Clamping gripper device for sliding block

Abstract

The utility model relates to the technical field of clamping, in particular to a clamping paw device for a sliding block. An angular direction assembly is installed at one end of the large gripper connecting plate, an air blowing assembly is installed at the other end of the large gripper connecting plate, a clamping assembly is installed at the lower end of the large gripper connecting plate, a visual assembly for shooting a to-be-machined sliding block is installed above the angular direction assembly, and a clamping jaw assembly for clamping the to-be-machined sliding block is installed on the angular direction assembly. A side pushing assembly is installed at one end of the clamping assembly, a limiting assembly is installed at the other end of the clamping assembly, the side pushing assembly and the limiting assembly are oppositely arranged, and a clamping space for grabbing the whole row of to-be-machined sliding blocks is formed between the side pushing assembly and the limiting assembly. According to the compatible type sliding block clamping paw, clamping, angular direction and positioning of a to-be-machined sliding block are integrated, rapid and accurate material taking and placing are achieved, the robot grabbing and feeding beat is shortened, compatibility is high, feeding and discharging precision is high, a plurality of workpieces are grabbed at the same time, and the direction of the to-be-machined sliding block which does not meet the feeding requirement is adjusted through the angular direction function.

Description

Technical Field

[0001] The utility model relates to the technical field of clamping, in particular to a clamping claw device for a slide block. Background Art

[0002] As the basic components of various types of equipment, slider guides have high requirements for precision and dimensional consistency. They also have high requirements for manual loading and are difficult to ensure consistency. At the same time, single processing cannot meet the needs of the production line, which wastes manpower and material resources and increases production costs. Summary of the invention

[0003] The technical problem to be solved by the utility model is: in order to solve the problems existing in the prior art in the above-mentioned background technology, a compatible slider clamping hand claw is provided, which can quickly and accurately take and place materials and has strong compatibility. When used with an automatic line, the production efficiency is greatly improved, and the slider clamping hand claw device that meets the consistency requirements of the product is ensured.

[0004] The technical solution adopted by the utility model to solve its technical problems is: a clamping claw device for a slider, comprising a large claw connecting plate, an angular component is installed at one end of the large claw connecting plate, an air blowing component is installed at the other end of the large claw connecting plate, a clamping component is installed at the lower end of the large claw connecting plate, a visual component for photographing the slider to be processed is installed above the angular component, a clamping claw component for clamping the slider to be processed is installed on the angular component, the large claw connecting plate and the clamping component are vertically arranged, a side push component is installed at one end of the clamping component, a limiting component is installed at the other end of the clamping component, the side push component and the limiting component are arranged relative to each other, and a clamping space for grabbing a whole row of sliders to be processed is formed between the side push component and the limiting component.

[0005] Furthermore, the angular assembly includes a single-row gripper connecting block, on which a swing cylinder for swing correction of the gripper assembly is mounted.

[0006] Furthermore, the gripper assembly includes a gripper connecting plate, one end of which is connected to the working end of the swing cylinder in the angular assembly, and the other end of the gripper connecting plate is provided with a gripper cylinder, the working end of the gripper cylinder is provided with a gripper for clamping the slider to be processed, and a pad is provided on the working surface of the gripper.

[0007] Furthermore, the clamping assembly includes a clamping connecting plate, a clamping slide rail is installed at the lower end of the clamping connecting plate, a clamping cylinder is clamped between the clamping connecting plate and the clamping slide rail, and the protruding end of the clamping cylinder is connected to the clamping slide block.

[0008] Furthermore, the side push assembly includes a first row of hand grip plates and a side push mounting plate, the first row of hand grip plates are connected to the clamping slider in the clamping assembly, a servo motor mounting seat is installed on the outer side of the first row of hand grip plates, a ball screw pair is installed between the first row of hand grip plates and the servo motor mounting seat, a driving assembly for driving the ball screw pair to rotate is installed on the servo motor mounting seat, the side push mounting plate is located below the first row of hand grip plates and is connected through a slide rail assembly, a nut in the ball screw pair is connected to the side push mounting plate through a servo nut mounting seat, so as to drive the side push mounting plate to feed forward and backward;

[0009] A plurality of guide assemblies passing through the first entire row of hand gripping plates are installed on the side push mounting plate, and the guide assemblies are arranged toward the limit assemblies.

[0010] Furthermore, the limiting assembly includes a second row of hand grip plates, both ends of which are equipped with limiting cylinders, the extended ends of the limiting cylinders are arranged downward, and the extended ends of the limiting cylinders are equipped with hand claw limiting blocks.

[0011] Furthermore, the visual component includes a camera mounting seat installed above the single-row gripper connecting block, a vision guidance camera is installed on the camera mounting seat, a rotating cylinder is installed above the vision guidance camera, and a lens cover for shielding the vision guidance camera lens is installed at the protruding end of the rotating cylinder.

[0012] Furthermore, the air blowing assembly includes an air blowing fixing seat and an air blowing control valve, the air blowing fixing seat is equipped with an air claw / cylinder control valve, and the air blowing control valve is installed on one side of the large connecting plate of the hand claw.

[0013] Furthermore, the guiding assembly includes a second row of product pads installed on the inner side of the first row of hand grab plates and a side push linear bearing installed on the side push mounting plate, a side push linear bearing is passed through a side push guide rod, and a side push block is installed on the end of the side push guide rod after passing through the first row of hand grab plates and the second row of product pads, and a side push spring is sleeved on the rod body of the side push guide rod passing through the first row of hand grab plates.

[0014] Furthermore, a plurality of through holes are provided on the lower end surface of the second row of grab plates, and a buffer assembly is installed in each through hole, wherein the buffer assembly comprises a first row of product pads, a linear bearing, a side pressure block guide rod and a spring; a first row of product pads are installed on the inner side of the second row of grab plates, and the linear bearings are installed in the through holes and are located on the outer side of the second row of grab plates; the first row of product pads and the linear bearings are connected by a side pressure block guide rod, and a spring is sleeved on the rod body of the side pressure block guide rod.

[0015] Beneficial effects of the utility model: the utility model has developed a compatible slider clamping hand for workpieces with high consistency requirements and mass production, which integrates the clamping, angular orientation and positioning of the slider to be processed into one, with a more compact structure and space saving. It can quickly and accurately take and put materials, shorten the robot's grasping and feeding beat, and has strong compatibility and high loading and unloading accuracy. It can grasp multiple workpieces at the same time, and has an angular function, which can adjust the direction of the slider to be processed that does not meet the feeding requirements;

[0016] Used with automatic lines, it greatly improves production efficiency and ensures product consistency requirements;

[0017] Easy to maintain. Due to the simplified structure, it is easier for personnel to maintain. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The utility model is further described below in conjunction with the accompanying drawings and embodiments.

[0019] Figure 1 It is a structural schematic diagram of the utility model;

[0020] Figure 2 yes Figure 1 A schematic diagram of the structure in another direction;

[0021] Figure 3 This utility model Figure 1 Schematic diagram of the structure after flipping;

[0022] Figure 4 This utility model Figure 3 A schematic diagram of the structure in another direction;

[0023] Figure 5 It is a partial enlarged view of the utility model IV;

[0024] Figure 6 It is a structural schematic diagram of the clamping jaw assembly of the utility model;

[0025] Figure 7 It is a structural schematic diagram of the visual component of the utility model;

[0026] Figure 8 It is a structural schematic diagram of the clamping assembly of the utility model;

[0027] In the figure: 1. Light source assembly, 2. Active synchronous pulley, 3. Lens cover, 5. Rotating cylinder, 6. Vision-guided camera, 7. Swing cylinder, 8. Clamping connecting plate, 9. Large connecting plate of gripper, 10. Driven synchronous pulley, 11. Idle pulley, 12. Idle pulley tensioning assembly, 13. Servo motor mounting seat, 14. Ball screw pair, 15. Servo nut mounting seat, 17. First row of gripper plates, 18. Gripper connecting plate, 19. Gripper cylinder, 20. Gripper, 21. Pad, 22. Gripper limit block, 23. Limit cylinder, 24. First row of product pads , 25. Side push spring, 26. Side push block, 27. Spring, 28. The second row of hand grippers, 29. Side push mounting plate, 31. Side push guide rod, 32. Servo motor, 35. Proximity switch, 38. Camera mounting seat, 39. Single row hand gripper connecting block, 40. Light source mounting bracket, 41. Air blowing control valve, 42. Air gripper / cylinder control valve, 43. Air blowing fixed seat, 44. Linear bearing, 45. Side pressure block guide rod, 46. The second row of product pads, 47. Side push linear bearing, 48. Clamping cylinder, 49. Clamping slider, 50. Clamping slide rail. DETAILED DESCRIPTION

[0028] Now the utility model is further described in detail with reference to the accompanying drawings. These drawings are simplified schematic diagrams, which only illustrate the basic structure of the utility model in a schematic manner, and therefore only show the components related to the utility model.

[0029] like Figures 1 to 8 A clamping gripper device for a slider shown in the figure includes a large gripper connecting plate 9, an angular component is installed at one end of the large gripper connecting plate 9, an air blowing component is installed at the other end of the large gripper connecting plate 9, a clamping component is installed at the lower end of the large gripper connecting plate 9, a visual component for photographing the slider to be processed is installed above the angular component, a clamping gripper assembly for clamping the slider to be processed is installed on the angular component, the large gripper connecting plate 9 and the clamping assembly are arranged vertically, a side push assembly is installed at one end of the clamping assembly, and a limiting assembly is installed at the other end of the clamping assembly, the side push assembly and the limiting assembly are arranged relative to each other, and a clamping space for grabbing a whole row of sliders to be processed is formed between the side push assembly and the limiting assembly.

[0030] like Figure 6 As shown, the angular assembly includes a single-row gripper connecting block 39, on which a swing cylinder 7 for swing correction of the gripper assembly is installed, and light source mounting frames 40 are installed on both front and rear sides of the single-row gripper connecting block 39, on which a light source assembly 1 is installed.

[0031] like Figure 6As shown, the gripper assembly includes a gripper connecting plate 18, one end of which is connected to the working end of the swing cylinder 7 in the angular assembly, and the other end of the gripper connecting plate 18 is equipped with a gripper cylinder 19, and the working end of the gripper cylinder 19 is equipped with a gripper 20 for clamping the slider to be processed, and a pad 21 is installed on the working surface of the gripper 20 to avoid damage to the workpiece when grabbing the workpiece.

[0032] like Figure 8 As shown, the clamping assembly includes a clamping connecting plate 8, a clamping slide rail 50 is installed at the lower end of the clamping connecting plate 8, a clamping cylinder 48 is clamped between the clamping connecting plate 8 and the clamping slide rail 50, and the protruding end of the clamping cylinder 48 is connected to the clamping slider 49.

[0033] like Figures 3-4 As shown, the side push assembly includes a first row of hand grip plates 17 and a side push mounting plate 29, the first row of hand grip plates 17 are connected to the clamping slider 49 in the clamping assembly, a servo motor mounting seat 13 is installed on the outer side of the first row of hand grip plates 17, a ball screw pair 14 is installed between the first row of hand grip plates 17 and the servo motor mounting seat 13, a driving assembly for driving the ball screw pair to rotate is installed on the servo motor mounting seat 13, the side push mounting plate 29 is located below the first row of hand grip plates 17, and is connected through a slide rail assembly, the nut in the ball screw pair 14 and the side push mounting plate 29 are connected through a servo nut mounting seat 15, so as to drive the side push mounting plate 29 to feed forward and backward;

[0034] A plurality of guide assemblies passing through the first row of hand gripping plates 17 are mounted on the side push mounting plate 29 , and the guide assemblies are arranged toward the limit assemblies.

[0035] The guiding assembly includes a second row of product pads 46 installed on the inner side of the first row of hand grip plates 17 and a side thrust linear bearing 47 installed on the side thrust mounting plate 29, a side thrust linear bearing 47 is passed through a side thrust guide rod 31, and the side thrust guide rod 31 passes through the first row of hand grip plates 17 and the second row of product pads 46, and a side thrust block 26 is installed at the end thereof, and a side thrust spring 25 is sleeved on the rod body of the side thrust guide rod 31 passing through the first row of hand grip plates 17.

[0036] A proximity switch 35 is installed at the lower end of the first row of hand grip plates 17 , and the sensing end of the proximity switch 35 is arranged toward the side push mounting plate 29 .

[0037] The driving assembly includes a servo motor 32, a driving synchronous pulley 2 and a driven synchronous pulley 10. The driving synchronous pulley 2 is installed at the output end of the servo motor 32. The driving synchronous pulley 2 and the driven synchronous pulley 10 are connected by a synchronous belt. An idler tensioning assembly 12 is also installed between the driving synchronous pulley 2 and the driven synchronous pulley 10. An idler 11 for adjusting the tensioning force between the driving synchronous pulley 2 and the driven synchronous pulley 10 is installed on the idler tensioning assembly 12.

[0038] like Figures 3 to 5 As shown, the limiting assembly includes a second row of hand grip plates 28, both ends of which are equipped with limiting cylinders 23, the extended ends of the limiting cylinders 23 are arranged downward, and the extended ends of the limiting cylinders 23 are equipped with hand claw limiting blocks 22.

[0039] A plurality of through holes are provided on the lower end surface of the second row of grab plates 28, and a buffer assembly is installed in each through hole, wherein the buffer assembly comprises a first row of product pads 24, a linear bearing 44, a side pressure block guide rod 45 and a spring 27; the first row of product pads 24 are installed on the inner side of the second row of grab plates 28, the linear bearing 44 is installed in the through hole and is located on the outer side of the second row of grab plates 28; the first row of product pads 24 and the linear bearing 44 are connected by a side pressure block guide rod 45, and a spring 27 is sleeved on the rod body of the side pressure block guide rod 45.

[0040] like Figure 7 As shown, the visual component includes a single-row gripper connecting block 39 with a camera mounting seat 38 mounted above it, a visual guidance camera 6 mounted on the camera mounting seat 38, a rotating cylinder 5 is mounted above the visual guidance camera 6, and a lens cover 3 for shielding the lens of the visual guidance camera 6 is mounted on the protruding end of the rotating cylinder 5.

[0041] When the vision-guided camera 6 takes a picture, the rotating cylinder 5 drives the lens cover 3 to move, making way for the lens to take pictures. After the picture is confirmed, the lens cover 3 moves back to provide protection for the vision-guided camera 6 during the next loading process of the gripper, preventing oil and water from splashing into the camera and causing damage to accessories.

[0042] like Figure 1 As shown, the air blowing assembly includes an air blowing fixing seat 43 and an air blowing control valve 41, on which an air gripper / cylinder control valve 42 is installed. The air blowing control valve 41 is installed on one side of the large connecting plate 9 of the gripper. The interval time is set according to the program, and the light source at the auxiliary camera is regularly cleaned by air blowing.

[0043] Working process:

[0044] Step 1: The visual camera 5 takes a picture of the workpiece, guides the air gripper 19 to move and grab the workpiece, and the auxiliary camera (not shown in this mechanism) takes a picture of the grabbed workpiece. According to the picture result, the swing cylinder 7 is guided to rotate 180°, and the loading direction of the processing slide is adjusted (if it is determined that the grabbed workpiece meets the loading requirements, the swing cylinder 7 does not move). After the adjustment is completed, the robot moves to place the processing slide to the transfer table position (not shown in this mechanism);

[0045] Step 2: When the processing slider is full (the number of workpieces placed on the transfer table reaches the set number of whole row grabbing), the proximity switch 35 detects a signal (the side push assembly is in the retracted state at this time), and the limit cylinders 23 at both ends of the second whole row product grabbing plate 28 move, driving the hand claw limit block 22 to extend, and the hand claw moves as a whole until the hand claw limit plate 22 contacts the whole row of processing sliders. At this time, the clamping assembly continues to move, grabs the whole row of processing sliders, and completes the grabbing of the whole row of processing sliders;

[0046] Step 3: After the robot places the entire row of sliders to be processed to the specified position, the servo motor 32 drives the screw 14 in the ball screw pair 14 to move, driving the guide assembly (servo nut mounting seat 15, side thrust spring 25, side thrust block 26, side thrust mounting plate 29, side thrust guide rod 31) to extend, positioning and aligning the entire row of workpieces to complete loading.

[0047] Based on the above ideal embodiments of the utility model, the relevant staff can make various changes and modifications without deviating from the technical concept of the utility model through the above description. The technical scope of the utility model is not limited to the content of the specification, and its technical scope must be determined according to the scope of the claims.

Claims

1. A clamping claw device for a slider, characterized in that: The invention comprises a large connecting plate (9) of a hand claw, wherein an angular component is installed at one end of the large connecting plate (9), an air blowing component is installed at the other end of the large connecting plate (9), a clamping component is installed at the lower end of the large connecting plate (9), a visual component for photographing a slider to be processed is installed above the angular component, a clamping component for clamping the slider to be processed is installed on the angular component, the large connecting plate (9) of the hand claw is vertically arranged with the clamping component, a side push component is installed at one end of the clamping component, a limit component is installed at the other end of the clamping component, the side push component and the limit component are arranged relative to each other, and a clamping space for grasping a whole row of sliders to be processed is formed between the side push component and the limit component.

2. A clamping claw device for a slider according to claim 1, characterized in that: The angular assembly comprises a single-row hand gripper connection block (39), on which a swing cylinder (7) for swing correction of the gripper assembly is mounted.

3. A clamping claw device for a slider according to claim 1, characterized in that: The gripper assembly comprises a gripper connecting plate (18), one end of which is connected to the working end of the swing cylinder (7) in the angular assembly, and the other end of which is provided with a gripper cylinder (19), and the working end of the gripper cylinder (19) is provided with a gripper (20) for clamping a slide to be processed, and a cushion block (21) is provided on the working surface of the gripper (20).

4. A clamping claw device for a slider according to claim 1, characterized in that: The clamping assembly comprises a clamping connecting plate (8), a clamping slide rail (50) is installed at the lower end of the clamping connecting plate (8), a clamping cylinder (48) is clamped between the clamping connecting plate (8) and the clamping slide rail (50), and the protruding end of the clamping cylinder (48) is connected to the clamping slide block (49).

5. A clamping claw device for a slider according to claim 1, characterized in that: The side push assembly comprises a first row of hand gripping plates (17) and a side push mounting plate (29), wherein the first row of hand gripping plates (17) are connected to a clamping slider (49) in the clamping assembly, a servo motor mounting seat (13) is installed on the outer side of the first row of hand gripping plates (17), a ball screw pair (14) is installed between the first row of hand gripping plates (17) and the servo motor mounting seat (13), a driving assembly for driving the ball screw pair to rotate is installed on the servo motor mounting seat (13), the side push mounting plate (29) is located below the first row of hand gripping plates (17) and is connected via a slide rail assembly, a nut in the ball screw pair (14) and the side push mounting plate (29) are connected via a servo nut mounting seat (15) to drive the side push mounting plate (29) to feed forward and backward; A plurality of guide assemblies passing through the first row of hand gripping plates (17) are installed on the side push mounting plate (29), and the guide assemblies are arranged toward the limit assemblies.

6. A clamping claw device for a slider according to claim 1, characterized in that: The limiting assembly comprises a second row of hand gripping plates (28), both ends of which are provided with limiting cylinders (23), the extended ends of the limiting cylinders (23) are arranged downward, and the extended ends of the limiting cylinders (23) are provided with hand grip limiting blocks (22).

7. The slider clamping claw device according to claim 1, characterized in that: The visual component comprises a camera mounting seat (38) mounted above a single-row gripper connection block (39), a visual guidance camera (6) mounted on the camera mounting seat (38), a rotating cylinder (5) mounted above the visual guidance camera (6), and a lens cover (3) for shielding the lens of the visual guidance camera (6) mounted on the protruding end of the rotating cylinder (5).

8. The slider clamping claw device according to claim 1, characterized in that: The air blowing assembly comprises an air blowing fixing seat (43) and an air blowing control valve (41), wherein an air claw / cylinder control valve (42) is installed on the air blowing fixing seat (43), and the air blowing control valve (41) is installed on one side of the large connecting plate (9) of the hand claw.

9. A clamping claw device for a slider according to claim 5, characterized in that: The guiding assembly comprises a second row of product pads (46) mounted on the inner side of the first row of hand gripping plates (17) and a side thrust linear bearing (47) mounted on the side thrust mounting plate (29); a side thrust guide rod (31) is inserted into the side thrust linear bearing (47); a side thrust block (26) is mounted on the end of the side thrust guide rod (31) after the side thrust guide rod (31) passes through the first row of hand gripping plates (17) and the second row of product pads (46); a side thrust spring (25) is sleeved on the rod body of the side thrust guide rod (31) after the side thrust guide rod (31) passes through the first row of hand gripping plates (17).

10. A clamping claw device for a slider according to claim 6, characterized in that: A plurality of through holes are provided on the lower end surface of the second row of gripping plates (28), and a buffer assembly is installed in each through hole. The buffer assembly comprises a first row of product cushion blocks (24), a linear bearing (44), a side pressure block guide rod (45) and a spring (27). The first row of product cushion blocks (24) are installed on the inner side of the second row of gripping plates (28), and the linear bearing (44) is installed in the through hole and is located on the outer side of the second row of gripping plates (28). The first row of product cushion blocks (24) and the linear bearing (44) are connected by a side pressure block guide rod (45) which is penetrated therethrough, and a spring (27) is sleeved on the rod body of the side pressure block guide rod (45).

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