing clamps 1a11122 and 1b11123 are in contact with the short shaft type part 3. Then, the stepping motor 122 operates, the motor shaft rotates positively to drive the bevel gear I124 to be linked with the gear shaft I11112 to rotate, the driving piece I11113 on the gear shaft I11112 rotates accordingly, the driving rod part I1132 on the convex part I1131 moves in the groove parts I1133 of the driven clamps 1a11125 and 1b11126 to drive the two driven clamps of the mechanical clamping jaw I111 to rotate, and the mechanical clamping jaw I111 is closed; after the driving rod part I1132 on the driving piece I11113 is separated from the groove part I1133 tracks of the two driven clamps, the driving piece I11113 continuously rotates for a certain angle, at the moment, the outer contour of the driving piece I11113 is tangent to the outer contours of the two driven clamps, the self-locking when the mechanical clamping jaw I111 is closed is completed, and as the inner arc surfaces of the second arc-shaped clamping parts I11127 of the driven clamps 1a11125 and 1b11126 are coated with rubber coatings, the short shaft part 3 on the production line is clamped by two elastic forces. Meanwhile, the bevel gear I124 drives the bevel gear II 125 and the gear shaft II 11211, the differential piece 11212 on the linkage gear shaft II 11211 rotates along with the rotation, the driving rod part II 1142 on the convex part II 1141 of the differential piece 11212 moves to the rightmost end of the groove part II 1143 from the included angle bisector position of the driving rod part II 1143 of the driving piece II 11213, the friction block 131 abuts against the driving piece II 11213, the driving piece II 11213 cannot slide, and then the driven clamp 2a11225 and the driven clamp 2b11226 keep still.

The second step is that: the linear cylinder of the external driving component retracts, so that the core grabbing mechanism 10 and the rotary cylinder 2 ascend to a waiting area of the assembly line, and the external driving component operates immediately to drive the linear cylinder of the external driving component, the rotary cylinder 2 and the core grabbing mechanism 10 to move horizontally to a position right above the short-shaft part 32 of the workbench. And then, extending out the linear air cylinder of the external driving component to enable the core grabbing mechanism 10 and the rotary air cylinder 2 to descend to the designated clamping position, namely the first arc-shaped clamping parts II 11224 of the fixed clamps 2a11222 and 2b11223 are in contact with the short-shaft type part 32. Then, the stepping motor 122 operates, the motor shaft rotates forwards to drive the bevel gear I124 to rotate, the bevel gear I124 drives the bevel gear II 125 and the gear shaft II 11211, the differential part 11212 on the linkage gear shaft II 11211 rotates correspondingly, and the driving rod part II 1142 rotates against the rightmost end of the groove part II 1143 of the driving piece II 11213, so that the driving piece II 11213 is driven to rotate; the driving rod part III 1152 of the driving piece II 11213 moves in the groove parts III 1153 of the driven clamps 2a11225 and 2b11226 to drive the two driven clamps of the mechanical clamping jaw II 112 to rotate, so that the mechanical clamping jaw II 112 is closed; after the driving rod part III 1152 of the driving piece II 11213 is separated from the groove parts III 1153 tracks of the two driven clamps, the driving piece II 11213 continues to rotate for a certain angle, at the moment, the outer contour of the driving piece II 11213 is tangent to the outer contours of the two driven clamps, self-locking when the mechanical clamping jaw II 112 is closed is completed, and as the inner arc surfaces of the second arc-shaped clamping part II 11227 of the driven clamps 2a11225 and 2b11226 are coated with rubber coatings, the short shaft part 32 on the workbench is clamped by two elastic forces. Meanwhile, the mechanical clamping jaw I111 keeps self-locking, and the self-locking angle is increased.

The third step: the linear cylinder of the external driving component retracts, so that the core grabbing mechanism 10 and the rotary cylinder 2 ascend for a small distance, and interference between follow-up actions and the workbench is prevented. The turning cylinder 2 is then operated to rotate the core gripper mechanism 10 clockwise 90 ° about the centre of rotation. And then, a linear cylinder of the external driving component extends out, so that the core grabbing mechanism 10 and the rotary cylinder 2 descend to the specified clamping position, namely the short-shaft part 3 is in contact with the clamping position of the workbench. Then a motor shaft reversely drives the bevel gear I124 to be linked with the gear shaft I11112 to rotate, and a driving piece I11113 on the gear shaft I11112 rotates along with the bevel gear I124; a driving rod part I1132 of a driving part I11113 is cut into tracks of groove parts I1133 of the driven clamps 1a11125 and 1b11126 from the outside and continues to rotate to drive the driven clamps 1a11125 and 1b11126 to rotate, so that the mechanical clamping jaw I111 is opened to a limited opening angle; meanwhile, the bevel gear II 125 drives the differential piece 11212 to idle along the driving piece II 11213 groove II 1143 to the leftmost end of the driving piece II 11213 groove II 1143, at the moment, the driving piece II 11213 is abutted by the friction block 131, the position is kept unchanged, and the driven clamp mechanical clamping jaw II 112 keeps closed and self-locking.

The fourth step: the linear cylinder of the external driving component retracts, so that the core grabbing mechanism 10 and the rotary cylinder 2 ascend, the external driving component operates immediately, and the linear cylinder, the rotary cylinder 2 and the core grabbing mechanism 10 of the external driving component are driven to move horizontally to the position right above the assembly line. The turning cylinder 2 is then operated to rotate the core gripper mechanism 10 counterclockwise 180 ° about the turning center. And then a linear cylinder of the external driving component extends out, so that the core grabbing mechanism 10 and the rotary cylinder 2 descend to the specified clamping position, namely the short-shaft part 32 is in contact with the assembly line clamping position. Then the stepping motor 122 operates, the motor shaft reversely drives the bevel gear I124 to rotate, the bevel gear I124 drives the bevel gear II 125 and the gear shaft II 11211, the differential part 11212 on the linkage gear shaft II 11211 rotates along with the rotation, and the driving rod part II 1142 on the convex part II 1141 rotates against the leftmost end of the groove part II 1143 of the driving part II 11213, so that the driving part II 11213 is driven to rotate; the driving rod part III 1152 of the driving piece II 11213 moves in the groove parts III 1153 of the driven clamps 2a11225 and 2b11226 to drive the two driven clamps of the mechanical clamping jaw II 112 to rotate, so that the mechanical clamping jaw II 112 is opened; meanwhile, the bevel gear I124 drives the gear shaft I11112 to link the driving piece I11113 to rotate, so that the driving rod part I1132 on the convex part I1131 of the driving piece I11113 cuts into concentric tracks of the groove parts I1133 of the driven clamps 1a11125 and 1b11126, and the driving piece I11113 continues to rotate; at the moment, the driven clamps 1a11125 and 1b11126 are kept still, and the mechanical clamping jaw I111 is self-locked at the extreme opening angle.

The fifth step: the linear cylinder of the external driving component retracts, so that the core grabbing mechanism 10 and the rotary cylinder 2 rise to the waiting area. Then the rotary cylinder 2 rotates clockwise 90 degrees, the stepping motor 122 operates, and the motor shaft rotates clockwise to drive the bevel gear I124 and the bevel gear II 125 to link the two gear shafts to rotate to a certain angle and then stand still. At this point, the mechanisms return to their original positions.

The automatic feeding and discharging device can complete feeding and discharging under the condition that the included angle between the shaft type to-be-added short shaft type part 3 on the assembly line and a finished product on the workbench is 90 degrees, and has the greatest innovation point that two clamping jaws with the included angles of 90 degrees are driven by one stepping motor 122, the clamping jaws can be opened and closed in an appointed sequence through a mechanical structure without mutual interference, and self-locking can be realized when an external driving assembly and an air cylinder drive the part to move. And the centre gripping of double-jaw is adopted to the centre gripping of part, and is higher for pneumatic finger's single clamping jaw, and has guaranteed the axiality. The invention has the advantages that the sizes of all parts are relatively small, the processing is simple and convenient, and compared with the existing feeding and discharging mechanical arm aiming at the condition that the included angle between the short shaft type part 3 to be added and the finished product on the workbench is 90 degrees, the whole mechanism has lighter weight and occupies less space. The actuators are only one rotary cylinder 2 and one stepping motor 122, so that the cost is relatively low and the control is simple.

Although the claw section grasping unit-11, the mechanical gripper i-111, the driving assembly i-1111, the gear shaft i-11112, the driving member i-11113, the gear shaft fixing member i-11114, the driven assembly i-1112, the driven shaft i-11121, the fixing clip 1a-11122, the fixing clip 1b-11123, the first arc-shaped grasping section i-11124, the driven clip 1a-11125, the driven clip 1b-11126, the second arc-shaped grasping section i-11127, the mechanical gripper ii-112, the driving assembly ii-1121, the gear shaft ii-11211, the differential member-11212, the driving member ii-11213, the gear shaft fixing member ii-11214, the driven assembly ii-1122, the driven shaft ii-11221, the fixing clip 2a-11222, the fixing clip 2b-11223, the first arc-shaped grasping section ii-11224, driven clamps 2a-11225, driven clamps 2b-11226, second arc-shaped clamping parts II-11227, linkage components I-113, convex parts I-1131, driving rod parts I-1132, groove parts I-1133, abutting parts-11331, self-locking parts-11332, linkage components II-114, convex parts II-1141, driving rod parts II-1142, groove parts II-1143, linkage components III-115, convex parts III-1151, driving rod parts III-1152, groove parts III-1153, claw part core gear units-12, a top plate-121, a stepping motor-122, a top plate connecting piece-123, bevel gears I-124, bevel gears II-125, anti-slip components-13, friction blocks-131, rubber connecting pieces-132, top plate bolts-133 and a rotary cylinder-2, short axis part-3, but does not exclude the possibility of using other terms. These terms are used merely to more conveniently describe and explain the nature of the present embodiments; they are to be construed as being without limitation to any one of the additional limitations which are within the spirit of the present embodiments.

Claims

1. The utility model provides a short axis class part snatchs mechanism which characterized in that: comprises a rotary cylinder, a claw part grabbing unit and a claw part core gear unit matched with the claw part grabbing unit, the claw part grabbing unit comprises a mechanical clamping jaw I and a mechanical clamping jaw II, the claw part core gear unit comprises a top plate, a stepping motor, a top plate connecting piece, a bevel gear I and a bevel gear II, the mechanical clamping jaw I and the mechanical clamping jaw II are arranged on a top plate, the top plate is matched and connected with a rotating platform of the rotary cylinder, the top plate connecting piece is arranged on the other side of the top plate opposite to the rotary cylinder and is vertical to the top plate, the stepping motor is connected with the top plate connecting piece in a matching way, an output shaft of the stepping motor is connected with the bevel gear I in a matching way, the bevel gear I is in linkage fit with the mechanical clamping jaw I through an output shaft of the stepping motor, and the bevel gear II is in linkage fit with the mechanical clamping jaw II through meshing transmission with the bevel gear I;

the mechanical clamping jaw I comprises a driving component I and a driven component I which is connected with the driving component I in a matched mode, the driving component I comprises a gear shaft I, a driving part I and two gear shaft fixing parts I which are connected with the gear shaft I in a matched mode, the two gear shaft fixing parts I and the central axis of the gear shaft I are arranged on the same straight line, the two gear shaft fixing parts I are oppositely arranged on a top plate through fasteners, the central holes of the two gear shaft fixing parts I are coaxially arranged with the gear shaft I, the gear shaft I penetrates through the two gear shaft fixing parts I and is in interference fit with the two gear shaft fixing parts I through bearings, one end, corresponding to the bevel gear I, of the gear shaft I is connected with the bevel gear I in a matched mode, and the driving part I is sleeved on the gear;

the driven assembly I comprises a driven shaft I, a fixing clamp 1a, a fixing clamp 1b, a driven clamp 1a and a driven clamp 1b, the fixing clamp 1a and the fixing clamp 1b are oppositely arranged on a top plate through fasteners, two end sleeves of the driven shaft I are respectively matched and connected with central holes of the fixing clamp 1a and the fixing clamp 1b through bearings, the driven clamp 1a is sleeved on one side of the driven shaft I corresponding to the fixing clamp 1a and matched with the fixing clamp 1a, the driven clamp 1b is sleeved on one side of the driven shaft I corresponding to the fixing clamp 1b and matched with the fixing clamp 1b, and the driven clamp 1a and the driven clamp 1b are in linkage fit with a driving piece I through a linkage assembly I and are in linkage fit with the fixing clamp 1a and the fixing clamp 1b through the linkage assembly I;

the linkage assembly I comprises a convex part I arranged on one side, corresponding to the driven assembly I, of the driving part I, a driving rod part I arranged on the convex part, and a groove part I arranged on one sides, corresponding to the driving part I, of the driven clamp 1a and the driven clamp 1b, wherein the driving rod part I is matched with the groove part I, and the convex part I drives the driving rod part I to move along the groove part I through the rotation of the driving part I;

the mechanical clamping jaw II comprises a driving component II and a driven component II matched with the driving component II, the driving assembly II comprises a gear shaft II, a differential part, a driving part II and two gear shaft fixing parts II matched with the gear shaft II, the two gear shaft fixing pieces II are oppositely arranged on the top plate through fasteners, two ends of the gear shaft II are matched and connected with a central hole of the gear shaft fixing piece II through bearings, the bevel gear II is arranged at one end of the gear shaft II, which corresponds to the mechanical clamping jaw I, the bevel gear II and the bevel gear I are in meshed transmission, the differential part is arranged at the other end of the gear shaft II relative to the bevel gear II through a fastening part, the driving part II is sleeved on the gear shaft II through a bearing and is in linkage fit with the differential part through a linkage component II, and the driving part II is in linkage fit with the driven component II through a linkage component III;

the linkage assembly II comprises a convex part II arranged on the differential part, a driving rod part II arranged on one side of the convex part II corresponding to the driving part II and a groove part II arranged on the driving part II, the driving rod part II is matched with the groove part II, and the convex part II drives the driving rod part II to move along the groove part II through the rotation of the differential part;

the driven assembly II comprises a driven shaft II, a fixing clamp 2a, a fixing clamp 2b, a driven clamp 2a and a driven clamp 2b, the fixing clamp 2a and the fixing clamp 2b are oppositely arranged on the top plate through fasteners, two ends of the driven shaft II are matched and connected with central holes of the fixing clamp 2a and the fixing clamp 2b through bearings, the driven clamp 2a is sleeved on one side of the driven shaft II corresponding to the fixing clamp 2a and matched with the fixing clamp 2a, the driven clamp 2b is sleeved on one side of the driven shaft II corresponding to the fixing clamp 2b and matched with the fixing clamp 2b, and the driven clamp 2a and the driven clamp 2b are in linkage fit with the driving piece II through a linkage assembly III and are in linkage fit with the fixing clamp 2a and the fixing clamp 2b through a linkage assembly III;

linkage subassembly III is including setting up in the convex part III that II one sides of driven subassembly are corresponded to driving piece II, set up in driving lever portion III on convex part III, set up in driven clamp 2a and driven clamp 2b correspond the slot part III of II one sides of driving piece, driving lever portion III and III phase-matchs of slot part, convex part III rotates through driving piece II and drives driving lever portion III and follow the motion of slot part III.

2. A short shaft type part gripping mechanism as claimed in claim 1, wherein: the other ends of the fixed clips 1a and 1b, which are connected with the top plate, are provided with first arc-shaped clamping parts I, the other ends of the driven clips 1a and 1b, which are opposite to the driving part I, are provided with second arc-shaped clamping parts I, and the first arc-shaped clamping parts I are matched with the second arc-shaped clamping parts I; the other end that fixation clamp 2a and fixation clamp 2b and roof are connected is provided with first arc clamping part II, the other end that driven clamp 2a and driven clamp 2b driving piece II relatively is provided with second arc clamping part II, first arc clamping part II cooperatees with second arc clamping part II.

3. A short shaft type part gripping mechanism as claimed in claim 2, wherein: be provided with on the roof with driving piece II complex anti-skidding subassembly, anti-skidding subassembly includes clutch blocks, rubber connecting piece and roof bolt, the rubber connecting piece sets up in II one sides of roof correspondence driving piece and is connected with the roof through the roof bolt, the clutch blocks cover is located on the rubber connecting piece and is matched with the outer periphery wall of driving piece II.