Automatic alignment grasping device and automatic alignment grasping equipment

Abstract

An automatic alignment grasping device includes an automatic grasping unit and an automatic receiving unit arranged below the automatic grasping unit, wherein the automatic grasping unit includes an upper fixed seat, a center positioning pin arranged at the center of the upper fixed seat, and a plurality of clamps arranged around the center positioning pin, wherein the center positioning pin can slide up and down along the upper fixed seat, wherein the clamp is connected to the upper fixed seat through a longitudinally arranged clamp arm, wherein one end of the clamp arm connected to the clamp is a movable end, and the other end of the clamp arm is rotatably connected to the upper fixed seat, and a clamp spring is transversely arranged between the clamp arm and the upper fixed seat, wherein one end of the clamp spring is fixedly mounted on the upper fixed seat, and the other end abuts against the clamp arm. The present invention has a simple structure and precise positioning, and can greatly improve the production efficiency of the assembly line.

Description

Technical Field

[0001] The invention relates to an automatic alignment grabbing device. Background Art

[0002] The automatic alignment and grasping device in the prior art has a complex structure and poor positioning accuracy, and cannot achieve fast and efficient assembly line production. Summary of the invention

[0003] In order to overcome the defects and deficiencies in the prior art, the purpose of the present invention is to provide an automatic alignment grasping device and an automatic alignment grasping equipment with simple structure and precise positioning.

[0004] In order to achieve the above purpose, the present invention provides an automatic alignment and grasping device, including an automatic grasping unit and an automatic receiving unit arranged below the automatic grasping unit, the automatic grasping unit includes an upper fixed seat, a center positioning pin arranged at the center of the upper fixed seat, and a plurality of clamps arranged around the center positioning pin, the center positioning pin can slide up and down along the upper fixed seat, the clamp is connected to the upper fixed seat through a longitudinally arranged clamp arm, one end of the clamp arm connected to the clamp is a movable end, and the other end of the clamp arm is rotatably connected to the upper fixed seat, and a clamping spring is transversely arranged between the clamp arm and the upper fixed seat, one end of the clamp spring is fixedly installed on the upper fixed seat, and the other end abuts against the clamp arm.

[0005] According to a further improvement of the present invention, the clamping spring is fixedly installed in the spring seat, and the clamping spring seat is fixed to the upper fixing seat by screws.

[0006] According to a further improvement of the present invention, the upper fixing seat has a notch for accommodating the clamping claw arm, and the upper fixing seat is provided with a plurality of fixing interfaces surrounding the notch, and the fixing interfaces are connected to the spring seat.

[0007] According to a further improvement of the present invention, a quick-release head is provided at the end of the upper fixing seat.

[0008] According to a further improvement of the present invention, one end of the center positioning pin is slidably connected to the upper fixing seat via a spring.

[0009] According to a further improvement of the present invention, the automatic receiving unit includes a lower fixed seat, a rotating rod arranged in the lower fixed seat, and a receiving platform arranged at the end of the rotating rod.

[0010] According to a further improvement of the present invention, the receiving platform has a central positioning rod.

[0011] According to another aspect of the present invention, there is provided an automatic alignment grasping device, comprising the automatic alignment grasping device as described above, and an upper workbench and a lower workbench, wherein the upper workbench is provided with a plurality of automatic grasping units, the lower workbench is annular, and the plurality of automatic receiving units are arranged on the lower workbench along a ring path.

[0012] According to a further improvement of the present invention, the lower workbench is provided with a workpiece lifting unit and a cantilever for enabling the workpiece lifting unit to move laterally. When receiving the workpiece, the workpiece lifting unit is arranged above the automatic receiving unit.

[0013] According to a further improvement of the present invention, the workpiece lifting unit includes two supporting claws arranged in parallel.

[0014] Due to the adoption of the above technical solution, the present invention has a simple structure and precise positioning, and can greatly improve the production efficiency of the assembly line. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Attached Figure 1 A three-dimensional diagram of an automatic grabbing unit of the automatic alignment grabbing device of the present invention;

[0016] Attached Figure 2 To Attachment Figure 4 The cross-sectional view of the invention describes the working principle of the automatic grabbing unit of the automatic alignment grabbing device of the present invention;

[0017] Attached Figure 5 A three-dimensional diagram of an automatic receiving unit of the automatic alignment grabbing device of the present invention;

[0018] Attached Figure 6 A cross-sectional view of an automatic receiving unit of the automatic alignment grabbing device of the present invention;

[0019] Attached Figure 7 A three-dimensional diagram of the upper workbench of the automatic alignment grabbing device of the present invention;

[0020] Attached Figure 8 It is a partial schematic diagram of the upper worktable of the automatic alignment grabbing device of the present invention;

[0021] Attached Fig. 9 It is a three-dimensional view of the lower working table of the automatic alignment grabbing device of the present invention. DETAILED DESCRIPTION

[0022] The preferred embodiments of the present invention are described in detail below in conjunction with the accompanying drawings so that the advantages and features of the present invention can be more easily understood by those skilled in the art, thereby making a clearer and more definite definition of the protection scope of the present invention.

[0023] See attached Figure 1 To Attachment Figure 4As shown, attached Figure 1 The three-dimensional diagram of the automatic grabbing unit of the automatic alignment grabbing device of the present invention is attached. Figure 2 To Attachment Figure 4 The cross-sectional view describes the working principle of the automatic gripping unit of the automatic alignment gripping device of the present invention. An automatic alignment gripping device includes an automatic gripping unit 1 and an automatic receiving unit 2 arranged below the automatic gripping unit 1. The automatic gripping unit 1 includes an upper fixing seat 11, a center positioning pin 12 arranged at the center of the upper fixing seat 11, and a plurality of clamping jaws 13 arranged around the center positioning pin 12. A quick-release head 18 is arranged at the end of the upper fixing seat 11. The quick-change head 18 is a tooling that can be quickly removed and replaced with another set of product tools. The mechanism is fixed by the quick-change head 1, which can facilitate the rapid change of tooling to adapt to different products. In addition, in order to facilitate the installation and removal of the clamping jaw 13, a clamping jaw fixing seat is provided in the embodiment of the present application, and a fork is provided at the bottom of the clamping jaw fixing seat. The clamping jaw 13 is first fixed to the clamping jaw fixing seat, and then the clamping jaw fixing seat is fixed to the upper fixing seat 11.

[0024] The center positioning pin 12 can slide up and down along the upper fixed seat 11 to position the workpiece 20. One end of the center positioning pin 12 is slidably connected to the upper fixed seat 11 through a spring 19 so that the center positioning pin 12 has a retracting function. Since the center positioning pin 12 is a spring pin, the lower tooling can float upward by the pin when it is positioned by the center hole of the workpiece, so that it can be smoothly placed in the lower tooling.

[0025] The clamping jaw 13 is connected to the upper fixing seat 11 through a longitudinally arranged clamping jaw arm 14, one end of the clamping jaw arm 14 connected to the clamping jaw 13 is a movable end, and the other end of the clamping jaw arm 14 is rotatably connected to the upper fixing seat 11 at the position of the hinge pin 10, and a clamping spring 15 is transversely arranged between the clamping jaw arm 14 and the upper fixing seat 11, one end of the clamping spring 15 is fixedly mounted on the upper fixing seat 11, and the other end abuts against the clamping jaw arm 14. The upper fixing seat 11 has a notch 17 for accommodating the clamping jaw arm 14, and the upper fixing seat 11 is provided with a plurality of fixing interfaces surrounding the notch 17, and the fixing interfaces are connected to the spring seat 16. The clamping spring 15 is fixedly installed in the spring seat 16. The clamping spring 15 seat is fixed to the upper fixed seat 11 by screws, and a fixed elastic force is applied to enable the clamping jaw 13 to grasp the workpiece. The clamping force of the clamping jaw 13 on the workpiece 20 can be adjusted arbitrarily by adjusting the clamping spring 15. The clamping jaw 13 floats by the clamping spring 15, so the clamping jaw 13 can be well adapted to the workpiece 20 with only the center hole position being accurate and the outer wall size tolerance being relatively large. The workpiece 20 here refers to the bearing, and the clamping jaw 13 grasps the outer edge of the workpiece 20. Figure 2 In the initial state when the workpiece 20 is not grasped, the clamping jaw is reset to the inner position by the spring thrust; Figure 3In the embodiment, when the workpiece 20 is grasped, the clamping jaw is squeezed out by the workpiece 20, and the clamping jaw has a gripping force on the workpiece 20 through the spring; Figure 4 When the gripping mechanism places the workpiece 20 on the lower fixture, since the lower fixture is also positioned by the inner hole of the workpiece 20, the center positioning pin of the lower fixture pushes up the center spring pin of the gripping mechanism.

[0026] See attached Figure 5 and attached Figure 6 As shown, attached Figure 5 The three-dimensional diagram of the automatic receiving unit of the automatic alignment grabbing device of the present invention is attached. Figure 6 It is a cross-sectional view of the automatic receiving unit of the automatic alignment grasping device of the present invention; the automatic receiving unit 2 includes a lower fixed seat 21, a rotating rod 22 arranged in the lower fixed seat 21, and a receiving platform 23 arranged at the end of the rotating rod 22. The workpiece 20 is interference fit with the receiving platform 23 through the inner side, and the receiving platform 23 has a center positioning rod.

[0027] See attached Figure 7 To Attachment Fig. 9 As shown, attached Figure 7 The three-dimensional diagram of the upper working table of the automatic alignment grabbing device of the present invention is attached. Figure 8 It is a partial schematic diagram of the upper workbench of the automatic alignment grabbing device of the present invention, and Fig. 9 The figure is a stereoscopic diagram of the lower workbench of the automatic alignment grasping device of the present invention. An automatic alignment grasping device comprises the automatic alignment grasping device of the above structure, an upper workbench 3 and a lower workbench 4, the upper workbench 3 is provided with a plurality of automatic grasping units 1, the lower workbench 4 is annular, a plurality of automatic receiving units 2 are provided on the lower workbench 4 along an annular path, the entire lower workbench 4 is continuously rotated to realize streamlined operation, the lower workbench 4 is provided with a workpiece lifting unit 24 and a cantilever for making the workpiece lifting unit 24 move laterally, when receiving the workpiece, the workpiece lifting unit 24 is provided above the automatic receiving unit 2, in this embodiment, the workpiece lifting unit 24 comprises two parallelly arranged supporting claws. The automatic grasping unit 1 is fixed on the upper workbench 3 that moves up and down through the quick-change head 18. The entire mechanism is driven downward by an electric cylinder or a servo press. The center positioning pin 12 positions the workpiece 20, and the clamping claw 13 clamps the outer wall of the workpiece 20 through the clamping spring 15. The entire mechanism places the workpiece 20 into the automatic receiving unit 2. The automatic receiving unit 2 is also positioned by the center pin, so the center positioning pin 12 will retract when the workpiece 20 is placed. Since the workpiece 20 has an interference fit with the receiving table 23 through the inner side, when the automatic grasping unit 1 moves upward, the workpiece 20 will remain on the automatic receiving unit 2.

[0028] The above implementation modes are only for illustrating the technical concept and features of the present invention, and their purpose is to enable people familiar with this technology to understand the content of the present invention and implement it, and they cannot be used to limit the protection scope of the present invention. Any equivalent changes or modifications made according to the spirit of the present invention should be included in the protection scope of the present invention.

Claims

1. An automatic alignment grasping device, characterized in that: include: An automatic gripping unit (1), the automatic gripping unit (1) comprising an upper fixed seat (11), a center positioning pin (12) arranged at the center of the upper fixed seat (11), and a plurality of clamping claws (13) arranged around the center positioning pin (12), the center positioning pin (12) being able to slide up and down along the upper fixed seat (11), one end of the center positioning pin (12) being slidably connected to the upper fixed seat (11) via a spring (19), the clamping claw (13) being connected to the upper fixed seat (11) via a longitudinally arranged clamping claw arm (14), the clamping claw arm (14) being rotatably connected to the clamping claw (13), and the clamping claw arm (14) being rotatably connected to the clamping claw (13). The end connected to the upper fixing seat (13) is a movable end, the other end of the clamping claw arm (14) is rotatably connected to the upper fixing seat (11), a clamping spring (15) is transversely arranged between the clamping claw arm (14) and the upper fixing seat (11), one end of the clamping spring (15) is fixedly mounted on the upper fixing seat (11), and the other end abuts against the clamping claw arm (14), when the automatic grasping unit (1) grasps the workpiece (20), the clamping claw (13) is squeezed out and clamps the outer edge of the workpiece (20) through the clamping spring (15), and the center positioning pin (12) is inserted into the inner hole of the workpiece (20) from top to bottom; An automatic receiving unit (2) is arranged below the automatic grasping unit (1), the automatic receiving unit (2) comprising a lower fixed seat (21), a rotating rod (22) arranged in the lower fixed seat (21), and a receiving platform (23) arranged at the end of the rotating rod (22), the receiving platform (23) having a center positioning rod, when the automatic grasping unit (1) places the workpiece (20) into the automatic receiving unit (2), the center positioning rod is inserted into the inner hole of the workpiece (20) from below with an interference fit and pushes the center positioning pin (12) out of the inner hole.

2. The automatic alignment grabbing device according to claim 1, characterized in that: The clamping spring (15) is fixedly installed in the spring seat (16), and the spring seat (16) is fixed to the upper fixing seat (11) by means of screws.

3. The automatic alignment grabbing device according to claim 2, characterized in that: The upper fixing seat (11) has a notch (17) for accommodating the clamping claw arm (14), and the upper fixing seat (11) is provided with a plurality of fixing interfaces surrounding the notch (17), and the fixing interfaces are connected to the spring seat (16).

4. The automatic alignment grabbing device according to claim 1, characterized in that: A quick-release head (18) is provided at the end of the upper fixing seat (11).

5. An automatic alignment grabbing device, characterized in that: It comprises an automatic alignment grasping device as claimed in any one of claims 1 to 4, and an upper workbench (3) and a lower workbench (4), wherein the upper workbench (3) is provided with a plurality of automatic grasping units (1), the lower workbench (4) is annular, and the plurality of automatic receiving units (2) are arranged on the lower workbench (4) along a ring path.

6. The automatic alignment grasping device according to claim 5, characterized in that: The lower workbench (4) is provided with a workpiece lifting unit (24) and a cantilever for enabling the workpiece lifting unit (24) to move laterally. When receiving a workpiece, the workpiece lifting unit (24) is arranged above the automatic receiving unit (2).

7. The automatic alignment grasping device according to claim 6, characterized in that: The workpiece lifting unit (24) comprises two supporting claws arranged in parallel.

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