CN218195264U - Compensation type clamping jaw - Google Patents

Abstract

The utility model belongs to the technical field of clamping device, concretely relates to compensation type clamping jaw, which comprises a joint block, an adjusting mechanism and a grabbing mechanism, wherein the adjusting mechanism comprises a slide block which is connected on the joint block in a sliding way, the grabbing mechanism at least comprises two clamping jaws, the two clamping jaws are arranged on the slide block, and all the clamping jaws are used for grabbing workpieces; the clamping device solves the problems that a mechanical arm clamp caused by workpiece shape errors is not correct, the material taking and placing is poor, and when a clamping jaw forcedly grabs a workpiece with large shape errors, the surface of the workpiece is damaged.

Description

Compensation type clamping jaw

Technical Field

The utility model belongs to the technical field of clamping device, concretely relates to compensation formula clamping jaw.

Background

The pneumatic finger is also called a pneumatic clamping jaw or a pneumatic clamping finger, and is an executing device which uses compressed air as power and is used for clamping or grabbing a workpiece. On an automatic production line, a mechanical arm is mostly adopted to complete automatic feeding and discharging work, wherein a clamping jaw of the mechanical arm needs to be matched with the size of a workpiece, the specification of the mechanical arm, the rotating speed of a conveyor belt and the like, so that the clamping jaw of the mechanical arm is very important. On a motorcycle cylinder head processing production line, a mechanical arm needs to clamp and place a workpiece on a conveying line in a processing machine tool, a positioning pin on the conveying line fixes the workpiece on a station, when the workpiece to be grasped is a blank, due to the fact that the shape error of the blank is large, when the mechanical arm grasps the workpiece to a position set by a program, the two sides of a clamping jaw do not completely clamp the workpiece, the workpiece is clamped incorrectly, the workpiece inclines on the clamping jaw, and therefore the material taking and placing are poor, and the operation is affected; moreover, if the two sides of the clamping jaw can not be exactly matched with the appearance of the workpiece, the acting forces of the two sides of the clamping jaw on the workpiece are unequal, the workpiece can be forcibly clamped, the surface of the workpiece can be damaged, and the processing quality of the workpiece is affected.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a compensation formula clamping jaw to it is not just to solve the robotic arm clamp that work piece configuration error leads to and get the bad problem of material of putting, and when the clamping jaw snatchs the great work piece of configuration error by force, leads to the problem of workpiece surface damage.

The technical scheme of the utility model as follows:

the utility model provides a compensation formula clamping jaw, includes joint block, guiding mechanism, snatchs the mechanism, guiding mechanism includes the slider, and slider sliding connection is on joint block, snatchs the mechanism and includes two clamping jaws at least, and two clamping jaws are installed on the slider, and all clamping jaws are used for snatching the work piece.

The technical principle of the utility model is that:

the adjusting mechanism is arranged between the grabbing mechanism and the joint block of the mechanical arm, the adjusting mechanism can slide relative to the joint block, the grabbing mechanism can also slide along with the adjusting mechanism, and when the mechanical arm grabs a workpiece, the mechanical arm drives the two clamping jaws to move to the outer side of the workpiece; in the clamping process of the two clamping jaws, if the workpiece has a shape error, the two clamping jaws sequentially contact the surface of the workpiece, and the workpiece can generate a reaction force on the clamping jaw which contacts the workpiece firstly due to the fixed position of the workpiece, so that the adjusting mechanism and the grabbing mechanism slide in the direction away from the workpiece until the two clamping jaws are contacted with the surface of the workpiece, and the workpiece is clamped.

The utility model has the advantages that:

the utility model discloses a to snatch mechanism sliding connection on the slider for snatch the mechanism and can self-adaptation blank appearance error, can carry out the compensation formula clamp to the work piece and get, effectively avoid robotic arm clamp to get the work piece and press from both sides and get the work piece just, prevent to get to put the material bad and workpiece surface damage.

Furthermore, the compensation type clamping jaw further comprises a positioning mechanism, the positioning mechanism comprises connecting shafts, supporting plates and positioning pins, one ends of the connecting shafts are connected with the joint blocks, the other ends of the connecting shafts are connected with the supporting plates, the four connecting shafts are symmetrically arranged on two sides of the air cylinder, the positioning pins are arranged on the supporting plates, and the positioning pins can be matched with positioning holes of workpieces.

Through set up positioning mechanism on the clamping jaw, can further fix the work piece position before snatching the work in the mechanism of snatching, avoid the work piece to take place the displacement at the in-process of snatching, lead to getting the material badly.

Furthermore, positioning mechanism still includes push pedal, guiding axle, spring, and it has the guiding hole to open in the backup pad, and the push pedal is located the backup pad below, and the guiding axle passes the guiding hole and is connected with the push pedal, and the spring housing is on the guiding axle between backup pad and push pedal, and spring coupling is between backup pad and push pedal, and the length of locating pin is greater than the initial distance between backup pad and the push pedal.

When the manipulator grabs the workpiece, the positioning mechanism moves downwards along with the manipulator, and the positioning pin on the supporting plate is matched with the positioning hole of the workpiece to fix the position of the workpiece; the mechanical arm continues moving downwards, the push plate is in contact with the upper surface of the workpiece, the spring is compressed, the push plate moves upwards along the direction of the guide shaft until the spring is at the compression limit length, the push plate compresses the workpiece, the clamping jaw clamps the workpiece, the spring is still in a compression state at the moment, the workpiece is moved by the mechanical arm in the machine tool, the clamping jaw loosens the workpiece, the spring resets, the elastic force of the spring enables the push plate to move downwards, and the workpiece is compressed on a positioning pin of a machining station of the machine tool by the thrust of the push plate.

Furthermore, the adjusting mechanism also comprises a guide rail, the guide rail is connected to the joint block, and the sliding block is connected with the guide rail in a sliding manner.

The slider drives the grabbing mechanism to slide on the guide rail, so that the grabbing mechanism has a better effect of self-adapting to the shape error of the workpiece.

Further, the grabbing mechanism is a parallel air claw.

When the parallel gas claws grab a workpiece, the two gas claws only slide in the horizontal direction, and the two gas claws move in opposite directions to be close to the workpiece, so that the grabbing positions of the two gas claws can be adjusted by the adjusting mechanism conveniently, and the effect of compensating the appearance error of the workpiece is better.

Furthermore, the number of the guide holes, the number of the guide shafts and the number of the springs are four, and the number of the positioning pins is two.

The accumulated elastic force after the spring is compressed is enough, and the workpiece can be pressed on a locating pin of a machining station of a machine tool after the elastic force is released.

Furthermore, the joint block is provided with a mounting plate, the guide rail and the connecting shaft are detachably connected onto the mounting plate, a connecting plate is arranged between the sliding block and the air cylinder, the air cylinder and the connecting plate are detachably connected, and the supporting plate and the connecting shaft are detachably connected.

The installation plate and the connecting plate are convenient to detach, maintain, replace, install the adjusting mechanism, the positioning mechanism and the grabbing mechanism.

Furthermore, the adjusting mechanism further comprises two check blocks, the two check blocks are symmetrically arranged on the mounting plate, and the two check blocks are respectively positioned at two ends of the guide rail.

Prevent that slide rail and slider from breaking away from, lead to snatching the mechanism and drop, equipment damages.

Furthermore, the connecting shafts of the positioning mechanism are four and are respectively positioned on two sides of the two clamping jaws.

The positioning mechanism is stably connected with the mounting plate, the gravity of parts such as the support plate, the push plate and the like in the positioning mechanism is dispersed, and the service life is prolonged.

Drawings

Fig. 1 is a front view of an embodiment of the present invention;

fig. 2 is a schematic perspective view of an embodiment of the present invention;

fig. 3 is a schematic perspective view of an embodiment of the present invention.

Detailed Description

The following is further detailed by way of specific embodiments:

reference numerals in the specification include: the device comprises a joint block 1, a mounting plate 2, an adjusting mechanism 3, a guide rail 31, a sliding block 32, a stop block 33, a connecting plate 4, a grabbing mechanism 5, an air cylinder 51, a clamping jaw 52, a positioning mechanism 6, a connecting shaft 61, a supporting plate 62, a positioning pin 63, a push plate 64, a guide shaft 65 and a spring 66.

Example, as shown in fig. 1-3:

a compensation type clamping jaw comprises a joint block 1, a mounting plate 2, an adjusting mechanism 3, a connecting plate 4, a grabbing mechanism 5 and a positioning mechanism 6, wherein the mounting plate 2 is in threaded connection with the joint block 1.

Guiding mechanism 3 includes guide rail 31, slider 32, dog 33, and guide rail 31 and mounting panel 2 threaded connection, slider 32 and guide rail 31 sliding connection, and dog 33 has two, and two dogs 33 symmetry are installed on mounting panel 2, and two dogs 33 are located guide rail 31 both ends respectively, and slider 32 lower surface welding has connecting plate 4.

Snatch mechanism 5 and be parallel gas claw, parallel gas claw includes two-way cylinder 51 and clamping jaw 52, and two-way cylinder 51 threaded connection is on connecting plate 4, and clamping jaw 52 has two, and two clamping jaws symmetry are installed on two output shafts of two-way cylinder 51.

Positioning mechanism 6 includes connecting axle 61, backup pad 62, locating pin 63, push pedal 64, guiding axle 65, spring 66, the both ends of connecting axle 61 respectively with mounting panel 2 and backup pad 62 threaded connection, connecting axle 61 totally has four, be located the both sides of clamping jaw 52 respectively, the welding has two locating pins 63 on the backup pad 62, it has the guiding hole to open on the backup pad 62, push pedal 64 is located under the backup pad 62, guiding axle 65 one end passes the guiding hole, the other end welds on push pedal 64, spring 66 cup joints on the guiding axle 65 between backup pad 62 and push pedal 64, and weld respectively on backup pad 62 and push pedal 64 at the spring 66 both ends.

The specific implementation is as follows:

will the utility model discloses an articulated piece 1 is installed on robotic arm, and start-up robotic arm snatchs the work piece on to the station, the utility model discloses along with robotic arm is close to the work piece, during locating pin 63 inserted the locating hole of work piece gradually, surface contact on push pedal 64 and the work piece, the work piece upper surface produced reaction force to the push pedal, made push pedal 64 along guiding axle 65 rebound to compression spring 66, when treating that spring 66 is in compression limit length, push pedal 64 compressed tightly the work piece completely and no longer removes.

The air cylinder 51 in the grabbing mechanism 5 is started, the two clamping jaws 52 slide in the horizontal direction to be close to the workpiece, if the workpiece has an appearance error, the two clamping jaws 52 sequentially contact the surface of the workpiece, and because the position of the workpiece is fixed, the workpiece generates a reaction force on the clamping jaw 42 which is in contact with the workpiece first, and the reaction force enables the sliding block 32 in the adjusting mechanism 6 to drive the grabbing mechanism 5 to horizontally slide on the guide rail 31 in the direction away from the workpiece until the two clamping jaws 52 are in contact with the surface of the workpiece, and then the clamping jaws 52 clamp the workpiece.

The mechanical arm transfers the workpiece to a processing station of a machine tool, the positioning pin on the station is inserted into the positioning hole of the workpiece, the two clamping jaws 52 horizontally slide in the direction away from the workpiece respectively to release the workpiece, the spring 66 restores to the initial state along with the release of the workpiece by the clamping jaws 52, the spring 66 generates elasticity to enable the push plate 64 to move downwards, the push plate 64 pushes the workpiece to move downwards, the positioning pin on the station is fully matched with the positioning hole of the workpiece, the workpiece is stably installed on the processing station, the mechanical arm moves upwards and returns to the grabbing station, and the steps are repeated.

The utility model discloses not only can the self-adaptation blank form error, effectively avoid robotic arm clamp to get the work piece just, prevent to get to put the material bad and workpiece surface damage, can also make the work piece install stably in the machine tool, effectively improve work piece processingquality.

The above description is only an example of the present invention, and the detailed technical solutions and/or characteristics known in the solutions are not described too much here. It should be noted that, for those skilled in the art, without departing from the technical solution of the present invention, several modifications and improvements can be made, which should also be regarded as the protection scope of the present invention, and these will not affect the effect of the implementation of the present invention and the practicability of the patent. The scope of the claims of the present application shall be determined by the contents of the claims, and the description of the embodiments and the like in the specification shall be used to explain the contents of the claims.

Claims (9)

1. The utility model provides a compensation formula clamping jaw, includes joint block, guiding mechanism, snatchs the mechanism, its characterized in that, guiding mechanism includes the slider, and slider sliding connection is on joint block, snatchs the mechanism and includes two clamping jaws at least, and two clamping jaws are installed on the slider, and all clamping jaws are used for snatching the work piece.

2. The compensating jaw of claim 1, further comprising a positioning mechanism, wherein the positioning mechanism comprises a connecting shaft, a supporting plate, and a positioning pin, wherein two ends of the connecting shaft are respectively connected with the joint block and the supporting plate, the positioning pin is disposed on the supporting plate, and the positioning pin can be engaged with the positioning hole of the workpiece.

3. The compensating jaw of claim 2, wherein the positioning mechanism further comprises a push plate, a guide shaft, and a spring, the support plate has a guide hole, the push plate is located below the support plate, the guide shaft passes through the guide hole and is connected to the push plate, the spring is sleeved on the guide shaft between the support plate and the push plate, the spring is connected between the support plate and the push plate, and the length of the positioning pin is greater than the initial distance between the support plate and the push plate.

4. The compensating jaw of claim 3, wherein the adjustment mechanism further comprises a guide rail connected to the knuckle block, the slide block being slidably connected to the guide rail.

5. The compensating jaw assembly of claim 4, wherein said gripping mechanism is a parallel gas jaw.

6. The compensating jaw of claim 5, wherein there are four guide holes, guide shafts and springs and two guide pins.

7. The compensating jaw of claim 6, wherein the joint block has a mounting plate, the guide rail and the connecting shaft are removably connected to the mounting plate, a connecting plate is disposed between the slider and the cylinder, the cylinder is removably connected to the connecting plate, and the support plate is removably connected to the connecting shaft.

8. The compensating jaw of claim 7, wherein the adjustment mechanism further comprises two stops, the two stops being symmetrically mounted on the mounting plate, the two stops being located at opposite ends of the rail.

9. The compensating jaw of claim 8, wherein said positioning mechanism has four connecting shafts, one on each side of each of said two jaws.

Images