Parts grabbing mechanism and loading and unloading device

Abstract

The present invention relates to a parts grasping mechanism and a loading and unloading device, including a fixture body, at least two rotating seats are provided on the outer peripheral side wall of the fixture body, the rotating seats are arranged opposite to each other, each rotating seat is installed with a rotatable clamping arm, the bottom of the clamping arm is detachably installed with a clamping part, and at least two groups of mutually independent first internal support driving members and external clamping driving members are installed on the fixture body, the first internal support driving members correspond to the clamping arms one by one, and conflict with the side walls of the clamping arms to push the bottom ends of the clamping parts away from each other, and the external clamping driving members correspond to the clamping arms one by one, and conflict with the side walls of the clamping arms to push the bottom ends of the clamping parts closer to each other. The present invention can grasp workpieces by means of internal support, external clamping, or the combination of internal support and external clamping, and can achieve stable and accurate grasping of workpieces with special-shaped inner holes or workpieces with irregular outer peripheral surfaces.

Description

Technical Field

[0001] The invention relates to the technical field of automobile parts processing, in particular to a parts grabbing mechanism and a loading and unloading device. Background Art

[0002] In the current automobile parts processing technology, automobile parts need to undergo spraying operations, and the workpiece needs to be placed on a jig and fixed. After the spraying operation, the jig is loosened and the workpiece is taken out manually, or the workpiece is manually placed on the jig, which results in low grasping efficiency and poor safety.

[0003] Existing automobile parts grasping mechanisms are usually composed of multiple evenly arranged jaws. When grasping a workpiece, the transmission mechanism controls multiple jaws to open or close simultaneously to grasp the workpiece. During the process of grasping the workpiece, each jaw can only be displaced equidistantly along a fixed direction.

[0004] In the process of grasping the workpiece in the above scheme, since the relative jaws can only be displaced equidistantly, the jaws are only suitable for grasping workpieces with regular axially symmetrical shapes such as quadrilateral or circular cross-sections. Workpieces with special-shaped inner holes or irregular outer surfaces cannot be grasped stably and accurately. In addition, during the grasping process, the center lines of the jaws and the workpiece must be in the same straight line. If there is an offset between the center lines of the jaws and the parts, the jaws on one side will not be able to make stable contact with the workpiece, resulting in uneven force on the grasped parts, and the problem of poor grasping effect causing the workpiece to fall. Summary of the invention

[0005] In order to facilitate stable and accurate grasping of various special-shaped parts and improve the processing efficiency of automobile parts, the present application provides a parts grasping mechanism and a loading and unloading device.

[0006] The first object of the present application is to provide a parts grabbing mechanism suitable for various special-shaped parts, adopting the following technical solutions: A parts grasping mechanism comprises a clamp body, at least two rotating seats are provided on the outer peripheral side walls of the clamp body, the rotating seats are arranged opposite to each other in pairs, and each rotating seat is installed with a rotatable clamping arm, and a clamping part is detachably installed at the bottom of the clamping arm, and a first inner support driving member and an outer clamping driving member independent of each other are installed on the clamp body, the first inner support driving member corresponds to the clamping arm one by one, and contacts with the side walls of the clamping arm to push the bottom ends of the clamping parts away from each other, and the outer clamping driving member corresponds to the clamping arm one by one, and contacts with the side walls of the clamping arm to push the bottom ends of the clamping parts closer to each other.

[0007] By adopting the above technical solution, the workpiece can be grasped by using internal support, external clamping or a combination of internal support and external clamping. Stable and accurate grasping can be achieved for workpieces with special-shaped inner holes or workpieces with irregular outer surfaces. When grasping parts, the clamping part does not need to be adjusted to the same center line as the workpiece, which facilitates the clamping part to grasp the workpiece more quickly.

[0008] The present invention is further configured as follows: the clamp arm is divided into an upper end and a lower end with the rotation axis as a dividing line, the first inner support driving component is located below the rotating seat, and can push the lower end away from the clamp body, and the outer clamp driving component is located above the rotating seat, and can push the upper end away from the clamp body.

[0009] By adopting the above technical solution, the upper end portion cooperates with the outer clamping driving member, and the lower end portion cooperates with the first inner supporting driving member, so that the clamping portion can be flexibly controlled.

[0010] The present invention is further configured as follows: an upper limit hole penetrating the clamp arm is provided on the upper end portion, and a lower limit hole penetrating the clamp arm is provided on the lower end portion, and a first limit piece is detachably installed on the inner sides of the upper limit hole and the lower limit hole, and after the clamp arm is rotated to a certain angle, one end of the first limit piece on the upper end portion or the lower end portion protruding from the inner side of the clamp arm conflicts with the clamp body.

[0011] By adopting the above technical solution, the maximum rotation range of the clamping arm and the clamping part can be limited to prevent the workpiece from being damaged or deformed when grasping.

[0012] The present invention is further configured as follows: a plurality of mounting holes uniformly distributed along the radial direction of the clamp body are formed at the bottom of each clamp arm, and the top of the clamping portion is detachably mounted on one of the mounting holes.

[0013] By adopting the above technical solution, the position of the clamping part or the distance between the clamping parts on the opposite sides can be adaptively adjusted to facilitate grasping of workpieces with complex shapes.

[0014] The second object of the present application is to provide a loading and unloading device that can stably and accurately grasp parts, using the following technical solutions: A loading and unloading device comprises a part grabbing mechanism and a lifting seat, wherein at least two groups of elastic positioning components are installed at the bottom of the lifting seat to support the movable position of the part grabbing mechanism in the horizontal direction, and the bottom of each group of elastic positioning components is detachably fixed to the part grabbing mechanism.

[0015] By adopting the above technical solution, multiple groups of parts grasping mechanisms can be driven to grasp workpieces at the same time, thereby improving the grasping efficiency of workpieces, and the displacement of the parts grasping mechanisms can be adjusted so that the parts grasping mechanisms can grasp workpieces more stably and accurately.

[0016] The present invention is further configured as follows: a mounting frame is provided on the top of the lifting seat, a lifting device for driving the lifting seat to lift is installed on the mounting frame, and symmetrically distributed guide rods are provided on the top of the lifting seat, the guide rods penetrate the mounting frame and slide in cooperation with the mounting frame.

[0017] By adopting the above technical solution, the stability of the lifting seat can be improved, thereby improving the stability of the part grabbing mechanism, and preventing the part grabbing mechanism from shaking and causing the workpiece to fall.

[0018] The present invention is further configured as follows: the elastic positioning assembly includes a cross frame, a sliding frame and a sliding block, the top of the cross frame is fixedly connected to the lifting seat, a plurality of first guide rods are fixedly installed on the outer side of the cross frame, a first elastic member is sleeved on the first guide rod, the sliding frame is arranged below the cross frame, a cross slide block slidably connected to the cross frame is provided on the top of the sliding frame, upper contact blocks are provided at both ends of the cross slide block, the first guide rod passes through the upper contact block and slidably cooperates with the upper contact block, and the two ends of the first elastic member respectively contact the cross frame and the upper contact block.

[0019] By adopting the above technical solution, the part grasping mechanism can be displaced and adjusted in a horizontal direction to compensate for errors and improve the workpiece grasping efficiency.

[0020] The present invention is further configured as follows: a longitudinal slider is installed at the bottom of the sliding frame, and lower contact blocks are provided at both ends of the longitudinal slider, the bottom of the sliding block is detachably fixedly connected to the clamp body, the top of the sliding block is slidably connected to the longitudinal slider, and a plurality of second guide rods penetrating the lower contact block are fixedly installed on the outer side of the sliding block, and the second guide rods are slidably matched with the lower contact block, and a second elastic member is sleeved on the outer side of the second guide rod, and the two ends of the second elastic member respectively contact the longitudinal slider and the lower contact block.

[0021] By adopting the above technical solution, the clamp body is adjusted in another horizontal direction, and there is no need to align the clamping part and the workpiece before grasping, which makes it convenient for the clamping part to grasp the workpiece more quickly, and there is no need to worry about uneven force, workpiece falling, poor grasping effect and other problems when the workpiece is grasped.

[0022] The present invention is further configured as follows: the loading and unloading device also includes an internal support mechanism, which is detachably mounted on the bottom of the elastic positioning component, and the internal support mechanism includes an internal support body, and at least two rotatable internal support arms are provided on the outer side of the internal support body, and the internal support arms are arranged opposite to each other in pairs, and an internal support rod is detachably fixed to the bottom of the internal support arm, and at least two independent second internal support driving members are installed on the internal support body, and the second internal support driving members correspond to the internal support arms one by one, and drive the bottoms of the internal support arms away from each other.

[0023] By adopting the above technical solution, it is convenient to batch grab multiple workpieces with standard inner holes, thereby improving the processing efficiency of standardized parts.

[0024] The present invention is further configured as follows: a limit seat is provided at the top of the inner support body, and at least two second limit members are detachably installed on the limit seat, the second limit members correspond to the inner support arms one by one, and after the inner support arms are unfolded outwards to a certain angle, the top of the inner support arms conflicts with the second limit members to limit the unfolding angle of the inner support arms, and a limit driving member for driving the limit seat to rise and fall is installed inside the inner support body.

[0025] By adopting the above technical solution, the maximum expansion range of the inner support rod can be adjusted, making it convenient for the inner support rod to batch grab workpieces with different inner diameters.

[0026] In summary, the beneficial technical effects of the present invention are: 1. By providing a mutually independent first inner support driving member and an outer clamp driving member, each clamp arm can be independently controlled, so that each clamp arm and the clamping part can independently affect each other when rotating, which is convenient for grasping the workpiece by means of inner support, outer clamp or inner support and outer clamp, so that the part grasping mechanism can grasp the workpiece with special-shaped inner hole or the workpiece with irregular outer peripheral surface stably and accurately; 2. By setting up a lifting seat and an elastic positioning component, it is convenient for multiple sets of parts grasping mechanisms to grasp the workpiece at the same time, thereby improving the grasping efficiency of the workpiece. At the same time, the elastic positioning component can adjust the displacement of the parts grasping mechanism in the X and Y directions to compensate for the error. There is no need to worry about problems such as uneven force, poor grasping effect, and workpiece falling when the workpiece is grasped; 3. An internal support mechanism is provided, which adopts an internal support rod with a slender rod structure. The bottom end of the internal support rod can gradually penetrate the inner holes of multiple workpieces and contact the bottom workpiece, so that multiple workpieces are stacked into a columnar shape and sleeved on the outside of the internal support rod, thereby batch grabbing multiple workpieces with standard inner holes and improving the processing efficiency of standardized parts. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a schematic diagram of the overall structure of Example 1.

[0028] Figure 2 It is a schematic structural diagram of the clamp body in Example 1.

[0029] Figure 3 It is a schematic diagram of the structure of the clamp arm in Example 1.

[0030] Figure 4 It is a structural schematic diagram of Example 2.

[0031] Figure 5It is a schematic diagram of the structure of the elastic positioning component in Example 2.

[0032] Figure 6 This is a structural exploded view of the elastic positioning assembly in Example 2.

[0033] Figure 7 It is a structural schematic diagram of the internal support mechanism in Example 2.

[0034] Figure 8 It is a schematic structural diagram of the inner support arm in Example 2.

[0035] Fig. 9 It is a structural schematic diagram of the inner support body in Example 2.

[0036] Fig.10 It is a schematic diagram of the structure of the limit seat in Example 2.

[0037] In the figure, 1, the clamp body, 11, the rotating seat, 12, the first inner support driving member, 13, the outer clamp driving member, 2, the clamp arm, 21, the upper end, 211, the upper limit hole, 22, the lower end, 221, the lower limit hole, 23, the first limit member, 24, the mounting hole, 25, the first ball bearing, 26, the arc-shaped protrusion, 3, the clamping part, 31, the mounting head, 32, the rubber sleeve, 4, the lifting seat, 41, the mounting frame, 411, the sleeve, 42, the lifting device, 43, the guide rod, 5 , cross frame, 51, first guide rod, 52, first elastic member, 6, sliding frame, 61, transverse slider, 611, upper contact block, 62, longitudinal slider, 621, lower contact block, 7, sliding block, 71, second guide rod, 72, second elastic member, 8, inner support body, 81, inner support arm, 811, second ball bearing, 812, connecting hole, 82, inner support rod, 821, rubber head, 83, second inner support driving member, 9, limit seat, 91, second limit member, 92, limit driving member. DETAILED DESCRIPTION

[0038] The following is combined with Figure 1-10 This application is described in further detail.

[0039] The present application embodiment discloses a parts grabbing mechanism and a loading and unloading device Embodiment 1: A parts grabbing mechanism disclosed in the present invention, referring to Figure 1, including a clamp body 1, four rotating seats 11 are provided on the outer peripheral side walls of the clamp body 1, the rotating seats 11 are arranged opposite to each other in pairs, and are integrally formed with the clamp body 1, each rotating seat 11 is installed with a rotatable clamp arm 2, and a clamping part 3 is detachably installed at the bottom of the clamp arm 2, and four groups of independent first inner support driving members 12 and outer clamp driving members 13 are installed on the clamp body 1, the first inner support driving members 12 correspond to the clamp arms 2 one by one, and contact with the side walls of the clamp arms 2 to push the bottom ends of the clamping parts 3 away from each other, and the outer clamp driving members 13 correspond to the clamp arms 2 one by one, and contact with the side walls of the clamp arms 2 to push the bottom ends of the clamping parts 3 closer to each other.

[0040] In the specific implementation process, the first inner support driving member 12 and the outer clamp driving member 13 can use a cylinder, a hydraulic cylinder or an electric push rod as the driving source, and push the clamp arm 2 to rotate through the output rod. Through the independent first inner support driving member 12 and the outer clamp driving member 13, each clamp arm 2 can be independently controlled, so that each clamp arm 2 is independent of each other during rotation and is not affected. The corresponding clamping part 3 can be adjusted to different angles through the clamp arm 2, and then the workpiece can be grasped by adopting the method of inner support, outer clamping or inner support and outer clamping. The workpiece grasping structure can achieve stable and precise grasping of workpieces with special-shaped inner holes or workpieces with irregular outer peripheral surfaces, and ensure that each clamping part 3 can be in close contact with the workpiece, thereby avoiding the workpiece from falling due to uneven force when being grasped.

[0041] Reference Figure 1 and Figure 2 The clamp arm 2 is an L-shaped structure, the long side of the clamp arm 2 is rotatably connected to the rotating seat 11 through a rotating shaft, and the clamp arm 2 is divided into an upper end 21 and a lower end 22 with the rotating axis as a dividing line. The first inner support driving member 12 is located below the rotating seat 11 and pushes the lower end 22 away from the clamp body 1. The outer clamp driving member 13 is located above the rotating seat 11 and pushes the upper end 21 away from the clamp body 1.

[0042] When the first inner support driving member 12 and the outer clamp driving member 13 are not in operation, the output rods of the first inner support driving member 12 and the outer clamp driving member 13 are located on the inner side of the clamp body 1. At this time, the clamp arm 2 and the clamping portion 3 are in a naturally drooping state, and there is no contact between the upper end 21 of the clamp arm 2 and the outer clamp driving member 13, and there is no contact between the lower end 22 of the clamp arm 2 and the first inner support driving member 12. The clamp arm 2 can rotate freely on the rotating seat 11 through the rotating shaft.

[0043] When the first inner support driving member 12 is operating, the output rod of the first inner support driving member 12 gradually approaches the lower end portion 22. After the output rod of the first inner support driving member 12 conflicts with the lower end portion 22, the lower end portion 22 can be continuously pushed away from the clamp body 1, and the bottom ends of the clamping portion 3 are driven away from each other, so that the clamping portion 3 is expanded in the inner hole of the workpiece and the workpiece is grasped by means of inner support.

[0044] When the outer clamp driving member 13 is in operation, the output rod of the outer clamp driving member 13 gradually approaches the upper end portion 21. After the output rod of the outer clamp driving member 13 collides with the upper end portion 21, the upper end portion 21 can be continuously pushed away from the clamp body 1, and the bottom ends of the clamping portion 3 are driven to approach each other, so that the clamping portion 3 grasps the workpiece by an external clamping method at the periphery of the workpiece.

[0045] Reference Figure 1 and 3 In order to improve the flexibility of the clamping arm 2 when rotating, a first ball bearing 25 is installed at the connection between the rotating shaft and the rotating seat 11. The outer ring of the first ball bearing 25 is fixedly connected to the rotating seat 11, and the inner ring of the first ball bearing 25 is fixedly connected to the rotating shaft. The first ball bearing 25 can reduce the friction coefficient at the connection between the rotating shaft and the rotating seat 11, reduce the wear of the rotating shaft when rotating, and enable the clamping arm 2 to rotate more sensitively.

[0046] Reference Figure 3 The contact portion between the upper end portion 21 and the outer clamp driving member 13 and the contact portion between the lower end portion 22 and the first inner support driving member 12 are both provided with arc-shaped protrusions 26, and the arc-shaped protrusions 26 are integrally formed with the clamp arm 2. The arc-shaped protrusions can ensure that the clamp arm 2 can have good contact with the output rod of the first inner support driving member 12 or the outer clamp driving member 13 at different rotation angles, thereby ensuring the stability and control effect of the first inner support driving member 12 and the outer clamp driving member 13 when controlling the clamp arm 2.

[0047] Reference Figure 1 and 3 The upper end portion 21 is provided with an upper limit hole 211 that passes through the clamp arm 2, and the lower end portion 22 is provided with a lower limit hole 221 that passes through the clamp arm 2. Both the upper limit hole 211 and the lower limit hole 221 are threaded holes, and the inner sides of the upper limit hole 211 and the lower limit hole 221 can be detachably installed with a first limit piece 23. After the clamp arm 2 rotates a certain angle, the first limit piece 23 on the upper end portion 21 or the lower end portion 22 protrudes from the end of the inner side of the clamp arm and conflicts with the clamp body 1. The first limit piece 23 is a threaded rod and is connected to the upper limit hole 211 or the lower limit hole 221. When the first limit piece 23 is rotated, the first limit piece 23 can be axially moved along the upper limit hole 211 or the lower limit hole 221, and the distance between the end of the first limit piece 23 and the clamp body 1 is adjusted, thereby limiting the maximum rotation amplitude of the clamp arm 2.

[0048] When the first limit piece 23 on the upper end portion 21 is rotated, the first limit piece 23 moves axially along the upper limit hole 211, and the distance between the end of the first limit piece 23 and the clamp body 1 is adjusted, so that the inward rotation range of the upper end portion 21 can be limited. When the clamping portion 3 is expanded outward by a certain angle, the first limit piece 23 on the upper end portion 21 conflicts with the clamp body 1, and prevents the clamping arm 2 from driving the clamping portion 3 to continue to expand outward, thereby limiting the rotation angle of the clamping portion 3 when it is supported inwardly according to the inner diameter of the workpiece, thereby preventing the workpiece from being damaged or deformed from the inner hole.

[0049] When the first limit piece 23 on the lower end portion 22 is rotated, the first limit piece 23 moves axially along the lower limit hole 221, and the distance between the end of the first limit piece 23 and the clamp body 1 is adjusted, so that the inward rotation range of the lower end portion 22 can be limited. When the clamping portion 3 is closed inwardly at a certain angle, the first limit piece 23 on the lower end portion 22 conflicts with the clamp body 1 and prevents the clamping arm 2 from driving the clamping portion 3 to continue to close inwardly, thereby limiting the rotation angle of the clamping portion 3 when clamping outward according to the outer diameter of the workpiece, thereby avoiding deformation of the workpiece due to excessive clamping force.

[0050] Reference Figure 3 A plurality of mounting holes 24 are provided at the bottom of the clamp arm 2 and are evenly distributed radially along the clamp body 1. An integrally formed mounting head 31 is provided at the top of the clamping portion 3. The clamping portion 3 is detachably mounted on one of the mounting holes 24 through the mounting head 31. Since the mounting head 31 can be threadedly connected and fixed to the mounting holes 24 at different positions, the position of the clamping portion 3 or the spacing between the clamping portions 3 on the opposite sides can be adaptively adjusted to facilitate the grasping of workpieces with complex shapes.

[0051] Furthermore, in order to make the clamping part 3 have a larger adjustment range and improve the flexibility of the clamping part 3 when grasping different workpieces, the clamping part 3 adopts a short rod structure, and the outer side of the clamping part 3 is provided with a rubber sleeve 32. The rubber sleeve 32 can be used to buffer between the clamping part 3 and the workpiece to prevent the clamping part 3 from having hard contact with the workpiece, thereby avoiding pinching or scratches on the workpiece.

[0052] In addition, in order to improve the contact effect between the clamping part 3 and the workpiece, the cross-section of the clamping part 3 is not limited to a circle. A short rod-shaped structure with a cross-section of an arc, triangle, rectangle, trapezoid or other shapes can also be used as the clamping part 3, which is convenient for flexible replacement of the clamping part 3 according to the shape or inner hole shape of the special-shaped workpiece.

[0053] The implementation principle of the above embodiment is: when the workpiece is grasped by the internal support method, first, the outer clamp driving member 13 is controlled to operate, and the output rod of the outer clamp driving member 13 conflicts with the upper end portion 21 of the clamp arm 2, and pushes the clamp arm 2 to rotate around the rotating shaft. At this time, the clamping part 3 gradually closes inward. After the clamping part 3 moves to the inner hole of the workpiece, the outer clamp driving member 13 is controlled to gradually shrink inward, so that the output rod of the outer clamp driving member 13 is separated from the upper end portion 21 of the clamp arm 2, and the first internal support driving member 12 is operated, and the lower end portion 22 of the clamp arm 2 is pushed gradually away from the fixture body 1 through the output rod, and the clamping part 3 is driven to gradually expand outward. According to the shape of the inner hole of the workpiece, the corresponding clamp arm 2 and the clamping part 3 are controlled to rotate to different angles to ensure that each clamping part 3 is in close contact with the inner wall of the workpiece to ensure the stability of the workpiece when it is grasped.

[0054] When the workpiece is grasped by the external clamping method, first, the first inner support driving member 12 is controlled to operate so that the output rod of the first inner support driving member 12 contacts with the lower end portion 22 of the clamp arm 2, and the lower end portion 22 of the clamp arm 2 is pushed gradually away from the clamp body 1, so that the lower edge of the clamping portion 3 gradually opens to be larger than the outer contour of the workpiece. After the clamping portion 3 moves to the outside of the workpiece, the first inner support driving member 12 is controlled to gradually shrink inwardly so that the output rod of the first inner support driving member 12 is separated from the lower end portion 22 of the clamp arm 2. At this time, the clamping portion 3 will gradually close inwardly and contact the workpiece under the action of gravity. Afterwards, the external clamp driving member 13 is controlled to operate so that the output rod of the external clamp driving member 13 contacts with the upper end portion 21 of the corresponding clamp arm 2 respectively, and pressure is applied to the upper end portion 21 of the clamp arm 2, so that the clamping portion 3 clamps the workpiece.

[0055] When clamping a workpiece with an irregular inner hole or an irregular outer surface, different clamping arms 2 can be controlled to rotate to different angles according to the shape of the workpiece, so that part of the clamping part 3 is moved to the inner hole of the workpiece for internal support, and part of the clamping part 3 is moved to the outside of the workpiece for external clamping. The workpiece is grasped by cooperating with internal support and external clamping, thereby realizing flexible grasping of various special-shaped workpieces. Compared with the existing technology, there is no need for precise alignment of the clamping part 3 and the workpiece for grasping, and the workpiece grasping efficiency is higher.

[0056] Embodiment 2: A loading and unloading device disclosed in the present invention, referring to Figure 4, including embodiment 1 and a lifting seat 4, at the bottom of the lifting seat 4 are installed at least two groups of elastic positioning components that support the active position of the part grabbing mechanism in the X and Y directions, the bottom of each group of elastic positioning components is detachably fixedly connected to the part grabbing mechanism by bolts, multiple groups of elastic positioning components and part grabbing mechanisms can be installed through the lifting seat 4, and multiple groups of part grabbing mechanisms can be driven to lift and lower, so that multiple groups of part grabbing mechanisms can grab workpieces at the same time and improve the grabbing efficiency of the workpieces. At the same time, the fixture body 1 elastically slides with the lifting seat 4 in the X and Y directions through the elastic positioning components. When grabbing the workpiece, the part grabbing mechanism can adjust some displacements in the X and Y directions to compensate for errors, so that the part grabbing mechanism can grab the workpiece more stably and accurately, without worrying about uneven force, poor grabbing effect, and workpiece falling when the workpiece is grabbed.

[0057] Reference Figure 4 A mounting frame 41 is provided on the top of the lifting seat 4, and a lifting device 42 for driving the lifting seat 4 to lift is installed on the mounting frame 41. The lifting device 42 can be installed on a parts production line such as a spraying, unloading equipment or a clamping equipment through the mounting frame 41. The lifting device 42 can adopt a driving device such as a cylinder, a hydraulic cylinder or an electric push rod. The output rod of the lifting device 42 is fixedly connected to the lifting seat 4, which can drive the lifting seat 4 to lift and lower, and drive multiple groups of parts grasping mechanisms to lift and lower through the lifting seat 4, so as to facilitate multiple groups of parts grasping mechanisms to grasp the workpiece at the same time.

[0058] Reference Figure 4 A symmetrically distributed guide rod 43 is fixedly installed on the top of the lifting seat 4, and a sleeve 411 is welded and fixed on the top of the mounting frame 41 and on the outside of the guide rod 43. The guide rod 43 penetrates the mounting frame 41 and slides with the sleeve 411 on the mounting frame 41. When the lifting device 42 drives the lifting seat 4 to move up and down, the guide rod 43 slides on the inside of the sleeve 411, which can improve the stability of the lifting seat 4, and then improve the stability of the part grabbing mechanism, and avoid the part grabbing mechanism shaking and causing the workpiece to fall.

[0059] Reference Figure 5 and Figure 6The elastic positioning assembly includes a cross frame 5, a sliding frame 6 and a sliding block 7. The top of the cross frame 5 is fixedly connected to the lifting seat 4. A plurality of symmetrically distributed first guide rods 51 are installed on the outer side of the cross frame 5. A first elastic member 52 is sleeved on the first guide rod 51. The sliding frame 6 is arranged below the cross frame 5. A cross slide block 61 slidably connected to the cross frame 5 is provided on the top of the sliding frame 6. Both ends of the cross slide block 61 are provided with an integrally formed upper contact block 611. The first guide rod 51 penetrates the upper contact block 611 and then slides with the upper contact block 611. The first elastic member 52 is a spring, and the two ends of the first elastic member 52 respectively conflict with the cross frame 5 and the upper contact block 611. In the process of grabbing the workpiece, the sliding frame 6 can slide along the X direction at the bottom of the cross frame 5 through the cross slide block 61, and the fixture body 1 can adjust some displacement in the X direction to compensate for the error. After grabbing the workpiece, the elastic action of the first elastic member 52 can make the sliding frame 6 drive the part grabbing mechanism to gradually reset in the X direction, which is convenient for grabbing the workpiece again.

[0060] Reference Figure 6 The bottom of the sliding frame 6 is provided with a longitudinal sliding block 62, and both ends of the longitudinal sliding block 62 are provided with an integrally formed lower contact block 621. The bottom of the sliding block 7 is fixedly connected to the fixture body 1 by bolts, and the top of the sliding block 7 is slidably connected to the longitudinal sliding block 62. The outer side of the sliding block 7 is provided with a plurality of second guide rods 71 ​​that penetrate the lower contact block 621, and the second guide rods 71 ​​slide with the through holes on the lower contact block 621. The outer side of the second guide rod 71 is sleeved with a second elastic member 72, and the second elastic member 72 is a spring, and the two ends of the second elastic member 72 respectively contact the longitudinal sliding block 62 and the lower contact block 621. In the process of grabbing the workpiece, the sliding block 7 slides along the longitudinal sliding block 62 and drives the fixture body 1 to adjust the displacement in the Y direction to compensate for the error. After grabbing the workpiece, the elastic action of the second elastic member 72 can make the sliding block 7 drive the part grabbing mechanism to gradually reset in the Y-axis direction.

[0061] The implementation principle of the above embodiment is: the clamp body 1 is elastically slidably matched with the lifting seat 4 in the X and Y directions through the elastic positioning assembly. When the workpiece is not grasped, the clamp body 1, the cross frame 5, the sliding frame 6 and the sliding block 7 are kept on the same center line under the elastic action of the first elastic member 52 and the second elastic member 72. The lifting seat 4 and the clamp body 1 are driven to move up and down by the lifting device 42, so that the clamping part 3 gradually approaches the workpiece to be grasped, and the first internal support driving member 12 or the external clamping driving member 13 controls the rotation of the clamping part 3, so that the clamping part 3 can grasp the workpiece by internal support or external clamping.

[0062] When grabbing the workpiece, if the clamping part 3 on one side comes into contact with the workpiece, and the clamping part 3 on the opposite side does not come into contact with the workpiece, since the processed workpiece is fixed on the fixture and cannot move, under the continuous push of the first inner support driving member 12 and the outer clamp driving member 13, the sliding frame 6 slides on the bottom of the horizontal frame 5 through the horizontal slider 61, and drives the clamp body 1 to move in the X direction, and gradually compresses the first elastic member 52 on one side along the moving direction, so that the sliding block 7 slides along the longitudinal slider 62, and drives the clamp body 1 to move in the Y direction, and gradually compresses the first elastic member 52 on one side along the moving direction, so that the sliding block 7 slides along the longitudinal slider 62, and drives the clamp body 1 to move in the Y direction, and gradually compresses the first elastic member 52 on one side along the moving direction. The two elastic members 72 are gradually compressed, thereby adjusting some displacements of the clamp body 1 in the X and Y directions to compensate for errors, making it easier for the clamping part 3 to grasp the workpiece. Compared with the prior art, there is no need to align the clamping part 3 with the workpiece before grasping, and each clamping arm 2 is controlled by a separate first inner support driving member 12 or an outer clamping driving member 13, so that each clamping part 3 is independent of each other and is not affected. Stable and accurate grasping can be achieved for workpieces with special-shaped inner holes or workpieces with irregular outer surfaces, without worrying about uneven force, workpiece falling, poor grasping effect, and other problems when the workpiece is grasped.

[0063] After the workpiece is grabbed, the fixing fixture of the workpiece is released, and the lifting seat 4 is driven by the lifting device 42 to lift and lower, so that the clamping part 3 can grab the workpiece. When the workpiece is separated from the fixture, the sliding frame 6 and the sliding block 7 can be gradually reset under the elastic action of the first elastic member 52 and the second elastic member 72, and the clamp body 1 can be driven to move, so that the clamp body 1, the cross frame 5, the sliding frame 6 and the sliding block 7 are moved back to the same center line, which is convenient for picking up the workpiece again during the loading and unloading process.

[0064] Reference Figure 7 and Figure 8 In order to facilitate batch grabbing of multiple workpieces with standard inner holes and improve the processing efficiency of standardized parts, the loading and unloading device also includes an internal support mechanism. The top of the internal support mechanism is detachably fixedly connected to the bottom of the elastic positioning component by bolts. The internal support mechanism can be independently installed on the bottom of the lifting seat 4 through the elastic positioning component for use, or used in conjunction with the part grabbing structure. When the lifting seat 4 is lifted or lowered, multiple groups of part grabbing structures or internal support mechanisms can be driven to lift or lower at the same time to facilitate the grabbing of different parts.

[0065] Reference Figure 7The inner support mechanism includes an inner support body 8, and four rotatable inner support arms 81 are provided on the outer side of the inner support body 8. The inner support arms 81 are arranged opposite to each other in pairs. The top ends of the inner support arms 81 are rotatably connected to the inner support body 8 through a rotating shaft. A second ball bearing 811 is installed on the outer side of the rotating shaft of the inner support arm 81. The second ball bearing 811 can improve the flexibility of the inner support arm 81 and reduce the wear of the rotating shaft connected to the inner support arm 81. The bottom of the inner support arm 81 is detachably fixed with an inner support rod 82. Four independent second inner support driving members 83 are installed on the inner support body 8. The second inner support driving member 83 uses a cylinder, a hydraulic cylinder or an electric push rod as a driving source. The second inner support driving member 83 corresponds to the inner support arm 81 one by one, and the bottoms of the inner support arms 81 can be pushed away from each other through the output rod.

[0066] When the second inner support driving member 83 is not in operation, there is no contact between the output rod of the second inner support driving member 83 and the inner support arm 81, and the inner support arm 81 and the inner support rod 82 are in a naturally drooping state. Under the action of gravity, the bottoms of the inner support rods 82 are in contact with each other, and the inner support rods 82 are in a completely closed state.

[0067] When multiple workpieces with standard inner holes are to be grabbed in batches, first, multiple standardized workpieces are stacked into a columnar shape by a fixture for fixing, and the workpieces are driven to the bottom of the inner support mechanism. Then, the lifting device 42 is operated to drive the lifting seat 4 to lift, and the lifting seat 4 drives the inner support body 8 to move downward, so that the bottom of the inner support rod 82 passes through the inner hole of the uppermost workpiece and continues to move downward until the bottom of the clamping part 3 moves to the inner side of the lowermost workpiece. Then, the second inner support driving member 83 is operated, and the inner support arm 81 is pushed to rotate by the output rod, so that the inner support rod 82 gradually expands outward, so that the bottom of the inner support rod 82 contacts the inner wall of the lowermost workpiece, and then, under the action of the elastic positioning component, the bottom of each inner support rod 82 is in stable contact with the inner wall of the lowermost workpiece. At this time, the stacked workpieces are evenly sleeved on the outer side of the inner support rod 82, and multiple workpieces with standard inner holes can be grabbed in batches through the inner support rod 82, thereby improving the processing efficiency of standard workpieces.

[0068] Reference Figure 8 The inner support arm 81 is a U-shaped arm, and a plurality of connection holes 812 are uniformly distributed along the radial direction of the inner support body 8 at the bottom of the inner support arm 81. The top of the inner support rod 82 can be threadedly connected and fixed to the connection holes 812 at different positions, so as to adaptively adjust the spacing of the inner support rods 82, so as to facilitate batch grabbing of workpieces with different hole shapes of the inner support rods 82.

[0069] Reference Figure 7In order to facilitate the inner support rod 82 to move downward in the inner hole of the workpiece, the inner support rod 82 adopts a slender rod structure. At the same time, a replaceable rubber head 821 is installed on the bottom thread of the inner support rod 82. The rubber head 821 provides a buffer between the bottom of the inner support rod 82 and the inner wall of the hole of the lowest workpiece to avoid hard contact between the bottom of the inner support rod 82 and the inner wall of the workpiece, thereby preventing the workpiece from being scratched and dented. At the same time, the contact effect between the inner support rod 82 and the inner wall of the workpiece is improved, thereby enhancing the stability of the workpiece during grasping.

[0070] Reference Fig. 9 and Fig.10 A limiting seat 9 is provided at the top of the inner support body 8, and four second limiting members 91 are provided on the limiting seat 9 and near the edge. The second limiting members 91 are threaded rods. The second limiting members 91 penetrate the limiting seat 9 and are threadedly connected with the limiting seat 9. The second limiting members 91 correspond to the inner support arms 81 one by one, and after the inner support arms 81 are unfolded outward at a certain angle, the top of the inner support arms 81 conflicts with the second limiting members 91 to limit the unfolding angle of the inner support arms 81. When the second limit member 91 is rotated, the distance between the end of the second limit member 91 and the top of the inner support arm 81 can be adjusted, and the outward rotation angle of the inner support arm 81 can be limited. When the second inner support driving member 83 pushes the inner support arm 81 to the limited angle, the second limit member 91 conflicts with the top of the inner support arm 81, which can prevent the inner support arm 81 from driving the inner support rod 82 to continue to rotate outward, thereby preventing the bottom workpiece from being damaged or deformed.

[0071] Furthermore, the top of the inner support body 8 adopts a sloped surface, and the side of the sloped surface close to the inner support body 8 is higher than the other side. The design of the sloped surface can expand the effective contact radius between the top of the inner support body 8 and the second limiting member 91, thereby enhancing the limiting range of the second limiting member 91 on the inner support arm 81 and the inner support rod 82.

[0072] Reference Fig.10 A limit driving component 92 for driving the limit seat 9 to rise and fall is installed inside the inner support body 8. The limit driving component 92 can use a cylinder, a hydraulic cylinder or an electric push rod as a driving source. In the process of grabbing the workpiece, the vertical distance between the limit seat 9 and the inner support body 8 can be adjusted by the limit driving component 92, and the limiting amplitude of the inner support arm 81 by the second limit member 91 can be further adjusted, so as to adjust the maximum expansion range of the inner support rod 82, so as to facilitate the inner support rod 82 to batch grab workpieces with different inner diameters.

[0073] The embodiments of this specific implementation method are all preferred embodiments of the present invention, and are not intended to limit the protection scope of the present invention. Therefore, all equivalent changes made based on the structure, shape, and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A parts grasping mechanism, comprising a clamp body (1), wherein at least two rotating seats (11) are provided on the outer peripheral side wall of the clamp body (1), and the rotating seats (11) are arranged opposite to each other in pairs, characterized in that: Each of the rotating seats (11) is provided with a rotatable clamping arm (2), and a clamping portion (3) is detachably provided at the bottom of the clamping arm (2). The clamping body (1) is provided with a first inner supporting driving member (12) and an outer clamping driving member (13) which are independent of each other. The first inner supporting driving member (12) corresponds to the clamping arm (2) one by one, and contacts with the side wall of the clamping arm (2) to push the bottom ends of the clamping portion (3) away from each other. The outer clamping driving member (13) corresponds to the clamping arm (2) one by one, and contacts with the side wall of the clamping arm (2) to push the bottom ends of the clamping portion (3) towards each other.

2. The parts grabbing mechanism according to claim 1, characterized in that: The clamp arm (2) is divided into an upper end portion (21) and a lower end portion (22) with the rotation axis as a dividing line. The first inner support driving member (12) is located below the rotating seat (11) and can push the lower end portion (22) away from the clamp body (1). The outer clamp driving member (13) is located above the rotating seat (11) and can push the upper end portion (21) away from the clamp body (1).

3. The parts grabbing mechanism according to claim 2, characterized in that: An upper limit hole (211) penetrating the clamp arm (2) is formed on the upper end portion (21), and a lower limit hole (221) penetrating the clamp arm (2) is formed on the lower end portion (22). A first limit member (23) is detachably mounted on the inner sides of the upper limit hole (211) and the lower limit hole (221). When the clamp arm (2) is rotated to a certain angle, an end of the first limit member (23) on the upper end portion (21) or the lower end portion (22) protruding from the inner side of the clamp arm (2) contacts the clamp body (1).

4. The parts grabbing mechanism according to claim 1, characterized in that: The bottom of each clamp arm (2) is provided with a plurality of mounting holes (24) evenly distributed along the radial direction of the clamp body (1), and the top of the clamping portion (3) is detachably mounted on one of the mounting holes (24).

5. A loading and unloading device, comprising the part grabbing mechanism according to any one of claims 1 to 4, characterized in that: It also comprises a lifting seat (4), the bottom of which is mounted at least two groups of elastic positioning components that support the movable position of the part grabbing mechanism in the horizontal direction, and the bottom of each group of elastic positioning components is detachably fixed to the part grabbing mechanism.

6. The loading and unloading device according to claim 5, characterized in that: A mounting frame (41) is provided on the top of the lifting seat (4), a lifting device (42) for driving the lifting seat (4) to move up and down is installed on the mounting frame (41), a guide rod (43) is provided on the top of the lifting seat (4), the guide rod (43) passes through the mounting frame (41) and is slidably matched with the mounting frame (41).

7. The loading and unloading device according to claim 5, characterized in that: The elastic positioning assembly comprises a cross frame (5), a sliding frame (6) and a sliding block (7); the top of the cross frame (5) is fixedly connected to the lifting seat (4); a plurality of first guide rods (51) are fixedly mounted on the outer side of the cross frame (5); a first elastic member (52) is sleeved on the first guide rod (51); the sliding frame (6) is arranged below the cross frame (5); a cross slide block (61) is provided on the top of the sliding frame (6) and is slidably connected to the cross frame (5); upper contact blocks (611) are provided at both ends of the cross slide block (61); the first guide rod (51) passes through the upper contact block (611) and is slidably matched with the upper contact block (611); and the two ends of the first elastic member (52) are respectively in contact with the cross frame (5) and the upper contact block (611).

8. The loading and unloading device according to claim 7, characterized in that: A longitudinal slide block (62) is installed at the bottom of the sliding frame (6), and lower contact blocks (621) are arranged at both ends of the longitudinal slide block (62). The bottom of the sliding block (7) is detachably fixedly connected to the clamp body (1), and the top of the sliding block (7) is slidably connected to the longitudinal slide block (62). A plurality of second guide rods (71) penetrating the lower contact blocks (621) are fixedly installed on the outer side of the sliding block (7), and the second guide rods (71) are slidably matched with the lower contact blocks (621). A second elastic member (72) is sleeved on the outer side of the second guide rod (71), and the two ends of the second elastic member (72) are respectively in contact with the longitudinal slide block (62) and the lower contact block (621).

9. The loading and unloading device according to claim 5, characterized in that: The loading and unloading device also includes an internal support mechanism, which is detachably mounted on the bottom of the elastic positioning component. The internal support mechanism includes an internal support body (8), and at least two rotatable internal support arms (81) are provided on the outer side of the internal support body (8). The internal support arms (81) are arranged opposite to each other in pairs, and an internal support rod (82) is detachably fixed to the bottom of the internal support arm (81). At least two second independent internal support driving members (83) are installed on the internal support body (8), and the second internal support driving members (83) correspond to the internal support arms (81) one by one, and drive the bottoms of the internal support arms (81) to move away from each other.

10. The loading and unloading device according to claim 9, characterized in that: A limit seat (9) is provided at the top of the inner support body (8), and at least two second limit members (91) are detachably mounted on the limit seat (9), and the second limit members (91) correspond to the inner support arms (81) one by one, and after the inner support arms (81) are extended outwards to a certain angle, the top of the inner support arms (81) abuts against the second limit members (91) to limit the extension angle of the inner support arms (81), and a limit driving member (92) for driving the limit seat (9) to rise and fall is installed inside the inner support body (8).

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