Steel wire spring grabbing device and grabbing method thereof

Abstract

The present application relates to a kind of steel wire spring grabbing device and its grabbing method, steel wire spring grabbing device includes a support plate, the top of support plate is equipped with a slope, the slope is equipped with a first parallel gripper, a second parallel gripper and a first parallel gripper in turn, the bottom position of support plate is fixedly connected a first positioning assembly, a second positioning group and a first positioning assembly in turn, the bottom of support plate is fixedly connected with multiple limit blocks, the bottom position of support plate is equipped with a first boss, a second boss and a third boss in turn, first parallel gripper, second parallel gripper, first jaw cylinder, second jaw cylinder are communicated with clamp quick-change assembly by air pipe respectively, when detecting sensor detects spring, clamp quick-change assembly controls the clamping of the clamping piece on the upper and lower ends of each spring.The steel wire spring grabbing device has the advantages of improving assembly efficiency, improving intelligence, improving yield, etc.

Description

Technical Field

[0001] This invention relates to the field of spring picking device technology, and in particular to a steel wire spring gripping device and its gripping method. Background Technology

[0002] Steel wire springs require a device to grip and install. Manually gripping them with grippers is inefficient and significantly increases the defect rate. Current plier-style mechanical grippers can only grip one spring at a time. When they try to grip two, the first one falls off, so they have to do it one by one, which is too inefficient. Therefore, there is an urgent need for a steel wire gripping mechanical gripper to solve this problem.

[0003] To address these issues, we developed a steel wire spring gripping device. Summary of the Invention

[0004] The purpose of this invention is to overcome the shortcomings of the prior art and provide a wire spring gripping device, which has the advantages of improving assembly efficiency, increasing intelligence, and improving yield.

[0005] To achieve the above objectives, the technical solution adopted by the present invention is as follows: a wire spring gripping device, comprising a support plate, an inclined surface at the top of the support plate, a first parallel gripper, a second parallel gripper and a third parallel gripper sequentially arranged on the inclined surface, a first positioning component, a second positioning component and a third positioning component sequentially fixedly connected to the bottom of the support plate, a plurality of L-shaped limiting blocks fixedly connected to the bottom end of the support plate, and a first boss, a second boss and a third boss sequentially arranged at the bottom of the support plate.

[0006] The first parallel gripper, the first positioning assembly, and the limiting block clamp the first irregular spring; the second parallel gripper, the second positioning assembly, and the limiting block clamp the second irregular spring; the bracket plate is fixedly connected to the quick-change fixture assembly on the side away from the first parallel gripper; and the quick-change fixture assembly is connected to the robot arm.

[0007] The first irregular spring has a U-shaped bend in the middle, a first inclined section on the upper side of the bend and a second inclined section on the lower side, a first hook section at the bottom end of the first irregular spring, and the planes of the first and second inclined sections are perpendicular to the plane of the bend. The second irregular spring has a third inclined section, a fourth inclined section and a second hook section in sequence from top to bottom.

[0008] Preferably, one end of the first parallel gripper is movably connected to a first claw, and a Z-shaped first positioning plate is provided at the bottom end. The inner wall of the first claw is provided with a first arc surface. One end of the first positioning plate is provided with a U-shaped opening. The two ends of the U-shaped opening are provided with V-shaped openings. The inclined surface is provided with a first connecting hole. The first parallel gripper is fixedly connected to the first connecting hole. The first inclined segment abuts against the first arc surface and the U-shaped opening respectively.

[0009] Preferably, the first positioning component includes a first gripper cylinder, the first gripper cylinder is provided with a second gripper, and a first abutment plate is provided at the bottom end. A first detection sensor is provided at the bottom end of the first abutment plate, and a bayonet is provided at one end. The bayonet is provided with an inclined opening surface. The second gripper is provided with an arc-shaped clamping surface. The first gripper cylinder is fixedly connected to the first boss. The clamping surface and the opening surface respectively abut against the second inclined section.

[0010] Preferably, one end of the limiting block is provided with a limiting port, and the other end is fixedly connected to the bottom end of the first boss by a thread, and the limiting port abuts against the first hook section.

[0011] Preferably, one end of the second parallel gripper is provided with an arc-shaped clamp, and a second abutment plate is fixedly connected to the bottom end. One end of the second abutment plate is provided with a positioning slot, which is located on the lower side of the arc-shaped clamp. The inclined surface is provided with a second connecting hole, which is fixedly connected to the second parallel gripper.

[0012] Preferably, the second positioning group includes a second gripper cylinder, a Y-shaped third abutment plate is provided at the bottom end of the second gripper cylinder, a second detection sensor is provided at the bottom end of the third abutment plate, a third gripper is provided at one end of the second gripper cylinder, and the second gripper cylinder is fixedly connected to the second boss.

[0013] Preferably, a groove is provided at the center of the support plate, and a third connecting hole is provided at the middle of the groove, the third connecting hole being fixedly connected to the quick-change fixture assembly.

[0014] Preferably, a first parallel gripper, a first positioning component, and a limiting block clamp a third irregular spring, wherein the third irregular spring is symmetrically arranged with respect to the first irregular spring.

[0015] Preferably, the first parallel gripper, the second parallel gripper, the first gripper cylinder, and the second gripper cylinder are respectively connected to the quick-change fixture assembly via air pipes.

[0016] Due to the application of the above technical solution, the present invention has the following advantages compared with the prior art:

[0017] The steel wire spring gripping device of this invention is suitable for handling irregularly shaped steel wire springs with small diameters, which require specialized equipment. The device's intelligence is enhanced by the cooperation of a robotic arm and a quick-change fixture assembly. It can grip three types of steel wire springs simultaneously, improving assembly efficiency. The springs are positioned by a positioning plate and abutted against three positioning points on the plate. Sensors detect the steel wire springs, and a parallel gripper and a gripper cylinder work together to grip them. The gripper is positioned above the positioning points. The parallel gripper and gripper cylinder are pneumatically connected via the quick-change fixture assembly, reducing the number of operators, minimizing assembly errors, and improving yield. Attached Figure Description

[0018] Figure 1 This is a perspective view of the wire spring gripping device of the present invention.

[0019] Figure 2 This is a schematic diagram of the structure of the support plate described in this invention.

[0020] Figure 3 This is a top view of the wire spring gripping device of the present invention.

[0021] Figure 4 For the present invention Figure 3 Enlarged view of point A in the middle.

[0022] Figure 5 This is a bottom view of the wire spring gripping device described in this invention.

[0023] Figure 6 This is a schematic diagram of the structure of the first irregularly shaped spring of the present invention.

[0024] Figure 7 This is a schematic diagram of the structure of the second irregular spring of the present invention. Detailed Implementation

[0025] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0026] Figures 1 to 7A steel wire spring gripping device includes a support plate 10. The top of the support plate 10 has an inclined surface 11, on which a first parallel gripper 20, a second parallel gripper 30, and another first parallel gripper 20 are sequentially arranged. A first positioning assembly, a second positioning assembly, and a first positioning assembly are sequentially fixedly connected to the bottom of the support plate 10. Multiple L-shaped limiting blocks 60 are fixedly connected to the bottom of the support plate 10, and a first boss 12, a second boss 13, and a third boss 14 are sequentially arranged at the bottom of the support plate 10. The first parallel gripper 20, the second parallel gripper 30, the first gripper cylinder 40, and the second gripper cylinder 50 are respectively connected to a quick-change clamping assembly 70 via air pipes. When a detection sensor detects the presence of a spring, the quick-change clamping assembly 70 controls the gripping components at both ends of each spring to grip it.

[0027] A recessed groove 15 is provided at the center of the support plate 10, and a third connecting hole 151 is provided at the middle of the recessed groove 15. The third connecting hole 151 is fixedly connected to the quick-change fixture assembly 70. A first parallel gripper 20, a first positioning assembly, and a limiting block 60 grip a first irregular spring 100. A second parallel gripper 30, a second positioning assembly, and a limiting block 60 grip a second irregular spring 200. A limiting opening 61 is provided at one end of the limiting block 60, and the other end is fixedly connected to the bottom end of the first boss 12 by threads. The limiting opening 61 abuts against the first hook section 103. A quick-change fixture assembly 70 is fixedly connected to the side of the support plate 10 away from the first parallel gripper 20, and the quick-change fixture assembly 70 is connected to the robot arm.

[0028] The first irregularly shaped spring 100 has a U-shaped bend 105 at its middle position. The upper side of the bend 105 has a first inclined section 101, and the lower side has a second inclined section 102. The bottom end of the first irregularly shaped spring 100 has a first hook section 103. The plane containing the first inclined section 101 and the second inclined section 102 is perpendicular to the plane containing the bend 105. The second irregularly shaped spring 200 has, from top to bottom, a third inclined section 201, a fourth inclined section 202, and a second hook section 203.

[0029] One end of the first parallel gripper 20 is movably connected to a first clamping jaw 21, and a Z-shaped first positioning plate 25 is provided at the bottom end. The inner wall of the first clamping jaw 21 is provided with a first arc surface 211, and one end of the first positioning plate 25 is provided with a U-shaped opening 252, with V-shaped openings 251 at both ends of the U-shaped opening 252. The inclined surface 11 is provided with a first connecting hole 111, and the first parallel gripper 20 is fixedly connected to the first connecting hole 111. The first inclined section 101 abuts against the first arc surface 211 and the U-shaped opening 252 respectively.

[0030] The second parallel gripper 30 has an arc-shaped chuck 301 at one end, and a second abutment plate 35 is fixedly connected to its bottom end. The second abutment plate 35 has a positioning slot 351 at one end, located below the arc-shaped chuck 301. The inclined surface 11 has a second connecting hole 112, which is fixedly connected to the second parallel gripper 30. The inclined surface 11 also has a third connecting hole 113, which connects to the first parallel gripper 20. The third boss 14 connects to the first gripper cylinder 40, used to grip the third irregular spring 300.

[0031] The first positioning component includes a first gripper cylinder 40, which has a second gripper 41 and a first abutment plate 45 at its bottom end. A first detection sensor 49 is located at the bottom end of the first abutment plate 45, and a bayonet 451 is located at one end. The bayonet 451 has an angled opening surface 452, and the second gripper 41 has an arc-shaped clamping surface 411. The first gripper cylinder 40 is fixedly connected to the first boss 12, and the clamping surface 411 and the opening surface 452 abut against the second inclined section 102, respectively.

[0032] The second positioning assembly includes a second gripper cylinder 50, a Y-shaped third abutment plate 55 at the bottom end of the second gripper cylinder 50, and a second detection sensor 59 at the bottom end of the third abutment plate 55. A third gripper 51 is provided at one end of the second gripper cylinder 50, and the second gripper cylinder 50 is fixedly connected to the second boss 13.

[0033] A first parallel gripper 20, a first positioning component, and a limiting block 60 clamp a third irregular spring 300. Each spring is clamped by two positioning clamps. The third irregular spring 300 and the first irregular spring 100 are symmetrically arranged on both sides of the second irregular spring 200. Each time, one piece of each of the first irregular spring 100, the second irregular spring 200, and the third irregular spring 300 is clamped. The three springs form one elastic component and are assembled in the car seat cushion.

[0034] The gripping method of the wire spring gripping device includes the following steps:

[0035] S10. The robotic arm moves the support plate 10 to the automatic feeding device of the second irregular spring 200 via the PLC controller. The arc-shaped gripper 301 of the second parallel gripper 30 and the third gripper 51 of the second gripper cylinder 50 open. The positioning slot 351 of the second abutment plate 35 abuts against the third inclined section 201 of the second irregular spring 200. At the same time, the third abutment plate 55 of the second gripper cylinder 50 abuts against the fourth inclined section 202 of the second irregular spring 200. The second detection sensor 59 detects the second irregular spring 200, and the arc-shaped gripper 301 and the third gripper 51 clamp the second irregular spring 200. The second irregular spring 200 is positioned from top to bottom through the U-shaped opening 252, the slot 451, and the limiting port 61.

[0036] S20. The support plate 10 moves to the automatic feeding device for the first irregular spring 100 and the third irregular spring 300. The first gripper 21 of the first parallel gripper 20 and the second gripper 41 of the first gripper cylinder 40 open. The V-shaped opening 251 and the bayonet 451 simultaneously abut against the first irregular spring 100. The first detection sensor 49 detects the first irregular spring 100. The first gripper 21 and the second gripper 41 clamp the first irregular spring 100.

[0037] S30. At the same time, the first gripper 21 of the first parallel gripper 20 and the second gripper 41 of the first gripper cylinder 40 clamp the third irregular spring 300.

[0038] S40. The robotic arm moves the first irregular spring 100, the second irregular spring 200 and the third irregular spring 300 to the assembly station via the support plate 10.

[0039] S50. Repeat the above steps.

[0040] The above are merely specific application examples of the present invention and do not constitute any limitation on the scope of protection of the present invention. All technical solutions formed by equivalent transformations or substitutions fall within the scope of protection of the present invention.

Claims

1. A wire spring gripping device, characterized in that: The bracket includes a support plate (10), the top of which is provided with a slope (11), the slope (11) is provided with a first parallel gripper (20), a second parallel gripper (30) and a first parallel gripper (20) in sequence, the bottom of which is fixedly connected with a first positioning component, a second positioning group and a first positioning component in sequence, the bottom of which is fixedly connected with a plurality of L-shaped limiting blocks (60), and the bottom of which is provided with a first boss (12), a second boss (13) and a third boss (14) in sequence. The first parallel gripper (20), the first positioning assembly and the limiting block (60) clamp the first irregular spring (100), the second parallel gripper (30), the second positioning assembly and the limiting block (60) clamp the second irregular spring (200), the bracket plate (10) is fixedly connected to the clamp quick-change assembly (70) on the side away from the first parallel gripper (20), and the clamp quick-change assembly (70) is connected to the robot arm; The first irregular spring (100) has a U-shaped bending section (105) at the middle position. The bending section (105) has a first inclined section (101) on the upper side and a second inclined section (102) on the lower side. The first irregular spring (100) has a first hook section (103) at the bottom end. The first inclined section (101) and the second inclined section (102) are in the same vertical plane. The bending section (105) is in the same vertical plane. The vertical planes where the first inclined section (101) and the second inclined section (102) are located intersect perpendicularly with the vertical plane where the bending section (105) is located. The second irregular spring (200) has a third inclined section (201), a fourth inclined section (202) and a second hook section (203) in sequence from top to bottom. One end of the first parallel gripper (20) is movably connected to a first gripper (21), and a Z-shaped first positioning plate (25) is provided at the bottom end. The inner wall of the first gripper (21) is provided with a first arc surface (211), and a U-shaped opening (252) is provided at one end of the first positioning plate (25). The first inclined section (101) abuts against the first arc surface (211) and the U-shaped opening (252) respectively. The first positioning component includes a first gripper cylinder (40), the first gripper cylinder (40) is provided with a second gripper (41), and a first abutment plate (45) is provided at the bottom end. A slot (451) is provided at one end of the first abutment plate (45), the slot (451) is provided with an inclined opening surface (452), the second gripper (41) is provided with an arc-shaped clamping surface (411), the clamping surface (411) and the opening surface (452) respectively abut against the second inclined section (102).

2. The wire spring gripping device according to claim 1, characterized in that, The U-shaped opening (252) has V-shaped openings (251) at both ends, and the inclined surface (11) has a first connecting hole (111). The first parallel gripper (20) is fixedly connected to the first connecting hole (111).

3. The wire spring gripping device according to claim 2, characterized in that, A first detection sensor (49) is provided at the bottom end of the first abutment plate (45), and the first gripper cylinder (40) is fixedly connected to the first boss (12).

4. The wire spring gripping device according to claim 2, characterized in that, The limiting block (60) has a limiting port (61) at one end, and the other end is fixedly connected to the bottom end of the first boss (12) by a thread. The limiting port (61) abuts against the first hook section (103).

5. The wire spring gripping device according to claim 2, characterized in that, The second parallel gripper (30) has an arc-shaped clamp (301) at one end and a second abutment plate (35) fixedly connected to its bottom end. The second abutment plate (35) has a positioning slot (351) at one end. The positioning slot (351) is located on the lower side of the arc-shaped clamp (301). The inclined surface (11) has a second connecting hole (112). The second connecting hole (112) is fixedly connected to the second parallel gripper (30).

6. The wire spring gripping device according to claim 3, characterized in that, The second positioning group includes a second gripper cylinder (50), a Y-shaped third abutment plate (55) is provided at the bottom end of the second gripper cylinder (50), a second detection sensor (59) is provided at the bottom end of the third abutment plate (55), a third gripper (51) is provided at one end of the second gripper cylinder (50), and the second gripper cylinder (50) is fixedly connected to the second boss (13).

7. The wire spring gripping device according to claim 2, characterized in that, The support plate (10) has a recess (15) at its center, and a third connecting hole (151) is provided at the middle of the recess (15). The third connecting hole (151) is fixedly connected to the quick-change fixture assembly (70).

8. The wire spring gripping device according to claim 2, characterized in that, The first parallel gripper (20), the first positioning component and the limiting block (60) clamp a third irregular spring (300), the third irregular spring (300) and the first irregular spring (100) are arranged symmetrically.

9. The wire spring gripping device according to claim 6, characterized in that, The first parallel gripper (20), the second parallel gripper (30), the first gripper cylinder (40), and the second gripper cylinder (50) are respectively connected to the quick-change fixture assembly (70) via air pipes.

10. The gripping method of the wire spring gripping device according to any one of claims 1-9, characterized in that, Includes the following steps: S10. The robot moves the support plate (10) to the automatic feeding device of the second irregular spring (200) through the PLC controller. The arc-shaped chuck (301) and the third gripper (51) open. The positioning slot (351) and the third abutment plate (55) simultaneously abut against the second irregular spring (200). The second detection sensor (59) detects the second irregular spring (200). The arc-shaped chuck (301) and the third gripper (51) clamp the second irregular spring (200). S20. The support plate (10) moves to the automatic feeding device of the first irregular spring (100) and the third irregular spring (300). The first gripper (21) of the first parallel gripper (20) and the second gripper (41) of the first gripper cylinder (40) open. The V-shaped opening (251) and the bayonet (451) simultaneously abut against the first irregular spring (100). The first detection sensor (49) detects the first irregular spring (100). The first gripper (21) and the second gripper (41) clamp the first irregular spring (100). S30. At the same time, the first gripper (21) of the other first parallel gripper (20) and the second gripper (41) of the first gripper cylinder (40) clamp the third irregular spring (300); S40. The robotic arm moves the first irregular spring (100), the second irregular spring (200) and the third irregular spring (300) to the assembly station via the support plate (10); S50. Repeat the above steps.

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