Annular workpiece feeding and discharging gripper structure and device and using method

Abstract

The invention discloses an annular workpiece feeding and discharging paw structure and device and a using method, the annular workpiece feeding and discharging paw structure comprises a paw base, fingers and a sliding block, the paw base is of an annular structure, at least three sliding holes are evenly formed in the circumferential wall of the paw base in the radial direction, the fingers are installed in the sliding holes in an inserted mode, and the sliding block is installed in the paw base; extending plates are arranged at the positions, corresponding to the fingers, of the outer wall of the sliding block. The ends, located in the claw base, of the fingers are connected with the extending plates in a sliding fit mode through inclined hole sliding shaft structures. At least one end of the slider is provided with a connecting seat. The fingers are in sliding fit connection with the sliding blocks through inclined hole sliding shaft structures, the clamping rigidity is better, the structure is simple, self machining and manufacturing can be achieved, and the use cost is low. The annular workpiece feeding and discharging gripper structure has a larger telescopic stroke, and therefore the requirements for different inner diameter sizes in a larger range can be met. By means of the annular workpiece feeding and discharging gripper structure, the workpiece can be positioned.

Description

Technical Field

[0001] The present invention relates to the technical field of machine tool workpiece grasping, and in particular to a ring-shaped workpiece loading and unloading gripper structure, a device and a use method. Background Art

[0002] Annular workpieces, such as gears, outer and inner rings, are the most common workpieces in gear machining. Traditionally, pneumatic or hydraulic grippers have been used to load, unload, or transfer these workpieces. While standardized and convenient for procurement and selection, these grippers suffer from poor clamping rigidity and high procurement costs for our company's heavier workpieces. Furthermore, the internal diameters of our workpieces vary, and the existing grippers have a short stroke, making them inadequate for these diverse sizes. Furthermore, existing pneumatic or hydraulic grippers are incapable of positioning the workpieces. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to solve the problems existing in the above-mentioned background technology and provide a ring-shaped workpiece loading and unloading gripper structure, device and method of use. The fingers are connected to the slider through an inclined hole sliding shaft structure, the clamping rigidity is better, the structure is simple, it can be processed and manufactured by itself, and the cost of use is low. The ring-shaped workpiece loading and unloading gripper structure of the present application has a larger telescopic stroke, so that it can meet the needs of a wider range of different inner diameter sizes. The ring-shaped workpiece loading and unloading gripper structure of the present application can also be used for positioning of the workpiece.

[0004] In order to realize the above-mentioned technical features, the purpose of the present invention is realized as follows: a hand claw structure for loading and unloading an annular workpiece, comprising a claw seat, fingers and a slider, the claw seat being an annular structure, and at least three sliding holes are radially evenly distributed on the circumferential wall of the claw seat, each sliding hole is inserted with a finger installed, the slider is installed inside the claw seat, and an extension plate is provided on the outer wall of the slider at the position corresponding to each finger, and one end of each finger located in the claw seat is slidably connected to each extension plate through an inclined hole sliding shaft structure; at least one end of the slider is provided with a connecting seat; when the finger is extended, it is used to grab the annular workpiece or to position the annular workpiece.

[0005] The inclined hole sliding shaft structure includes a limiting groove arranged on the finger, the limiting groove is located inside the claw seat, the extension plate extends into the limiting groove, the extension plate is provided with an inclined long hole, a sliding shaft is fixed in the limiting groove, the sliding shaft passes through the inclined long hole, and the sliding shaft is slidably connected with the inclined long hole.

[0006] The upper end of the oblique long hole is far away from the central axis of the claw seat, and the lower end is close to the central axis of the claw seat; or the upper end of the oblique long hole is close to the central axis of the claw seat, and the lower end is far away from the central axis of the claw seat.

[0007] The inner wall of the claw seat is respectively provided with axial sliding grooves at positions corresponding to the extending plates, and the extending plates extend into the sliding grooves.

[0008] A sliding sleeve is fixedly provided on the outer wall of the claw seat at a position corresponding to each finger, and the finger slides through the sliding sleeve.

[0009] A supporting groove is provided on the upper side of one end of the finger located outside the claw seat.

[0010] The end of the finger located at one end outside the claw seat is provided with a mounting groove, a displacement sensor is installed in the mounting groove, and a measuring head of the displacement sensor extends a distance from the end of the finger.

[0011] One end of the claw seat is provided with a connecting structure.

[0012] A device for loading and unloading an annular workpiece includes a connecting arm and a telescopic rod, and also includes the annular workpiece loading and unloading claw structure. The connecting arm is connected and fixed to one end of the claw seat, and a telescopic rod is installed inside the connecting arm. The telescopic end of the telescopic rod is connected and fixed to the connecting seat; the slider is driven to move up and down by the extension and retraction of the telescopic rod.

[0013] The method for using the annular workpiece loading and unloading device includes a workpiece loading and unloading step and / or a workpiece positioning step; The steps for loading and unloading workpieces are as follows: S10, by controlling the telescopic rod to extend or retract, the slider is driven to move downward or upward, and the finger retracts toward the side of the claw seat; S11, moving the annular workpiece loading and unloading device through an external mechanism so that the claw seat extends into the center of the annular workpiece; S12, controlling the telescopic rod to move in the reverse direction, driving the finger to extend to the side away from the claw seat, so that the finger is tightly pressed against the inner wall of the annular workpiece; or extending the finger to the bottom of the annular workpiece; S13, then the external mechanism lifts and moves the annular workpiece loading and unloading device to perform loading and unloading operations on the annular workpiece; The steps for workpiece positioning are as follows; S20, with the fingers retracted toward one side of the claw seat, the claw seat is extended into the annular workpiece by an external mechanism, at which point the center axis of the claw seat is located at the center of the pre-positioned annular workpiece; S21. By controlling the telescopic rod to retract or extend, the slider is driven to move upward or downward. While ensuring that the annular workpiece loading and unloading device is fixed, the fingers are extended. Since the center of the annular workpiece is not at the center of the pre-positioning at this time, part of the fingers first contact the inner wall of the annular workpiece to push the annular workpiece to move. Under the thrust of the fingers extending outward, the annular workpiece is moved to the pre-positioning position.

[0014] Compared with the prior art, the present invention adopting the above technical solution has the following outstanding features: The fingers of the present invention are connected to the slider via an inclined hole and sliding shaft structure, resulting in a slidable fit. This provides enhanced clamping rigidity, a simple structure, custom fabrication, and low cost. Furthermore, the fingers and slider can have a greater telescopic travel, thus accommodating a wider range of different inner diameters. In use, the device can be used to grasp and position annular workpieces.

[0015] 2. The finger ends of the present invention are equipped with displacement sensors. When the workpiece is being moved up and down, after the fingers penetrate into the annular workpiece, the fingers can be quickly extended when the measuring head of the displacement sensor does not contact the inner wall of the annular workpiece. When the measuring head of the displacement sensor contacts the inner wall of the annular workpiece, the data changes, and the fingers can be controlled to slow down and extend, thereby preventing the placement error of the annular workpiece from causing a single finger to hit the inner wall of the annular workpiece, thereby damaging the inner wall of the annular workpiece. When positioning the annular workpiece, the fingers penetrate into the annular workpiece and extend. When the displacement sensor on one of the fingers detects data, it indicates that the placement position of the annular workpiece is eccentric. This is an external mechanism, such as a robotic arm, which adjusts the position of the gripper structure through the robotic arm based on the data obtained by the displacement sensor until the displacement sensors on all fingers can detect data within the preset error data, indicating that the gripper structure is basically located at the center of the annular workpiece. In this way, the annular workpiece can be stably grasped. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art.

[0017] Figure 1 This is a schematic diagram of the main structure of the gripper structure for loading and unloading annular workpieces according to the present invention.

[0018] Figure 2 This is a schematic top view of the structure of the gripper structure for loading and unloading annular workpieces according to the present invention.

[0019] Figure 3 for Figure 1 Schematic diagram of the structure of the AA section.

[0020] Figure 4 for Figure 1 Schematic diagram of the structure of the middle BB section.

[0021] Figure 5 It is a structural schematic diagram of the annular workpiece loading and unloading device of the present invention.

[0022] Figure 6 This is a state diagram of the annular workpiece loading and unloading device of the present invention being supported on the inner wall of the annular workpiece.

[0023] Figure 7This is a state diagram of the annular workpiece loading and unloading device of the present invention being supported on the bottom of the annular workpiece.

[0024] Reference numerals: Claw seat 10, sliding hole 11, sliding sleeve 12, sliding groove 13, connecting structure 14; Finger 20, limiting groove 21, sliding shaft 22, supporting groove 24, roller 23, mounting groove 25, displacement sensor 26; Slider 30, extension plate 31, oblique long hole 32, connecting seat 33; Connecting arm 40, lower flange 41, upper flange 42, connecting plate 43; Telescopic rod 50, connecting member 51; An annular workpiece 60 . DETAILED DESCRIPTION

[0025] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0026] It should be noted that references in the specification to "one embodiment," "an embodiment," "exemplary embodiments," "some embodiments," etc. indicate that the described embodiments may include specific features, structures, or characteristics, but not necessarily every embodiment will include such specific features, structures, or characteristics. Furthermore, when specific features, structures, or characteristics are described in conjunction with an embodiment, it is within the knowledge of persons skilled in the relevant art to implement such features, structures, or characteristics in conjunction with other embodiments (whether or not explicitly described).

[0027] Example 1: See also Figures 1 to 7 A hand claw structure for loading and unloading an annular workpiece includes a claw seat 10, fingers 20 and a slider 30. The claw seat 10 is annular in structure. At least three sliding holes 11 are radially and evenly distributed on the circumferential wall of the claw seat 10. A finger 20 is inserted into each sliding hole 11. The slider 30 is installed inside the claw seat 10. An extension plate 31 is provided on the outer wall of the slider 30 at a position corresponding to each finger 20. One end of each finger 20 located in the claw seat 10 is slidably connected to each extension plate 31 through an inclined hole sliding shaft structure; a connecting seat 33 is provided at at least one end of the slider 30; when the finger 20 is extended, it is used to grab the annular workpiece 60 or to position the annular workpiece 60.

[0028] The finger 20 of the present invention is connected to the slider 30 through a sliding engagement via an inclined hole and a sliding shaft structure. This provides enhanced clamping rigidity, a simple structure, and the ability to be custom-made, resulting in low cost. Furthermore, the finger 20 and slider 30 can have a greater telescopic travel, thus accommodating a wider range of different inner diameters. In use, the finger 20 and slider 30 can be used to grasp and position an annular workpiece 60.

[0029] The number of fingers 20 can be 3, 4, 5, 6 or 8 as required. In this embodiment, the number of fingers 20 is 4.

[0030] In this embodiment, see Figure 4 The inclined hole sliding shaft structure includes a limiting groove 21 set on the finger 20, the limiting groove 21 is located inside the claw seat 10, the extending plate 31 extends into the limiting groove 21, and an inclined long hole 32 is provided on the extending plate 31. A sliding shaft 22 is fixed in the limiting groove 21, and the sliding shaft 22 passes through the inclined long hole 32. The sliding shaft 22 is slidably connected with the inclined long hole 32.

[0031] The upper end of the oblique long hole 32 is far away from the central axis of the claw seat 10, and the lower end is close to the central axis of the claw seat 10; or, the upper end of the oblique long hole 32 is close to the central axis of the claw seat 10, and the lower end is far away from the central axis of the claw seat 10.

[0032] In this embodiment, see Figure 4 The upper end of the oblique long hole 32 is away from the central axis of the claw seat 10, and the lower end is close to the central axis of the claw seat 10. When the slider 30 is lifted, the finger 20 retracts; when the slider 30 is pushed down, the finger 20 extends.

[0033] See also Figure 2 、 4 The inner wall of the claw seat 10 is provided with axial sliding grooves 13 at positions corresponding to the extension plates 31, and the extension plates 31 extend into the sliding grooves 13. The extension plates 31 are limited and guided by the sliding grooves 13, so that the slider 30 can only move along the axial direction of the claw seat 10 without the tendency to rotate, and the movement accuracy is improved.

[0034] In this embodiment, see Figure 4 A roller 23 is movably mounted on the sliding shaft 22 in the limiting groove 21 , and the roller 23 improves the flexibility of the sliding of the finger 20 and the slider 30 .

[0035] Furthermore, a sliding sleeve 12 is fixed on the outer wall of the claw seat 10 at a position corresponding to each finger 20, and the finger 20 slides through the sliding sleeve 12. Figure 4 In the figure, the sliding sleeve 12 extends outward for a distance, and supports the finger 20 through the sliding sleeve, thereby improving the stability and accuracy of the telescopic sliding of the finger 20, and preventing the sliding hole 11 and the finger 20 from being deformed due to the small force-bearing area of ​​the sliding hole 11.

[0036] Furthermore, a support groove 24 is provided on the upper side of one end of the finger 20 outside the claw seat 10. For heavy annular workpieces 60, the finger 20 can penetrate into the bottom of the annular workpiece 60, such as Figure 7 The inner edge of the lower end of the annular workpiece 60 is supported in the support groove 24 , and the annular workpiece 60 is limited by the support groove 24 .

[0037] See also Figure 4 One end of the claw seat 10 is provided with a connecting structure 14. Through the connecting structure 14 so as to be connected with the connecting arm 40. In this embodiment, the connecting structure 14 is a flange structure.

[0038] Example 2: Based on Example 1, see Figure 4 The end of the finger 20 located outside the claw seat 10 is provided with a mounting groove 25, in which a displacement sensor 26 is mounted. The measuring head of the displacement sensor 26 extends a distance from the end of the finger 20. In this embodiment, the displacement sensor 26 is a rebound LVDT type micro displacement sensor.

[0039] The functions of installing the displacement sensor 26 are as follows: First, when lifting or lowering a workpiece, after the finger 20 penetrates deeply into the annular workpiece 60, the finger 20 can be quickly extended when the measuring head of the displacement sensor 26 does not contact the inner wall of the annular workpiece 60. When the measuring head of the displacement sensor 26 contacts the inner wall of the annular workpiece 60, the data changes, and the extension of the finger 20 can be controlled to slow down, thereby preventing a single finger 20 from hitting the inner wall of the annular workpiece 60 due to placement error of the annular workpiece 60, causing damage to the inner wall of the annular workpiece 60. Secondly, when positioning an annular workpiece 60, fingers 20 penetrate into the annular workpiece 60 and then extend. When the displacement sensor 26 on one of the fingers 20 detects data, it indicates that the placement of the annular workpiece 60 is eccentric. This is when an external mechanism, such as a robotic arm, adjusts the position of the gripper structure based on the data obtained by the displacement sensor 26 until the displacement sensors 26 on all fingers 20 detect data within the preset error data, indicating that the gripper structure is basically located at the center of the annular workpiece 60. In this way, the annular workpiece 60 can be grasped stably.

[0040] Example 3: On the basis of Example 1 or 2, see Figure 5A device for loading and unloading an annular workpiece includes a connecting arm 40 and a telescopic rod 50, as well as a gripper structure for loading and unloading an annular workpiece. The connecting arm 40 is fixedly connected to one end of the gripper base 10. The telescopic rod 50 is mounted inside the connecting arm 40, and the telescopic end of the telescopic rod 50 is fixedly connected to the connecting base 33. The telescopic rod 50 is extended and retracted to drive the slider 30 up and down. The connecting arm 40 facilitates connection to an external mechanism, such as a robotic arm. The telescopic rod 50 is mounted inside the connecting arm 40 and has a compact structure. The telescopic rod 50 is extended and retracted to drive the slider 30 up and down.

[0041] In this embodiment, the telescopic rod 50 can be an electric cylinder or a hydraulic cylinder.

[0042] Specifically, Figure 5 In the figure, the connecting arm 40 is a hollow tubular structure, the lower end of the connecting arm 40 is fixedly connected to a lower flange 41, the upper end is fixedly connected to an upper flange 42, the upper end of the connecting arm 40 is fixedly connected to a connecting plate 43, the telescopic rod 50 is installed on the connecting plate 43, and there is space on the upper side of the connecting plate 43. After the thread is installed, it does not affect the connection between the upper flange 42 and the robotic arm.

[0043] The connection base 33 on the slider 30 can be a screw structure or an internally threaded hole structure. When the connection base 33 is a screw structure, the telescopic end of the telescopic rod 50 is connected to the connection base 33 via a connector 51, which is a nut sleeve. When the connection base 33 is an internally threaded hole structure, the telescopic end of the telescopic rod 50 can be screwed into the internally threaded hole and fixed.

[0044] Embodiment 4: Based on Example 3, see Figure 6 、 7 , a method for using a ring-shaped workpiece loading and unloading device is adopted, including a workpiece loading and unloading step and / or a workpiece positioning step; The steps for loading and unloading workpieces are as follows: S10, by controlling the telescopic rod 50 to extend or retract, the slider 30 is driven to move downward or upward, and the finger 20 retracts toward the side of the claw seat 10; S11, moving the annular workpiece loading and unloading device through an external mechanism so that the claw seat 10 extends into the center of the annular workpiece 60; S12, control the telescopic rod 50 to move in the reverse direction, drive the finger 20 to extend away from the claw seat 10, so that the finger 20 is tightly against the inner wall of the annular workpiece 60, as shown in FIG. Figure 6 Alternatively, the finger 20 is extended to the bottom of the annular workpiece 60, as shown. Figure 7 As shown; S13 , the external mechanism then lifts and moves the annular workpiece loading and unloading device to perform loading and unloading operations on the annular workpiece 60 .

[0045] The steps for workpiece positioning are as follows; S20, with the finger 20 retracted toward the claw seat 10, the claw seat 10 is extended into the annular workpiece 60 by an external mechanism. At this time, the central axis of the claw seat 10 is located at the pre-positioned center of the annular workpiece 60; S21. By controlling the telescopic rod 50 to retract or extend, the slider 30 is driven to move upward or downward. While ensuring that the annular workpiece loading and unloading device is fixed, the fingers 20 are extended. Since the center of the annular workpiece 60 is not at the center of the pre-positioning at this time, part of the fingers 20 first contacts the inner wall of the annular workpiece 60 to push the annular workpiece 60 to move. Under the thrust of the fingers 20 extending outward, the annular workpiece 60 is moved to the pre-positioning position.

[0046] When the displacement sensor 26 is installed at the end of the finger 20, when the annular workpiece 60 is pushed to move, the measuring head of the displacement sensor 26 at the end of the finger 20 that receives the force retracts and measures the maximum value. When the displacement sensor 26 at the other end and the displacement sensors 26 on both sides measure the same value, it means that the finger has moved to the predetermined position.

[0047] Although the specific embodiments of the present invention are described above, those skilled in the art should understand that the specific embodiments described are merely illustrative and are not intended to limit the scope of the present invention. Any modifications and changes made by those skilled in the art in accordance with the spirit of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. A gripper structure for loading and unloading annular workpieces, characterized by: The invention comprises a claw seat (10), a finger (20) and a slider (30), wherein the claw seat (10) is annular in structure, and at least three sliding holes (11) are radially and evenly distributed on the circumferential wall of the claw seat (10), and each sliding hole (11) is inserted with a finger (20), and the slider (30) is installed inside the claw seat (10), and an extension plate (31) is provided on the outer wall of the slider (30) at a position corresponding to each finger (20), and one end of each finger (20) located inside the claw seat (10) is connected to each extension plate (31) in a sliding fit through an inclined hole sliding shaft structure; at least one end of the slider (30) is provided with a connecting seat (33); when the finger (20) is extended, it is used to grab the annular workpiece (60) or to position the annular workpiece (60).

2. The annular workpiece loading and unloading gripper structure according to claim 1 is characterized in that: The inclined hole sliding shaft structure includes a limiting groove (21) provided on the finger (20), the limiting groove (21) is located inside the claw seat (10), the extension plate (31) extends into the limiting groove (21), the extension plate (31) is provided with an inclined long hole (32), the limiting groove (21) is fixed with a sliding shaft (22), the sliding shaft (22) passes through the inclined long hole (32), and the sliding shaft (22) is connected to the inclined long hole (32) in a sliding manner.

3. The annular workpiece loading and unloading gripper structure according to claim 2 is characterized in that: The upper end of the oblique long hole (32) is away from the central axis of the claw seat (10), and the lower end is close to the central axis of the claw seat (10); or, the upper end of the oblique long hole (32) is close to the central axis of the claw seat (10), and the lower end is away from the central axis of the claw seat (10).

4. The annular workpiece loading and unloading gripper structure according to claim 1 is characterized in that: The inner wall of the claw seat (10) is provided with axial sliding grooves (13) at positions corresponding to the extension plates (31), and the extension plates (31) extend into the sliding grooves (13).

5. The annular workpiece loading and unloading gripper structure according to claim 1 is characterized in that: A sliding sleeve (12) is fixedly provided on the outer wall of the claw seat (10) at a position corresponding to each finger (20), and the finger (20) slides through the sliding sleeve (12).

6. The annular workpiece loading and unloading gripper structure according to claim 1 is characterized in that: A support groove (24) is provided on the upper side of one end of the finger (20) located outside the claw seat (10).

7. The annular workpiece loading and unloading gripper structure according to claim 1 is characterized in that: The end of the finger (20) located outside the claw seat (10) is provided with a mounting groove (25), a displacement sensor (26) is installed in the mounting groove (25), and a measuring head of the displacement sensor (26) extends a distance from the end of the finger (20).

8. The gripper structure for loading and unloading annular workpieces according to claim 1 is characterized in that: One end of the claw seat (10) is provided with a connecting structure (14).

9. A device for loading and unloading annular workpieces, characterized in that: It includes a connecting arm (40) and a telescopic rod (50), and also includes a ring-shaped workpiece loading and unloading claw structure as described in any one of claims 1 to 8, wherein the connecting arm (40) is connected and fixed to one end of the claw seat (10), and a telescopic rod (50) is installed inside the connecting arm (40), and the telescopic end of the telescopic rod (50) is connected and fixed to the connecting seat (33); the sliding block (30) is driven to move up and down by the extension and contraction of the telescopic rod (50).

10. A method for using the annular workpiece loading and unloading device according to claim 9, characterized in that: including workpiece loading and unloading steps and / or workpiece positioning steps; The steps for loading and unloading workpieces are as follows: S10, by controlling the telescopic rod (50) to extend or retract, the slider (30) is driven to move downward or upward, and the finger (20) is retracted toward the side of the claw seat (10); S11, moving the annular workpiece loading and unloading device through an external mechanism so that the claw seat (10) extends into the center of the annular workpiece (60); S12, controlling the telescopic rod (50) to move in the reverse direction, driving the finger (20) to extend toward the side away from the claw seat (10), so that the finger (20) is tightly pressed against the inner wall of the annular workpiece (60); or extending the finger (20) to the bottom of the annular workpiece (60); S13, then the external mechanism lifts and moves the annular workpiece loading and unloading device to perform loading and unloading operations on the annular workpiece (60); The steps for workpiece positioning are as follows; S20, when the finger (20) is retracted toward one side of the claw seat (10), the claw seat (10) is extended into the interior of the annular workpiece (60) through an external mechanism, and at this time, the central axis of the claw seat (10) is located at the center of the pre-positioning of the annular workpiece (60); S21, by controlling the telescopic rod (50) to retract or extend, the slider (30) is driven to move upward or downward, and the finger (20) is extended while ensuring that the annular workpiece loading and unloading device is fixed. Since the center of the annular workpiece (60) is not at the center of the pre-positioned position at this time, part of the finger (20) first contacts the inner wall of the annular workpiece (60) to push the annular workpiece (60) to move. Under the thrust of the finger (20) extending outward, the annular workpiece (60) is moved to the pre-positioned position.

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