Integrated jaw mechanism with quick-change suction cup device

Abstract

The application relates to an integrated gripper mechanism with quick-change suction disc devices, which comprises a vertical frame and a horizontal frame arranged in an inverted T type, a mounting frame is arranged in the middle of the lower side of the horizontal frame, a gripper cylinder is arranged in the lower part of the mounting frame, a clamping device is arranged below the gripper cylinder, the clamping device comprises a pair of grippers driven by the gripper cylinder, and the opposite sides of the two grippers are provided with recessed clamping parts; a pair of air nozzles are arranged at the lower end of the mounting frame, and the quick-change suction disc devices for grabbing the rollers are further arranged, the quick-change suction disc devices comprise a connecting device at the upper part and a first suction disc arranged at the lower part of the connecting device, and a second suction disc is arranged on the side of the connecting device; the integrated gripper mechanism with the quick-change suction disc devices has the first suction disc and the second suction disc while having two roller grabbing devices, can be applied to various working conditions and various model roller carrying work, and the sealing of the suction disc is strengthened through the arrangement of the auxiliary sealing ring and the pressure detection device on the air nozzle, and air leakage can be sensed in time.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of machinery, and particularly relates to an integrated jaw mechanism with quick-change suction disc devices. BACKGROUND

[0002] A large number of rollers are needed when manufacturing bearings. During roller production, the blank needs to be polished and repaired, so the roller needs to be transported with considerable work. Overall, the roller transportation is still mainly manual at the present stage, for example, placing the workpiece on the machine tool machining station or taking it out from the machine tool machining station, and placing the roller into the detection production line, etc., all of which need to be carefully transported.

[0003] In the Chinese invention patent with the application number 2023105983272 and the name of Integrated Jaw Mechanism applied by our company, an integrated jaw mechanism with two groups of roller grabbing devices is disclosed, which can carry the to-be-processed rollers, grab the processed rollers, and then rotate 180° to place the to-be-processed rollers on the work station, greatly shortening the waiting interval of the processing production line and improving the production efficiency. Through the setting of the third roller grabbing device, for the rollers that are not convenient to grab by the first and second roller grabbing devices, the third roller grabbing device with a suction disc is used to complete the grabbing. The jaw mechanism of the robot for transporting rollers can realize quick grabbing and quick movement, but sometimes the space is limited when the rollers are delivered or there are objects interfering nearby, so the third roller grabbing device with a suction disc can play a role conveniently and flexibly. However, for different models of rollers, it is difficult for a single model of the third roller grabbing device to perform the task, and in addition, since the third roller grabbing device only has one suction disc, the integrated jaw mechanism needs to be moved back and forth twice to complete the taking down and placing of the rollers again. SUMMARY

[0004] The purpose of the present application is to provide an integrated jaw mechanism with quick-change suction disc devices for replacing manual grabbing and transporting rollers, which can adapt to the transportation of various models of rollers.

[0005] In order to solve the above technical problems, the present application discloses an integrated jaw mechanism with quick-change suction disc devices, which comprises a reverse T-shaped support, the support comprises a vertical support and a horizontal support, and a lifting assembly for controlling the height of the horizontal support is arranged in the inner cavity of the vertical support; the lower side of the horizontal support is provided with two groups of independently working roller grabbing devices, including a first roller grabbing device and a second roller grabbing device; during operation, the first roller grabbing device grabs the unprocessed rollers for standby, after the rollers on the work station are processed, the second roller grabbing device grabs the processed rollers, then the horizontal support rotates 180°, the first roller grabbing device releases the unprocessed rollers onto the work station, and the second roller grabbing device places the processed rollers into the designated recycling position.

[0006] A mounting frame is provided at the lower middle part of the cross frame, which is positioned between the two roller gripping devices; a gripper cylinder is provided at the lower part of the mounting frame, and a clamping device is provided below the gripper cylinder. The clamping device includes a pair of grippers driven by the gripper cylinder, and the upper part of the opposite side of the two grippers has a recessed clamping part; a pair of air nozzles are provided at the lower end of the mounting frame, which are positioned between the two grippers.

[0007] It also includes a quick-change suction cup device with various models for providing roller handling tools for gripper cylinders. The quick-change suction cup device grips the rollers with a suction cup. The quick-change suction cup device includes an upper connecting device and a first suction cup located at the lower part of the connecting device. The first suction cup and the connecting device are connected by a connecting pipe. A second suction cup is provided on the side of the connecting device. The connecting device has protrusions on both sides with shapes that are adapted to the shape of the gripping part.

[0008] Preferably, the connecting device is provided with a first connecting channel and a second connecting channel; the first connecting channel and the second connecting channel are used to connect to an air nozzle respectively; the first connecting channel and the second connecting channel open on the upper end face of the connecting device to form a pair of air nozzle connection ports corresponding to the air nozzles.

[0009] Preferably, the first suction cup is set vertically and the second suction cup is set horizontally.

[0010] Preferably, the two protrusions have a first inclined surface symmetrically arranged in an inverted V shape on their lower sides, and the clamping part has a second inclined surface adapted to the first inclined surface at the corresponding position.

[0011] Preferably, when the gripper cylinder is loaded with the quick-change suction cup device, the connecting device is located between the two grippers. The initial position of the second inclined surface is higher than that of the first inclined surface. As the two grippers approach each other, the second inclined surface presses the first inclined surface upward, causing the connecting device to rise. This fixes the connecting device in the clamping part, while the air nozzle gradually contacts the air nozzle connection port and applies pressure to seal it.

[0012] Preferably, the lower part of the opposite side of the two grippers has a recessed connecting pipe clamping part. After the gripper cylinder is loaded with the quick-change suction cup device, the connecting pipe clamping part clamps and fixes the connecting pipe.

[0013] Preferably, a bowl-shaped auxiliary sealing ring is provided around the air nozzle, and there is a gap between the lower part of the auxiliary sealing ring and the air nozzle; the lower edge of the auxiliary sealing ring is lower than the lower edge of the air nozzle.

[0014] Preferably, each of the two auxiliary sealing rings is provided with a pressure detection device, or

[0015] The two auxiliary sealing rings are connected by a U-shaped connecting pipe, which is equipped with a pressure detection device.

[0016] Preferably, after the clamping jaw cylinder loading quick-change chuck device is completed, if the air nozzle and the auxiliary sealing ring are both sealed normally, a gap between the air nozzle and the auxiliary sealing ring forms a stable negative pressure sealed space; when the chuck is started, if the air nozzle and the air nozzle connecting port are sealed normally, the pressure of the negative pressure sealed space will not be disturbed; if the sealing is not normal, the pressure of the negative pressure sealed space will decrease;

[0017] In the case of auxiliary sealing ring air leakage, the pressure of the negative pressure sealed space is close to or equal to atmospheric pressure, and when the chuck is started, if the pressure in the first auxiliary sealing ring does not change suddenly, it means that the air nozzle and the air nozzle connecting port are sealed normally, and at this time, whether the auxiliary sealing ring leaks or not, there is no need to stop processing;

[0018] In the case of auxiliary sealing ring air leakage, the pressure of the negative pressure sealed space is close to or equal to atmospheric pressure, and when the chuck is started, if the pressure in the first auxiliary sealing ring does not change suddenly, it means that the air nozzle and the air nozzle connecting port are sealed normally, and at this time, whether the auxiliary sealing ring leaks or not, there is no need to stop processing;

[0019] In the case of auxiliary sealing ring air leakage, the pressure of the negative pressure sealed space is close to or equal to atmospheric pressure, and when the chuck is started, if the pressure in the first auxiliary sealing ring does not change suddenly, it means that the air nozzle and the air nozzle connecting port are sealed normally, and at this time, whether the auxiliary sealing ring leaks or not, there is no need to stop processing;

[0020] Preferably, the dust cleaning device with a nozzle is arranged between the pair of air nozzles, and when the air nozzle and the air nozzle connecting port are close to each other, the nozzle sprays gas or liquid to generate high-speed fluid at the gap between the air nozzle and the air nozzle connecting port, thereby removing dust on the air nozzle and the air nozzle connecting port.

[0021] The integrated clamping jaw mechanism with the quick-change chuck device of the application has the first chuck and the second chuck while having the two roller grabbing devices, can be applied to various working conditions and various models of roller carrying work, strengthens the sealing of the first chuck and the second chuck by arranging the auxiliary sealing ring on the air nozzle and using the pressure detection device to monitor the negative pressure sealed space, and can sense the air leakage in time; the air nozzle and the air nozzle connecting port are cleaned by the dust cleaning device, thereby effectively ensuring good sealing connection. BRIEF DESCRIPTION OF DRAWINGS

[0022] Figure 1 It is a perspective structural schematic view of an integrated clamping jaw mechanism with a quick-change chuck device (the upper structure of the mounting frame is not shown).

[0023] Figure 2 It is a perspective structural schematic view of an integrated clamping jaw mechanism with a quick-change chuck device (the upper structure of the mounting frame is not shown). Figure 1 It is a structural schematic view of a quick-change chuck device (including a clamping jaw and an air nozzle).

[0024] Figure 3 It is a structural schematic view of a quick-change chuck device (including a clamping jaw and an air nozzle). Figure 1 It is a front view of an integrated clamping jaw mechanism with a quick-change chuck device.

[0025] Figure 4 For Figure 3 A cross-sectional structure diagram of an integrated jaw mechanism with quick-change chuck device.

[0026] Figure 5 For another structure diagram of air nozzle.

[0027] Figure 6 For a structure diagram of dust cleaning device.

[0028] The figure mark is: 1, mounting frame, 2, jaw cylinder, 3, jaw, 4, clamping part, 5, air nozzle, 6, quick-change chuck device, 7, connecting device, 8, first chuck, 9, second chuck, 10, protrusion, 11, first connecting channel, 12, second connecting channel, 13, air nozzle connecting port, 14, first inclined surface, 15, second inclined surface, 16, connecting pipe clamping part, 17, auxiliary sealing ring, 18, pressure detection device, 19, negative pressure sealing space, 20, dust cleaning device, 21, connecting pipe, 22, U-shaped connecting pipe. DETAILED DESCRIPTION

[0029] The application will be further described in detail by the following examples, so that those skilled in the art can implement according to the description.

[0030] It should be understood that the terms such as "have", "contain" and "include" used herein do not exclude the presence or addition of one or more other elements or combinations thereof.

[0031] Example 1

[0032] As Figures 1-4 shown, an integrated jaw mechanism with quick-change chuck device includes a reverse T-shaped support, which includes a vertical support and a horizontal support, and a lifting assembly for controlling the height of the horizontal support is arranged in the inner cavity of the vertical support; the lower side of the horizontal support is provided with two groups of independently working roller grabbing devices, including a first roller grabbing device and a second roller grabbing device; during operation, the first roller grabbing device grabs an unprocessed roller for standby, after the roller on the work position is processed, the second roller grabbing device grabs the processed roller, then the horizontal support rotates 180°, the first roller grabbing device releases the unprocessed roller to the work position, and the second roller grabbing device puts the processed roller into the designated recycling position.

[0033] The middle part of the lower side of the cross frame is provided with a mounting frame 1, which is arranged between the two roller grabbing devices. In the embodiment, the lower part of the mounting frame 1 is connected with the upper part of the mounting frame through a flange. The lower part of the mounting frame 1 is provided with a clamping jaw air cylinder 2, and the lower part of the clamping jaw air cylinder is provided with a clamping device. The clamping device includes a pair of clamping jaws 3 driven by the clamping jaw air cylinder. The opposite side of the two clamping jaws is provided with a recessed clamping part 4 at the upper part. The lower end of the mounting frame is provided with a pair of air nozzles 5, which are arranged between the two clamping jaws 3. Each air nozzle 5 is connected with a vacuum device.

[0034] It also includes a roller carrying tool for providing the clamping jaw air cylinder 2, a quick-change suction cup device 6 with multiple models, which grabs the roller through a suction cup. The quick-change suction cup device includes a connecting device 7 at the upper part and a first suction cup 8 arranged at the lower part of the connecting device. The first suction cup 8 and the connecting device are connected through a connecting pipe 21. The connecting device is provided with a second suction cup 9 on the side. The connecting device 7 is provided with a protrusion 10 on both sides, which is matched with the shape of the clamping part.

[0035] The connecting device is provided with a first connecting channel 11 and a second connecting channel 12. The first connecting channel 11 and the second connecting channel 12 are used to connect an air nozzle 5 respectively. The first connecting channel 11 and the second connecting channel 12 are opened at the upper end face of the connecting device, forming a pair of air nozzle connecting ports 13 corresponding to the air nozzles.

[0036] The first suction cup 8 is vertically arranged, and the second suction cup 9 is horizontally arranged, which is suitable for placing the roller in different postures.

[0037] The lower side of the two protrusions is symmetrically provided with a first inclined surface 14 in the shape of an inverted eight, and the corresponding position of the clamping part is provided with a second inclined surface 15 matched with the first inclined surface.

[0038] When the clamping jaw air cylinder loads the quick-change suction cup device, the connecting device is between the two clamping jaws. The initial position of the second inclined surface 15 is higher than that of the first inclined surface 14. With the approach of the two clamping jaws, the second inclined surface presses the first inclined surface to move upward, so that the connecting device 7 is lifted, so that the connecting device is fixed in the clamping part 4. At the same time, the air nozzle 5 gradually contacts and pressurizes the air nozzle connecting port 13.

[0039] The lower part of the opposite side of the two clamping jaws is provided with a recessed connecting pipe clamping part 16. After the clamping jaw air cylinder 2 loads the quick-change suction cup device, the connecting pipe clamping part 16 clamps and fixes the connecting pipe 21. The connecting pipe clamping part 16 restricts the quick-change suction cup device in the horizontal direction, and the clamping part 4 restricts the quick-change suction cup device in the vertical direction.

[0040] For the first, second roller grabbing device is not convenient to grab the roller, such as thin, upright placed roll, using suction disc instead of jaw for carrying more convenient; For example, the roll space is limited or there are objects around, the jaw is not convenient to use, the first suction disc 8 and the second suction disc 9 can play a role;

[0041] During operation, the integrated jaw mechanism automatically moves to the appropriate size quick-change suction disc device 6 and clamps and fixes; Then the integrated jaw mechanism controls the first suction disc 8 or the second suction disc 9 to carry the roll back and forth, a more efficient way is that one of the first suction disc 8 or the second suction disc 9 carries the roll to be processed to the work position, and the other empty suction disc sucks the processed roll on the work position, and then the integrated jaw mechanism places the roll to be processed on the work position for processing.

[0042] Embodiment 2

[0043] As shown in Figure 5 , similar to embodiment 1, the difference is that a bowl-shaped auxiliary sealing ring 17 is arranged around the air nozzle, and a gap exists between the lower part of the auxiliary sealing ring and the air nozzle; The lower edge of the auxiliary sealing ring is lower than the lower edge of the air nozzle.

[0044] A pressure detection device 18 is arranged in each of the two auxiliary sealing rings, or the two auxiliary sealing rings are connected in communication through a U-shaped connecting pipe, and a pressure detection device is arranged on the U-shaped connecting pipe. In this embodiment, in order to reduce the cost, the two auxiliary sealing rings are connected in communication through a U-shaped connecting pipe 22, and a pressure detection device 18 is arranged on the U-shaped connecting pipe.

[0045] After the jaw cylinder loads the quick-change suction disc device, if the air nozzle and the auxiliary sealing ring are normally sealed, the gap between the air nozzle and the auxiliary sealing ring forms a stable negative pressure sealing space 19; When the suction disc is started, if the air nozzle and the air nozzle connecting port are normally sealed, the pressure of the negative pressure sealing space 19 will not be disturbed; If the sealing is not normal, the pressure of the negative pressure sealing space 19 will decrease;

[0046] In the case of air leakage of the auxiliary sealing ring 17, the pressure of the negative pressure sealing space is close to or equal to atmospheric pressure, and when the suction disc is started, if the pressure in the first auxiliary sealing ring does not change suddenly, it means that the air nozzle and the air nozzle connecting port are normally sealed, and at this time, whether the auxiliary sealing ring leaks or not, it is not necessary to stop processing;

[0047] In the case of air leakage between the air nozzle 5 and the air nozzle connecting port 13, the pressure of the negative pressure sealing space 19 is close to or equal to atmospheric pressure, and when the suction disc is started, if the pressure in the negative pressure sealing space 19 suddenly decreases and can be maintained for a period of time, it means that the auxiliary sealing ring does not leak, and it is not necessary to stop processing;

[0048] If both the auxiliary sealing ring 17 and the air nozzle leak air, the pressure in the negative pressure sealing space 19 will be close to or equal to atmospheric pressure. When the suction cup is started, the vacuum level of the negative pressure sealing space 19 cannot be maintained, and the machine needs to be stopped for processing.

[0049] Example 3

[0050] like Figure 6 As shown, similar to Embodiment 2, the difference lies in the inclusion of a dust removal device 20 with a nozzle 23. The dust removal device 20 is positioned between a pair of air nozzles. When the air nozzle 5 and the air nozzle connection port 13 are close together, the nozzle 23 sprays gas or liquid (air is low-cost and convenient, while water and other liquids offer excellent cleaning effects and aid in sealing), generating a high-speed fluid at the narrow gap between the air nozzle 5 and the air nozzle connection port 13, carrying away dust from the air nozzles and the air nozzle connection port. In this embodiment, the nozzle has openings on both sides, allowing gas or liquid to be sprayed simultaneously from both sides between the air nozzles and the air nozzle connection port.

[0051] Although embodiments of the present invention have been disclosed above, they are not limited to the applications listed in the specification and embodiments. They can be applied to various fields suitable for the present invention. For those skilled in the art, other modifications can be easily made. Therefore, without departing from the general concept defined by the claims and their equivalents, the present invention is not limited to the specific details and embodiments shown and described herein.

Claims

1. An integrated jaw mechanism with quick-change chuck device, characterized in that, The application relates to a support in the shape of an inverted T, which comprises a vertical support and a horizontal support, and a lifting assembly for controlling the height of the horizontal support is arranged in the inner cavity of the vertical support; the lower side of the horizontal support is provided with two groups of independently-operated roller grabbing devices, including a first roller grabbing device and a second roller grabbing device; during operation, the first roller grabbing device grabs an unprocessed roller for standby, after the roller on the working position is processed, the second roller grabbing device grabs the processed roller, then the horizontal support is rotated by 180 DEG, the first roller grabbing device releases the unprocessed roller to the working position, and the second roller grabbing device puts the processed roller into a designated recovery position; a mounting frame is arranged in the middle of the lower side of the horizontal support and is arranged between the two roller grabbing devices; a clamping jaw cylinder is arranged at the lower part of the mounting frame, a clamping device is arranged below the clamping jaw cylinder, the clamping device comprises a pair of clamping jaws driven by the clamping jaw cylinder, and recessed clamping portions are arranged on the upper parts of the opposite sides of the two clamping jaws; a pair of air nozzles are arranged at the lower end of the mounting frame and between the two clamping jaws; the application further comprises a roller carrying tool for providing the clamping jaw cylinder, a plurality of types of quick-change suction disc devices for grabbing the roller through the suction disc, the quick-change suction disc device comprises a connecting device at the upper part and a first suction disc arranged at the lower part of the connecting device, the first suction disc and the connecting device are connected through a connecting pipe, a second suction disc is arranged on the side of the connecting device, and the connecting device is provided with protrusions with shapes matched with those of the clamping portions on the two sides; a first connecting channel and a second connecting channel are arranged in the connecting device; the first connecting channel and the second connecting channel are used for respectively connecting one air nozzle; a bowl-shaped auxiliary sealing ring is arranged around the air nozzle, a gap exists between the lower part of the auxiliary sealing ring and the air nozzle, and the lower edge of the auxiliary sealing ring is lower than the lower edge of the air nozzle; a pressure detection device is arranged in each of the two auxiliary sealing rings, or the two auxiliary sealing rings are connected through a U-shaped connecting pipe, and a pressure detection device is arranged on the U-shaped connecting pipe. The first connecting channel and the second connecting channel are open on the upper end face of the connecting device and form a pair of air nozzle connecting ports corresponding to the air nozzles. The first suction disc is vertically arranged, and the second suction disc is horizontally arranged. The lower sides of the two protrusions are symmetrically provided with first inclined surfaces, and the corresponding positions of the clamping portions are provided with second inclined surfaces matched with the first inclined surfaces. When the clamping jaw cylinder loads the quick-change suction disc device, the connecting device is arranged between the two clamping jaws, the initial position of the second inclined surface is higher than that of the first inclined surface, the second inclined surface presses the first inclined surface to move upwards as the two clamping jaws approach, the connecting device is lifted, so that the connecting device is fixed in the clamping portion, and the air nozzle gradually contacts the air nozzle connecting port and is pressurized and sealed. The lower parts of the opposite sides of the two clamping jaws are provided with recessed connecting pipe clamping portions, the connecting pipe clamping portions clamp and fix the connecting pipe after the clamping jaw cylinder loads the quick-change suction disc device. After the clamping jaw cylinder loads the quick-change suction disc device, if the air nozzle and the auxiliary sealing ring are normally sealed, a stable negative pressure sealing space is formed in the gap between the air nozzle and the auxiliary sealing ring; if the air nozzle and the air nozzle connecting port are normally sealed when the suction disc is started, the pressure of the negative pressure sealing space will not be disturbed; 2. The integrated jaw mechanism with quick-change chuck device according to claim 1, characterized in that If the sealing is not normal, the pressure of the negative pressure sealing space will be reduced.

3. The integrated jaw mechanism with quick-change chuck device according to claim 1, characterized in that, ​ 4. The integrated jaw mechanism with quick-change chuck device according to claim 1, characterized in that, ​ 5. The integrated jaw mechanism with quick-change chuck device according to claim 4, characterized in that ​ 6. The integrated jaw mechanism with quick-change chuck device according to claim 5, characterized in that ​ 7. The integrated jaw mechanism with quick change chuck device of claim 1, wherein, ​ ​ When the auxiliary sealing ring leaks, the pressure of the negative pressure sealing space is close to or equal to the atmospheric pressure, and when the chuck is started, if the pressure in the first auxiliary sealing ring does not change suddenly, it indicates that the seal between the air nozzle and the air nozzle connecting port is normal, and at this time, whether the auxiliary sealing ring leaks or not, there is no need to stop processing; When the auxiliary sealing ring does not leak, but the air nozzle and the air nozzle connecting port leak, the pressure of the negative pressure sealing space is close to or equal to the atmospheric pressure, and when the chuck is started, if the pressure in the negative pressure sealing space suddenly decreases and can be maintained for a period of time, it indicates that the auxiliary sealing ring does not leak, and there is no need to stop processing; When the auxiliary sealing ring and the air nozzle both leak, the pressure of the negative pressure sealing space is close to or equal to the atmospheric pressure, and when the chuck is started, the vacuum degree of the negative pressure sealing space cannot be maintained, at which time it is necessary to stop processing.

8. The integrated jaw mechanism with quick change chuck device of claim 2, wherein, The dust removal device with a nozzle is arranged between a pair of air nozzles, and when the air nozzle and the air nozzle connecting port are close to each other, the nozzle sprays gas or liquid, generating high-speed fluid at the gap between the air nozzle and the air nozzle connecting port, which carries away the dust on the air nozzle and the air nozzle connecting port.

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