CN117183121A - Four clamping jaw synchronous centering clamping mechanical arm and multi-station mechanical arm device - Google Patents
Four clamping jaw synchronous centering clamping mechanical arm and multi-station mechanical arm device Download PDFInfo
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- CN117183121A CN117183121A CN202311239051.5A CN202311239051A CN117183121A CN 117183121 A CN117183121 A CN 117183121A CN 202311239051 A CN202311239051 A CN 202311239051A CN 117183121 A CN117183121 A CN 117183121A
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- 238000009826 distribution Methods 0.000 claims abstract description 37
- 210000000078 claw Anatomy 0.000 claims abstract description 23
- 238000007789 sealing Methods 0.000 claims description 26
- 238000009434 installation Methods 0.000 claims description 18
- 230000005540 biological transmission Effects 0.000 claims description 15
- 210000001503 joint Anatomy 0.000 claims description 7
- 238000012545 processing Methods 0.000 description 11
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- 239000011521 glass Substances 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 239000007787 solid Substances 0.000 description 3
- 238000003754 machining Methods 0.000 description 2
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
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- Y02P70/50—Manufacturing or production processes characterised by the final manufactured product
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Abstract
The invention discloses a four-clamping-jaw synchronous centering clamping manipulator which comprises a cylinder body and a cross-shaped air distribution rod, wherein a sunken cross-shaped accommodating groove is formed in the upper part of the cylinder body, the cross-shaped accommodating groove comprises a central accommodating groove and four side accommodating grooves uniformly arranged around the central accommodating groove, a cylindrical sliding column is arranged in each side accommodating groove, the cylindrical sliding column is in sliding connection with the side accommodating grooves, and one end of each cylindrical sliding column far away from the central accommodating groove is fixedly provided with a set of clamping claw assembly; the cross gas-dividing rod is of an integrated structure, and comprises a center block and four gas-dividing rods uniformly surrounding the center block, and the center block is clamped in the center accommodating groove. The invention also discloses a multi-station manipulator device which comprises a bottom plate and the four clamping jaw synchronous centering clamping manipulator. Compared with the prior art, the invention is used for automatically positioning the workpiece with high requirement on the appearance precision. The accurate positioning of the workpiece can be ensured, and the yield is improved.
Description
Technical Field
The invention belongs to the technical field of manipulators, and particularly relates to a four-clamping-jaw synchronous centering clamping manipulator and a multi-station manipulator device.
Background
When a workpiece is machined by a machining center, the workpiece needs to be positioned first.
In the prior art, the position of a workpiece on a workbench is calibrated by means of tools such as a right-angle guiding ruler and the like mainly by manpower so as to realize the positioning of the workpiece. After the positioning is finished, the processing program is started manually to process, and the required product is obtained after the processing is finished.
The defects of the prior art are that the manual hand-held guiding rule is adopted to position the workpiece, and the problems of low positioning precision, poor stability and low efficiency exist, and the manual hand-held guiding rule is not applicable to workpieces with higher precision requirements (such as a mobile phone display screen, a mobile phone rear cover, a watch cover, an automobile and a panel display screen). The method comprises the following steps: depending on the mode of workers positioning the workpiece, the position of the workpiece has deviation, so that the size of a product processed after the automatic processing program is started is unstable, and the yield is low. And when manual positioning, the tool is required to be used for repeated calibration, so that the efficiency is low.
Therefore, it is necessary to provide a new four-jaw synchronous centering clamping manipulator and a multi-station manipulator device to solve the above technical problems.
Disclosure of Invention
First, the technical problem to be solved
Based on the above, the invention provides a four-clamping-jaw synchronous centering clamping manipulator and a multi-station manipulator device, which are used for solving the technical problems of low positioning precision, poor stability and low efficiency in the existing workpiece positioning mode.
(II) technical scheme
In order to solve the technical problems, the invention provides a four-clamping-jaw synchronous centering clamping manipulator which comprises a cylinder body and a cross-shaped air dividing rod, wherein a sunken cross-shaped accommodating groove is formed in the upper part of the cylinder body, the cross-shaped accommodating groove comprises a central accommodating groove and four side accommodating grooves uniformly arranged around the central accommodating groove, a cylindrical sliding column is arranged in each side accommodating groove, the cylindrical sliding column is connected with the side accommodating grooves in a sliding manner, and one end, far away from the central accommodating groove, of each cylindrical sliding column is fixedly provided with a set of clamping jaw assemblies; the cross-shaped gas distribution rod is of an integrated structure and comprises a center block and four gas distribution rods uniformly surrounding the center block, the center block is clamped in the center accommodating groove, the four gas distribution rods are correspondingly inserted into the four cylindrical sliding columns one by one, each gas distribution rod is provided with a piston head, and the piston heads divide the inner cavity of the cylindrical sliding column into a closed cavity B and a closed cavity A; the cross-shaped gas distribution rod is provided with a gas rod B gas path which is communicated with all the cavities B at the same time, the cross-shaped gas distribution rod is also provided with a gas rod A gas path which is communicated with all the cavities A at the same time, the lower part of the cylinder body is also provided with a cylinder B gas path which is communicated with the gas rod B gas path, an external gas source is introduced through the cylinder B gas path, and the gas rod B gas path enters the cavities B to drive the clamping jaw assembly to be opened; the lower part of the cylinder body is also provided with a cylinder A air passage communicated with the air passage A of the air rod, an external air source is introduced through the air passage A, and the external air source enters the cavity A through the air passage A of the air rod so as to drive the clamping jaw assembly to retract; the cylinder body top is equipped with the complete cover board that covers cross accepting groove top, the top of apron is equipped with the vacuum and inhales the hole, still be equipped with on the apron with the vacuum gas circuit that the vacuum inhaled the hole intercommunication.
The invention also provides a multi-station manipulator device which comprises a bottom plate and the four clamping jaw synchronous centering clamping manipulators, wherein the number of the four clamping jaw synchronous centering clamping manipulators is multiple, the four clamping jaw synchronous centering clamping manipulators are respectively arranged at the upper part of the bottom plate at intervals, one side of the bottom plate is provided with a notch, and a door-shaped wire collecting frame is arranged at the notch; one side of each four clamping jaw synchronous centering clamping manipulator is fixedly provided with a clamping block, the clamping blocks are mounted on the bottom plate, clamping grooves are formed in the clamping blocks, a magnetic switch used for automatically sensing the telescopic travel of the clamping jaw assembly is clamped in the clamping grooves, the multi-station manipulator device further comprises a transmission line, one end of the transmission line is connected with the magnetic switch, and the other end of the transmission line penetrates through the door-type take-up frame and is connected with the control system.
(III) beneficial effects
Compared with the prior art, the four-clamping-jaw synchronous centering clamping manipulator is used for automatically positioning a workpiece with high appearance precision requirements. The accurate positioning of the workpiece can be ensured, and the yield is improved. In addition, the four clamping jaw synchronous centering clamping manipulator provided by the invention can automatically feed back a positioning completion signal due to the arrangement of the sensor, and can be combined with a control system to realize automatic processing of products. The processing is carried out without manual starting procedure, which is beneficial to carrying out large-scale automatic processing transformation on the existing processing center.
The invention is suitable for automatically positioning the workpiece with the machining precision requirement of the external dimension. The specific workpiece can be a glass screen and a curtain glass cover plate for products such as mobile phones, watches, automobiles, flat plates and the like. The four-clamping-jaw synchronous centering clamping manipulator and the multi-station manipulator device are used as manipulators for processing the products, and can meet corresponding precision requirements.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed for the description of the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a perspective view of a four jaw synchronized centering and clamping robot of the present invention;
FIG. 2 is a second perspective view of the four jaw synchronized centering and clamping robot of the present invention;
FIG. 3 is a schematic front cross-sectional view of a four jaw synchronized centering clamping robot of the present invention;
FIG. 4 is a schematic left side cross-sectional view of a four jaw synchronized centering clamping robot of the present invention;
FIG. 5 is a perspective view of a portion of the structure of the four-jaw simultaneous centering and clamping robot of the present invention (with the cover plate removed);
fig. 6 is a diagram of a four-jaw synchronized centering and clamping robot according to the present invention: a first perspective view of the cover plate;
fig. 7 shows a four-jaw synchronous centering clamping manipulator according to the present invention: a second perspective view of the cover plate;
fig. 8 shows a four-jaw synchronous centering clamping manipulator according to the invention: a first perspective view of the cylinder body;
fig. 9 shows a four-jaw synchronous centering clamping manipulator according to the present invention: a second perspective view of the cylinder body;
fig. 10 shows a four-jaw synchronous centering clamping robot according to the present invention: a schematic perspective view of a longitudinal strut;
fig. 11 shows a four-jaw synchronous centering clamping robot according to the present invention: a schematic perspective view of the lateral strut;
fig. 12 shows a four-jaw simultaneous centering clamping robot according to the present invention: a first perspective view of a cross-shaped gas distribution rod;
fig. 13 is a diagram of a four jaw synchronized centering and clamping robot of the present invention: a second perspective view of the cross-shaped gas distribution rod;
fig. 14 shows a four-jaw synchronized centering and clamping robot according to the present invention: a schematic perspective view of the synchronization disk;
fig. 15 shows a four-jaw simultaneous centering clamping robot according to the present invention: structural schematic diagrams of the roller and the locating plate;
FIG. 16 is a perspective view of the overall structure of the multi-station manipulator apparatus of the present invention;
fig. 17 is a bottom schematic view of the overall structure of the multi-station manipulator device of the present invention.
Reference numerals illustrate:
100. the four clamping jaws synchronously center and clamp the manipulator; 200. a bottom plate; 300. a door-type wire collecting frame; 400. a clamping block; 500. a magnetic switch; 600. a gas joint; 700. a gas joint;
201. a notch; 202. a device mounting hole;
401. a clamping groove;
1. a cylinder; 2. a cross-shaped air dividing rod; 3. a cylindrical spool; 4. a jaw assembly; 5. a piston head; 6. a cavity B; 7. a cavity A; 8. a cover plate; 9. a step shaft; 10. a bearing; 11. a linkage pin; 12. a synchronization disk; 13. a gap; 14. installing a positioning pin; 15. a roller; 16. a fixing piece; 17. sealing the side cover; 18. a second seal ring; 19. a third seal ring; 20. a threaded connection; 21. the air bar positioning pin; 22. a first seal ring; 23. a process hole;
011. a cylinder B gas path; 012. a cylinder A gas path; 013. a central receiving groove; 014. a side accommodating groove;
021. a center block; 022. an air dividing rod; 023. the air path of the air rod B; 024. the air path of the air rod A;
41. a claw stand; 42. a chuck; 43. a claw pin;
81. vacuum suction holes; 82. a vacuum gas circuit; 83. a disk groove; 84. a travel avoiding groove;
91. a shaft shoulder;
0211. a shaft groove; 0212. a core block pin hole;
121. a disk mounting hole; 122. a synchronization groove;
141. a square column section; 142. a cylindrical section; 143. connecting ears; 144. a cylindrical spool inner cavity; 145. a strut pin hole;
411. a vertical frame; 412. butt joint; 413. a plug; 414. a fourth seal ring;
1411. a first guide groove; 1412. a slip avoidance groove;
131. a cylinder pin hole;
1421. a first claw-rack pin hole;
4121. a second pawl pin hole;
0221. a first longitudinal side gas distribution rod; 0222. a first longitudinal side gas distribution rod; 0223. a third horizontal edge gas distribution rod; 0224. a fourth horizontal edge gas distribution rod;
0141. a first longitudinal side receiving groove; 0142. a second longitudinal side receiving groove; 0143. a third lateral side accommodating groove; 0144. a fourth lateral side accommodating groove; 0145. and a second guide groove.
Detailed Description
In order that the above objects, features and advantages of the invention will be readily understood, a more particular description of the invention will be rendered by reference to the appended drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. The invention may be embodied in many other forms than described herein and similarly modified by those skilled in the art without departing from the spirit or scope of the invention, which is therefore not limited to the specific embodiments disclosed below.
The four-jaw synchronous centering clamping manipulator and multi-station manipulator device of the present invention is further described below with reference to fig. 1-17.
The invention discloses a four-clamping-jaw synchronous centering clamping manipulator 100, which comprises a cylinder body 1 and a cross-shaped air distribution rod 2, wherein the upper part of the cylinder body 1 is provided with a sunken cross-shaped accommodating groove, the cross-shaped accommodating groove comprises a central accommodating groove 013 and four side accommodating grooves 014 uniformly arranged around the central accommodating groove 013, a cylindrical sliding column 3 is arranged in each side accommodating groove 014, the cylindrical sliding column 3 is in sliding connection with the side accommodating groove 014, and one end, far away from the central accommodating groove 013, of each cylindrical sliding column 3 is fixedly provided with a set of clamping jaw assemblies 4; the cross-shaped gas distribution rod 2 is of an integrated structure, the cross-shaped gas distribution rod 2 comprises a center block 021 and four gas distribution rods 022 which are uniformly arranged around the center block 021, the center block 021 is clamped in a center accommodating groove 013, the four gas distribution rods 022 are correspondingly inserted into the four cylindrical sliding columns 3 one by one, each gas distribution rod 022 is provided with a piston head 5, and the piston heads 5 divide the inner cavity 144 of the cylindrical sliding column into a closed cavity B6 and a closed cavity A7; the cross-shaped air dividing rod 2 is provided with an air rod B air channel 023 which is simultaneously communicated with all the B cavities 6, the cross-shaped air dividing rod 2 is also provided with an air rod A air channel 024 which is simultaneously communicated with all the A cavities 7, the lower part of the cylinder body 1 is also provided with a cylinder B air channel 011 which is communicated with the air rod B air channel 023, an external air source is introduced through the cylinder B air channel 011, and the air rod B air channel 023 enters the B cavities 6 to drive the clamping jaw assembly 4 to be opened; the lower part of the cylinder body 1 is also provided with a cylinder A air channel 012 which is communicated with an air rod A air channel 024, an external air source is introduced through the cylinder A air channel 012, and the external air source enters the A cavity 7 through the air rod A air channel 024 so as to drive the clamping jaw assembly 4 to retract; the top of the cylinder body 1 is provided with a cover plate 8 which completely covers the top of the cross-shaped accommodating groove, the top of the cover plate 8 is provided with a vacuum suction hole 81, and the cover plate 8 is also provided with a vacuum gas path 82 communicated with the vacuum suction hole 81.
The four-clamping-jaw synchronous centering clamping manipulator 100 of the embodiment utilizes the combination of the cylinder body 1, the cover plate 8 and the cross-shaped air dividing rod 2 to form a pneumatic manipulator capable of driving the four sets of clamping jaw assemblies 4 to synchronously shrink. By adopting the structure, the positioning efficiency and precision can be improved, and the stability is good.
The four-clamping-jaw synchronous centering clamping manipulator 100 disclosed by the invention has the advantages of small number of components, stable structure, sufficient air channel arrangement space and the like, and is specifically described below by specifically designing the cylinder body 1, the cross-shaped air dividing rod 2, the cover plate 8 and the cylindrical sliding column 3.
(one) with respect to the cylinder 1 and the cover plate 8. The cross-shaped accommodating groove of the cylinder body 1 is combined with the top cover plate 8 to form four accommodating holes for accommodating the cylindrical sliding column 3, and the combined structure is beneficial to reducing the processing difficulty of the accommodating holes and ensuring the processing precision. During specific processing, the cross-shaped containing groove can be milled from the top surface of the cylinder body 1, so that the problems that the processing procedure is complex and the position accuracy is difficult to guarantee due to the mode of processing each containing hole from the side surface of the cylinder body 1 are avoided. Besides the position of the cross-shaped accommodating groove, other positions of the cylinder body 1 are integrally of a solid structure, and the structure provides enough space for arranging a connecting hole and an air channel, so that the stability of the four clamping jaw synchronous centering clamping manipulator 100 is improved, the air channel arrangement structure is optimized, and the air channel stability is improved.
The cover plate 8 is provided with a vacuum suction hole 81 and a vacuum gas circuit 82, and the vacuum suction hole 81 is vacuumized through the vacuum gas circuit 82, so that the cover plate 8 can firmly suck a workpiece positioned on the cover plate, and the positioned workpiece is clamped, so that a machining center can machine the workpiece conveniently.
And (II) a cylinder body 1, a cross-shaped air dividing rod 2 and a cylindrical sliding column 3. The center block 021 is located in the center position and is used for positioning the cross-shaped gas distribution rod 2 and providing a mounting foundation for the upper synchronous component. The four cross gas-dividing rods 2 are used for being matched with the four cylindrical sliding columns 3 respectively to form a cylinder structure, and because the cross gas-dividing rods 2 are of an integrated structure, the four cylinder structures can be formed simultaneously by being matched with the cylindrical sliding columns 3, and the four cylinder structures can be stably positioned and installed simultaneously by only fixing the central block 021. By adopting the structure, the number of components and the installation difficulty are greatly reduced, and the four cross-shaped gas distribution rods 2 are integrally formed, so that the structure is stable, and the position accuracy of the four cross-shaped gas distribution rods 2 is high. Therefore, the cross-shaped air dividing rod 2 of the embodiment has the advantages of high precision, small installation difficulty and strong stability.
The action principle of the invention is specifically described as follows: after compressed air provided by an external air source enters the cylinder B air channel 011, the compressed air enters the B cavity 6 of the four cylindrical sliding columns 3 through the air rod B air channel 023, and drives the four cylindrical sliding columns 3 to extend outwards to drive the four clamping jaw assemblies 4 to open so as to relax a workpiece.
After compressed air provided by an external air source enters the cylinder A air channel 012, the compressed air enters the A cavity 7 of the four cylindrical sliding columns 3 through the air rod A air channel 024 at the same time, and meanwhile, the four cylindrical sliding columns 3 are driven to move inwards, so that when the four clamping jaw assemblies 4 are driven to shrink synchronously, workpieces above the cover plate 8 can be pushed from four directions at the same time, automatic positioning of the workpieces is realized, and accurate centering of the workpieces is ensured. By adopting the structure, the positioning efficiency and the positioning precision can be improved, and the stability is good; the method is suitable for workpieces with high precision requirements (such as a mobile phone display screen, a mobile phone rear cover, a watch cover, an automobile and a panel display screen).
According to the specific embodiment of the invention, a synchronous component for controlling the synchronous sliding of the four cylindrical sliding columns 3 is arranged between the cylinder body 1 and the cover plate 8; the center of the top of the center block 021 is provided with a concave shaft groove 0211, and the bottom of the cover plate 8 is provided with a concave disc groove 83; the synchronization assembly includes: the step shaft 9, the bearing 10, the linkage pin 11 and the synchronous disc 12 are integrally disc-shaped, a disc mounting hole 121 is formed in the center of the synchronous disc 12, four arc-shaped synchronous grooves 122 uniformly arranged around the disc mounting hole 121 are formed in the synchronous disc 12, annular shaft shoulders 91 are formed by protruding side parts of the step shaft 9, the lower parts of the shaft shoulders 91 fall on the top surface of the central block 021, the lower parts of the step shaft 9 extend into the shaft grooves 0211, and the upper parts of the step shaft 9 are rotationally connected with the center of the synchronous disc 12; the top of the synchronizing disc 12 is accommodated in the disc groove 83, and a gap 13 is formed between the top of the synchronizing disc 12 and the bottom of the disc groove 83; the bearing 10 is provided between the stepped shaft 9 and the disk mounting hole 121; each synchronizing groove 122 is internally provided with a linkage pin 11, the upper part of the linkage pin 11 is connected with the synchronizing groove 122 in a sliding way, and the lower part of the linkage pin 11 is correspondingly connected with a cylindrical sliding column 3.
In the present embodiment, the synchronizing unit is used to synchronously contract the four cylindrical posts 3. The method comprises the following steps: after being connected with an external air source, the air source is filled, and air is filled into the cavity B6 or the cavity A7 of the four cylindrical sliding columns 3 at the same time, so that the four cylindrical sliding columns 3 are driven to shrink, and as the four linkage pins 11 are connected with the cylindrical sliding columns 3, the cylindrical sliding columns 3 shrink to drive the cylindrical sliding columns 3 to carry the linkage pins 11 to synchronously move, so that the synchronous disc 12 is driven to rotate around the disc mounting hole 121, and the four linkage pins 11 ensure the accurate synchronization of the four cylindrical sliding columns 3 under the guiding action of the respective synchronous grooves 122, so that products are pushed to the center position, and more accurate centering is realized.
In addition, in this embodiment, locate center piece 021 upper portion with synchronous subassembly, adopt this structure, can avoid synchronous subassembly to interfere the gas pocket position completely, can leave sufficient space in the below of cylinder body 1 and arrange the gas circuit, guarantee the rationality that the gas circuit was arranged, avoid appearing because of gas pocket, pinhole or connecting hole arrange closely and the difficult problem of processing.
In this embodiment, the center block 021 and the cover plate 8 form a supporting and limiting structure for mounting the synchronizing assembly. The method comprises the following steps: the lower part of the step shaft 9 is positioned in the shaft groove 0211, the step shaft 9 is fixed and supported under the cooperation of the shaft shoulder 91, the inner ring of the bearing 10 is matched with the upper part of the step shaft 9, the outer ring of the bearing 10 is arranged in the disk mounting hole 121, the hole bottom of the disk mounting hole 121 is provided with a step, and the step is used for limiting the outer ring of the bearing 10 to move upwards along the axis.
According to the embodiment of the invention, the top of the cylindrical sliding column 3 is provided with a sliding pin hole 145, and the lower part of the linkage pin 11 extends into and is fixed in the sliding pin hole 145.
In this embodiment, by reasonably setting the position of the bearing 10, under the action of the tightening force of the bearing 10, the top of the synchronization disk 12 and the bottom of the disk slot 83 are ensured to have a gap 13, which is beneficial to further ensuring the smoothness of the rotation of the synchronization disk 12.
According to the specific embodiment of the invention, the cylindrical sliding column 3 comprises a square column section 141 and a cylindrical section 142 which are connected, the inner cavity 144 of the cylindrical sliding column penetrates through the square column section 141 and the cylindrical section 142 at the same time, the outer contour of the cross section of the square column section 141 is square, the outer contour of the cross section of the cylindrical section 142 is round, one end of the square column section 141 far away from the cylindrical section 142 is fixedly provided with a connecting lug 143, the top side surface of the connecting lug 143 is flush with the top side surface of the square column section 141, the front side surface and the rear side surface of the square column section 141 are respectively provided with a first guide groove 1411 formed by two concave grooves, the shape of a side part accommodating groove 014 is matched with that of the square column section 141, the positions of two opposite side walls of the side part accommodating groove 014 are provided with concave second guide grooves 0145 corresponding to the first guide grooves 1411, one first guide groove 1411 and the corresponding second guide groove 0145 jointly enclose a guide cavity, the guide cavity is internally provided with a roller 15 capable of rotating around the axis of the roller 15, the roller 15 is arranged on the cylinder body 1 through a fixing piece 16, each fixing piece 16 is provided with a plurality of fixing pieces 15, and each fixing piece is provided with two corresponding guide grooves 16; the front two sides of the square column section 141 are also provided with a plurality of concave sliding avoidance grooves 1412.
More specifically, the first guide groove 1411 and the second guide groove 0145 are each V-shaped in cross section, and the first guide groove 1411 and the second guide groove 0145 together enclose a rectangle.
In this embodiment, the shape of the cylindrical spool 3 is specifically designed, and the shape of the side receiving groove 014 is square matching the shape of the square spool section 141, and this structure can prevent the cylindrical spool 3 from rotating, and is advantageous in that the square spool section 141 is provided with the first guide groove 1411, the first guide groove 1411 and the second guide groove 0145 enclose the guide cavity, and by providing the roller 15, the sliding friction between the cylindrical spool 3 and the side wall of the side receiving groove 014 can be avoided, and the sliding smoothness of the cylindrical spool 3 can be improved instead of rolling friction. And the outer contour of the square column section 141 is of a planar structure, so that the square column section is beneficial to being connected with the flat connecting lugs 143, and a stable installation foundation is provided for the linkage pin 11.
The rollers 15 and the fixing pieces 16 in the present embodiment constitute a cross roller ball guide structure, and when the cross roller ball guide structure is specifically used, the conventional cross roller ball guide can be purchased directly. By providing the slip avoidance groove 1412, a space can be provided for the projection of the roller 15, and the side surface (specifically, the side surface having the first guide groove 1411) of the cylindrical spool 3 is prevented from being in direct contact with the side portion receiving groove 014, which is advantageous in ensuring the smoothness of the rolling guide of the roller 15.
According to the embodiment of the invention, one side of each side accommodating groove 014 far away from the center accommodating groove 013 is provided with a sealing side cover 17, the cylindrical section 142 penetrates through the sealing side cover 17, a second sealing ring 18 for realizing sliding sealing is arranged between the sealing side cover 17 and the cylindrical section 142, and a third sealing ring 19 is arranged between the sealing side cover 17 and the cover plate 8; the seal side cover 17 is rectangular in shape as a whole, and the seal side cover 17 is fixed to the cylinder 1 by a screw connection 20.
In the present embodiment, the side cover 17 and the seal ring are provided to seal the notch of the side receiving groove 014, thereby enabling the four clamping jaws to simultaneously center and clamp the inside of the manipulator 100 to form a seal structure, and preventing the smooth operation of the manipulator from being affected by the entry of foreign matters. The cylindrical section 142 is in the form of a cylindrical head and also facilitates the installation of the annular second seal ring 18.
According to the embodiment of the invention, the bottom of the central accommodating groove 013 is provided with a plurality of cylinder pin holes 131, the bottom of the central block 021 is provided with a central block pin hole 0212 corresponding to the position of the cylinder pin holes 131, the four-clamping-jaw synchronous centering clamping manipulator 100 further comprises an air rod positioning pin 21, the lower part of the air rod positioning pin 21 is inserted into the cylinder pin holes 131, and the upper part of the air rod positioning pin 21 is inserted into the central block pin hole 0212.
In this embodiment, the gas lever positioning pin 21 is engaged with the pin holes (the core block pin hole 0212 and the cylinder pin hole 131) to realize positioning. The plurality of air bar positioning pins 21 are adopted, so that the position movement of the center block 021 in the plane where the groove bottom of the center accommodating groove 013 is located can be simultaneously limited, and the function of accurate positioning is achieved.
When the cylinder is used, the lower part of the cylinder body 1 is fixedly arranged, the upper part of the cylinder body 1 is in direct contact with the cover plate 8, the cylinder body 1 and the cover plate 8 are fixed through the threaded connecting piece 20, the lower part of the center block 021 is directly abutted with the bottom of the center accommodating groove 013, the positioning pin can limit the translation of the cross-shaped air distribution rod 2, so that the cross-shaped air distribution rod 2 is fixed, and the structure that the center block 021 is fixedly connected with the cylinder body 1 is realized.
According to an embodiment of the invention, the jaw assembly 4 comprises: the claw frame 41, the chuck 42 and the claw pin 43, the claw frame 41 comprises a vertical frame 411, one side of the vertical frame 411 is fixedly provided with a butt joint 412 which is cylindrical as a whole, the butt joint 412 is provided with a plug 413 which protrudes and stretches into a cylindrical sliding column cavity 144, the plug 413 is cylindrical as a whole, a fourth sealing ring 414 is arranged between the plug 413 and the cylindrical sliding column cavity 144, one end of the cylindrical section 142, which is far away from the square section 141, is provided with a plurality of first claw frame pin holes 1421, the butt joint 412 is provided with a second claw frame pin hole 4121 which is opposite to the first claw frame pin holes 1421, and the first claw frame pin holes 1421 and the second claw frame pin holes 4121 are inserted through the claw pin 43 so as to fix the claw frame 41 on the cylindrical sliding column 3; the clamping head 42 is fixed on the top of the vertical frame 411 through the threaded connecting piece 20, a concave stroke avoiding groove 84 is formed at the position of the cover plate 8 opposite to the clamping head 42, and the bottom of the clamping head 42 is higher than the bottom of the stroke avoiding groove 84.
In this embodiment, the chuck 42 is located at the top, which acts directly on the workpiece. Plug 413 has two functions: firstly, the plug 413 extends into the inner cavity 144 of the cylindrical sliding column, so that the claw holder 41 can be installed and positioned; and secondly, the cylindrical plug 413 is beneficial to installing the annular fourth sealing ring 414, so that sealing is beneficial to realizing. The travel relief groove 84 is used for relief, ensuring smooth movement of the collet 42.
According to the specific embodiment of the invention, the central accommodating groove 013 is square, four side accommodating grooves 014 are respectively communicated with four sides of the central accommodating groove 013, and the central block 021 is matched with the shape of the central accommodating groove 013; the four gas separation rods 022 are respectively: a first longitudinal side gas separation rod 0221, a second longitudinal side gas separation rod 022, a third transverse side gas separation rod 0223, and a fourth transverse side gas separation rod 0224; the four side receiving grooves 014 are: the first longitudinal side receiving groove 0141, the second longitudinal side receiving groove 0142, the third transverse side receiving groove 0143 and the fourth transverse side receiving groove 0144, the first longitudinal side receiving groove 0141 and the second longitudinal side receiving groove 0142 being provided opposite to each other; the first longitudinal side gas dividing rod 0221, the second longitudinal side gas dividing rod 022, the third transverse side gas dividing rod 0223 and the fourth transverse side gas dividing rod 0224 are respectively in one-to-one correspondence and slidably connected with the first longitudinal side accommodating groove 0141, the second longitudinal side accommodating groove 0142, the third transverse side accommodating groove 0143 and the fourth transverse side accommodating groove 0144; the first longitudinal side air dividing rod 0221 and the second longitudinal side air dividing rod 022 are equal in length, the third transverse side air dividing rod 0223 and the fourth transverse side air dividing rod 0224 are equal in length, the whole cylinder body 1 is rectangular, the length of the first longitudinal side air dividing rod 0221 is larger than that of the third transverse side air dividing rod 0223, and the length direction of the first longitudinal side air dividing rod 0221 is identical to that of the cylinder body 1.
In this embodiment, the structure of the cross-shaped gas-dividing rod 2 and the structure of the cross-shaped receiving groove are specifically designed, and the cross-shaped gas-dividing rod 2 and the cross-shaped receiving groove are correspondingly arranged.
The cylinder body 1 is rectangular in shape as a whole, and has a solid structure except for the cross-shaped accommodating groove, and the solid positions can be used for forming air holes and holes for connecting pieces (screws, pins and the like). By means of the combined design of the lengths of the four air distribution rods 022, four sets of clamping claw assemblies 4 connected with the four cylindrical sliding columns 3 can enclose a rectangular clamping area, and the clamping device is suitable for clamping and centering products such as rectangular mobile phone glass shells. The method comprises the following steps: the four sides of the rectangle can be used for synchronously pushing the rectangle to move so as to realize the accurate positioning of the rectangle.
According to the specific embodiment of the invention, a first sealing ring 22 is arranged between the cover plate 8 and the cylinder body 1, and the first sealing ring 22 is arranged around the cross-shaped accommodating groove.
In the present embodiment, the first seal ring 22 is used for sealing, which is used for ensuring the sealing performance between the cover plate 8 and the cylinder 1. In the member of the present invention, the process hole 23 which is to be plugged by a plug in the later stage is present when the gas path is formed.
The invention also discloses a multi-station manipulator device, which comprises a base plate 200 and four clamping jaw synchronous centering clamping manipulators 100, wherein the number of the four clamping jaw synchronous centering clamping manipulators 100 is multiple, the multiple sets of four clamping jaw synchronous centering clamping manipulators 100 are respectively arranged at the upper part of the base plate 200 at intervals, a notch 201 is arranged at one side of the base plate 200, and a door-shaped wire collecting frame 300 is arranged at the notch 201; one side of each four clamping jaw synchronous centering clamping manipulator 100 is fixedly provided with a clamping block 400, the clamping blocks 400 are arranged on the bottom plate 200, clamping grooves 401 are formed in the clamping blocks 400, a magnetic switch 500 for automatically sensing the telescopic travel of the clamping jaw assembly 4 is clamped in the clamping grooves 401, the multi-station manipulator device further comprises a transmission line (not shown), one end of the transmission line is connected with the magnetic switch 500, and the other end of the transmission line passes through the door-type take-up frame 300 to be connected with a control system.
More specifically, the four-jaw synchronous centering and clamping robot 100 is four sets, and the four sets of four-jaw synchronous centering and clamping robots 100 are arranged in a rectangular array.
In this embodiment, the four clamping jaws of the four clamping jaw synchronous centering and clamping manipulator 100 are integrated on one bottom plate 200, so that a plurality of workpieces can be positioned and clamped at the same time. The notch 201 and the door-type pay-off rack 300 facilitate installation and storage of a transmission line, and the transmission line extends out from the notch 201 and is connected with a control system after being folded by the door-type pay-off rack 300, so as to send a position signal of the clamping jaw assembly 4 to the control system. The magnetic switch 500 is used for detecting the stroke of the clamping jaw assembly 4, and only the stroke of one clamping jaw assembly 4 needs to be detected because the four clamping jaw assemblies 4 in the four clamping jaw synchronous centering clamping manipulator 100 synchronously act.
When the magnetic switch 500 detects that the clamping jaw assembly 4 is contracted to a preset position, the centering operation of the workpiece is finished, the control system controls the external vacuumizing system to vacuumize the vacuum air channel 82 of the cover plate 8, the workpiece is sucked through the vacuum suction hole 81, and after the workpiece is fixed, the control system automatically controls the machining center to start a machining program to machine, and a required product is obtained after machining is finished.
According to the specific embodiment of the invention, the bottom of the cylinder body 1 is provided with the raised installation positioning pin 14, the bottom plate 200 is provided with the installation positioning hole corresponding to the installation positioning pin 14, and the installation positioning pin 14 is inserted into the installation positioning hole to realize the positioning and installation of the four-clamping-jaw synchronous centering clamping manipulator 100; the lower part of the bottom plate 200 is provided with a B gas joint 600, one end of the B gas joint 600 is communicated with a cylinder B gas circuit 011, and the other end of the B gas joint 600 is communicated with an external gas source; an A gas connector 700 is arranged at the lower part of the bottom plate 200, one end of the A gas connector 700 is communicated with a cylinder A gas circuit 012, and the other end of the A gas connector 700 is communicated with an external gas source; the bottom plate 200 is rectangular in whole, a device mounting hole 202 is formed in the center of the bottom plate 200, and a plurality of sets of four-clamping-jaw synchronous centering clamping manipulators 100 are arranged around the device mounting hole 202.
In this embodiment, the positioning pin 14 is installed to realize quick positioning and installation of the cylinder 1, and the B gas connector 600 and the a gas connector 700 are both located below the base plate 200, which is beneficial to hiding the gas pipe, and can further improve compactness and layout rationality of the device. The device mounting holes 202 are used for positioning and mounting of the base plate 200.
In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "connected," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; the connection may be mechanical connection, electrical connection, direct connection, indirect connection through an intermediate medium, communication between two elements, or "transmission connection", i.e. power connection by various suitable means such as belt transmission, gear transmission or sprocket transmission. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
Claims (10)
1. The four-clamping-jaw synchronous centering clamping manipulator is characterized by comprising a cylinder body and a cross-shaped air distribution rod, wherein a cross-shaped accommodating groove formed by recessing is formed in the upper part of the cylinder body, the cross-shaped accommodating groove comprises a central accommodating groove and four side accommodating grooves uniformly surrounding the central accommodating groove, a cylindrical sliding column is arranged in each side accommodating groove, the cylindrical sliding column is connected with the side accommodating grooves in a sliding manner, and one end, far away from the central accommodating groove, of each cylindrical sliding column is fixedly provided with a set of clamping jaw assembly; the cross-shaped gas distribution rod is of an integrated structure and comprises a center block and four gas distribution rods uniformly surrounding the center block, the center block is clamped in the center accommodating groove, the four gas distribution rods are correspondingly inserted into the four cylindrical sliding columns one by one, each gas distribution rod is provided with a piston head, and the piston heads divide the inner cavity of the cylindrical sliding column into a closed cavity B and a closed cavity A; the cross-shaped gas distribution rod is provided with a gas rod B gas path which is communicated with all the cavities B at the same time, the cross-shaped gas distribution rod is also provided with a gas rod A gas path which is communicated with all the cavities A at the same time, the lower part of the cylinder body is also provided with a cylinder B gas path which is communicated with the gas rod B gas path, an external gas source is introduced through the cylinder B gas path, and the gas rod B gas path enters the cavities B to drive the clamping jaw assembly to be opened; the lower part of the cylinder body is also provided with a cylinder A air passage communicated with the air passage A of the air rod, an external air source is introduced through the air passage A, and the external air source enters the cavity A through the air passage A of the air rod so as to drive the clamping jaw assembly to retract; the cylinder body top is equipped with the complete cover board that covers cross accepting groove top, the top of apron is equipped with the vacuum and inhales the hole, still be equipped with on the apron with the vacuum gas circuit that the vacuum inhaled the hole intercommunication.
2. The four-jaw synchronous centering clamping manipulator of claim 1, wherein a synchronous assembly for controlling the synchronous sliding of the four cylindrical sliding columns is arranged between the cylinder body and the cover plate; the center of the top of the center block is provided with a shaft groove formed by recessing, and the bottom of the cover plate is provided with a disc groove formed by recessing; the synchronization assembly includes: the step shaft, the bearing, the linkage pin and the synchronous disc are integrally disc-shaped, a disc mounting hole is formed in the center of the synchronous disc, four arc-shaped synchronous grooves uniformly surrounding the disc mounting hole are formed in the synchronous disc, annular shaft shoulders are formed by protruding side parts of the step shaft, the lower parts of the shaft shoulders fall on the top surface of the center block, the lower parts of the step shaft extend into the shaft grooves, and the upper parts of the step shaft are connected with the center of the synchronous disc in a rotating mode; the top of the synchronous disc is accommodated in the disc groove, and a gap is formed between the top of the synchronous disc and the bottom of the disc groove; the bearing is arranged between the step shaft and the disc mounting hole; and each synchronizing groove is internally provided with one linkage pin, the upper part of the linkage pin is connected with the synchronizing groove in a sliding way, and the lower part of the linkage pin is correspondingly connected with one cylindrical sliding column.
3. The four-jaw synchronous centering clamping manipulator of claim 2, wherein a spool pin hole is formed in the top of the cylindrical spool, and the lower part of the linkage pin extends into and is fixed in the spool pin hole; a first sealing ring is arranged between the cover plate and the cylinder body, and the first sealing ring surrounds the cross-shaped accommodating groove.
4. The four-clamping-jaw synchronous centering clamping manipulator according to claim 3, wherein the cylindrical sliding column comprises a square column section and a cylindrical section which are connected, the inner cavity of the cylindrical sliding column penetrates through the square column section and the cylindrical section at the same time, the outer contour of the cross section of the square column section is square, the outer contour of the cross section of the cylindrical section is round, one end, far away from the cylindrical section, of the square column section is fixedly provided with a connecting lug, the top side surface of the connecting lug is flush with the top side surface of the square column section, the front side surface and the rear side surface of the square column section are respectively provided with a first guide groove formed by two concave grooves, the shape of each side part containing groove is matched with that of the square column section, the positions, corresponding to the first guide grooves, of two opposite side walls of each side part containing groove are provided with a second guide groove formed by concave grooves, one guide groove and the corresponding second guide groove jointly enclose a guide cavity, a roller capable of rotating around an axis of the roller fixing piece is arranged in the guide cavity, and each roller fixing piece is arranged on the roller fixing piece; the front two sides of the square column section are also provided with a plurality of sliding avoidance grooves formed by recessing.
5. The four-jaw synchronous centering and clamping manipulator of claim 4, wherein a sealing side cover is arranged on one side, far away from the central accommodating groove, of each side accommodating groove, the cylindrical section penetrates through the sealing side cover, a second sealing ring for realizing sliding sealing is arranged between the sealing side cover and the cylindrical section, and a third sealing ring is arranged between the sealing side cover and the cover plate; the sealing side cover is integrally rectangular, and is fixed on the cylinder body through a threaded connecting piece.
6. The four-jaw synchronous centering and clamping manipulator according to claim 5, wherein a plurality of cylinder pin holes are formed in the bottom of the center accommodating groove, a center block pin hole is formed in the bottom of the center block at a position corresponding to the cylinder pin hole, the four-jaw synchronous centering and clamping manipulator further comprises a gas rod positioning pin, the lower portion of the gas rod positioning pin is inserted into the cylinder pin hole, and the upper portion of the gas rod positioning pin is inserted into the center block pin hole.
7. The four jaw synchronized centering clamping robot of claim 6, wherein said jaw assembly comprises: the claw comprises a vertical frame, one side of the vertical frame is fixedly provided with a butt joint which is cylindrical as a whole, the butt joint is provided with a plug which protrudes and stretches into the inner cavity of the cylindrical sliding column, the plug is cylindrical as a whole, a fourth sealing ring is arranged between the plug and the inner cavity of the cylindrical sliding column, one end, far away from the square column section, of the cylindrical section is provided with a plurality of first claw frame pin holes, the butt joint is provided with a second claw frame pin hole which is opposite to the first claw frame pin holes, and the first claw frame pin holes and the second claw frame pin holes are inserted through the claw pins so as to fix the claw frame on the cylindrical sliding column; the clamping head is fixed to the top of the vertical frame through a threaded connecting piece, a concave stroke avoiding groove is formed in the position, opposite to the clamping head, of the cover plate, and the bottom of the clamping head is higher than the bottom of the stroke avoiding groove.
8. The four-jaw synchronous centering clamping manipulator of claim 7, wherein the central receiving groove is square, four side receiving grooves are respectively communicated with four sides of the central receiving groove, and the central block is matched with the central receiving groove in shape; the four gas distribution rods are respectively: the first longitudinal side gas distribution rod, the second longitudinal side gas distribution rod, the third transverse side gas distribution rod and the fourth transverse side gas distribution rod; the four edge containing grooves are respectively: the first longitudinal edge accommodating groove, the second longitudinal edge accommodating groove, the third transverse edge accommodating groove and the fourth transverse edge accommodating groove are oppositely arranged; the first longitudinal side air dividing rod, the second longitudinal side air dividing rod, the third transverse side air dividing rod and the fourth transverse side air dividing rod are respectively and correspondingly connected with the first longitudinal side accommodating groove, the second longitudinal side accommodating groove, the third transverse side accommodating groove and the fourth transverse side accommodating groove in a sliding manner; the length of the first longitudinal side gas dividing rod is equal to that of the second longitudinal side gas dividing rod, the length of the third transverse side gas dividing rod is equal to that of the fourth transverse side gas dividing rod, the whole cylinder body is rectangular, the length of the first longitudinal side gas dividing rod is greater than that of the third transverse side gas dividing rod, and the length direction of the first longitudinal side gas dividing rod is consistent with that of the cylinder body.
9. A multi-station manipulator device which is characterized by comprising a bottom plate and four clamping jaw synchronous centering clamping manipulators according to any one of claims 1-8, wherein the number of the four clamping jaw synchronous centering clamping manipulators is multiple, the multiple sets of four clamping jaw synchronous centering clamping manipulators are respectively arranged at the upper part of the bottom plate at intervals, one side of the bottom plate is provided with a notch, and a door-shaped take-up frame is arranged at the notch; one side of each four clamping jaw synchronous centering clamping manipulator is fixedly provided with a clamping block, the clamping blocks are mounted on the bottom plate, clamping grooves are formed in the clamping blocks, a magnetic switch used for automatically sensing the telescopic travel of the clamping jaw assembly is clamped in the clamping grooves, the multi-station manipulator device further comprises a transmission line, one end of the transmission line is connected with the magnetic switch, and the other end of the transmission line penetrates through the door-type take-up frame and is connected with the control system.
10. The multi-station manipulator device according to claim 9, wherein a convex installation positioning pin is arranged at the bottom of the cylinder body, an installation positioning hole corresponding to the installation positioning pin is arranged on the bottom plate, and the installation positioning pin is inserted into the installation positioning hole to realize the positioning and the installation of the four-clamping-jaw synchronous centering clamping manipulator; the lower part of the bottom plate is provided with a B gas joint, one end of the B gas joint is communicated with the cylinder B gas circuit, and the other end of the B gas joint is communicated with the external gas source; an A gas connector is arranged at the lower part of the bottom plate, one end of the A gas connector is communicated with the air path of the cylinder A, and the other end of the A gas connector is communicated with the external air source; the whole rectangle of bottom plate, just the center of bottom plate is equipped with the device mounting hole, and many sets of four clamping jaw synchronous centering clamp manipulators encircle the device mounting hole sets up.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311239051.5A CN117183121B (en) | 2023-09-25 | 2023-09-25 | Four clamping jaw synchronous centering clamping mechanical arm and multi-station mechanical arm device |
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| CN202311239051.5A CN117183121B (en) | 2023-09-25 | 2023-09-25 | Four clamping jaw synchronous centering clamping mechanical arm and multi-station mechanical arm device |
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| CN117183121A true CN117183121A (en) | 2023-12-08 |
| CN117183121A8 CN117183121A8 (en) | 2024-01-12 |
| CN117183121B CN117183121B (en) | 2024-04-26 |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN117183121B (en) | 2024-04-26 |
| CN117183121A8 (en) | 2024-01-12 |
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| CI02 | Correction of invention patent application |
Correction item: Classification number Correct: B23Q 3/08(2006.01) False: B28D 7/04(2006.1) Number: 49-02 Page: The title page Volume: 39 Correction item: Classification number Correct: B23Q 3/08(2006.01) False: B28D 7/04(2006.01) Number: 49-02 Volume: 39 |
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