Clamping jaw device and die checking and clamping method

Abstract

The clamping jaw device comprises a clamping mechanism, the clamping mechanism comprises a pull rod, a clamping jaw executing mechanism arranged at one end of the pull rod and a clamping part arranged at the other end of the pull rod, the output end of the clamping jaw executing mechanism is fixedly connected with the pull rod, and the clamping part comprises a clamping jaw fixing base, an upper clamping jaw, a lower clamping jaw and a pull plate. The upper clamping jaw and the lower clamping jaw are installed in the clamping jaw fixing base through screw pins, one side of the pull plate is hinged to the upper clamping jaw and the lower clamping jaw through pin shafts, the other side of the pull plate penetrates through the clamping jaw fixing base to be fixedly connected with the pull rod, and the opening and closing ends of the upper clamping jaw and the lower clamping jaw stretch out of the clamping jaw fixing base. According to the mold taking device, the problem that errors are prone to occurring during manual mold counting is solved, meanwhile, the problem that time and labor are wasted during manual mold counting is solved, various molds of different specifications can be taken out from the mold storage holes of the mold sending machine according to the requirements of workers and sequentially put into the mold taking holes in a complete set mode, and the working intensity of warehouse managers is greatly relieved.

Description

Technical Field

[0001] This invention relates to a gripping device, and more particularly to a gripper device and a method for gripping and counting. Background Technology

[0002] The mold issuing machine is used to issue molds. After adding molds, the mold issuing machine needs to conduct an inventory of the molds in each storage hole from time to time and update the system data. Manual counting is time-consuming and labor-intensive. In addition, according to the needs of workers, warehouse keepers need to take out the corresponding molds from different storage holes, pack them and place them on the warehouse shelves before issuing them. The workload of warehouse keepers is heavy. Summary of the Invention

[0003] To address the problems of time-consuming and labor-intensive manual counting of molds in each storage hole of the mold issuing machine, and the high workload of warehouse staff due to frequent mold retrieval, this invention provides a gripper device to solve the above problems.

[0004] The present invention relates to a gripper device, comprising a gripping mechanism, wherein the gripping mechanism includes a pull rod, a gripper actuator disposed at one end of the pull rod, and a gripping part disposed at the other end of the pull rod. The output end of the gripper actuator is fixedly connected to the pull rod. The gripping part includes a gripper fixing seat, an upper gripper, a lower gripper, and a pull plate. The upper and lower grippers are mounted in the gripper fixing seat by screws and pins. One side of the pull plate is hinged to the upper and lower grippers by a pin, and the other side passes through the gripper fixing seat and is fixedly connected to the pull rod. The upper and lower grippers can open and close under the pull of the gripper actuator, and the opening and closing ends of the upper and lower grippers extend out of the gripper fixing seat.

[0005] Furthermore, specifically, a connecting seat one is provided on the side of the pull rod near the gripper actuator, and a connecting seat two is provided on the side of the pull rod near the gripping part.

[0006] Furthermore, it also includes a telescopic movement mechanism, which comprises a splined ball screw mechanism, a bracket, a transition sleeve, and a power unit. The splined ball screw mechanism includes a hollow screw, a nut sleeve mounted on the screw, and a spline sleeve. The nut sleeve has a fixed part and a rotating part disposed within the fixed part. The outer wall of the fixed part is fixedly connected to one side of the transition sleeve, and the outer wall of the spline sleeve is fixedly connected to the other side of the transition sleeve. The transition sleeve is fixedly connected to the bracket. The power unit includes a servo motor, a drive wheel, a driven wheel, and a transmission belt. The servo motor is mounted on the bracket, the driven wheel is fixedly connected to the end of the rotating part, and the output end of the servo motor is connected to the drive wheel. The drive wheel and the driven wheel are connected by a belt for transmission.

[0007] Specifically, the pull rod is installed inside the hollow lead screw via connecting seat one and connecting seat two, and the main body of the gripper actuator is installed on connecting seat one.

[0008] To prevent damage to the equipment, an anti-collision and shock absorption mechanism is also included. The anti-collision and shock absorption mechanism includes a mounting plate, a guide rail, a slider, two tension springs, an origin slot switch and an origin plate mounted on the lower side of the mounting plate. The lower side of the mounting plate is provided with a guide rail, and the slider is disposed in the guide rail. The slider is fixedly connected to the upper surface of the bracket. The two tension springs are respectively disposed on both sides of the guide rail. One end of the tension spring is fixedly connected to the mounting plate, and the other end is mounted on the bracket. One end of the origin plate is mounted on the bracket, and the other end is located in the slot of the origin slot switch when not in operation.

[0009] Furthermore, specifically, the anti-collision and shock-absorbing mechanism also includes a front limiting plate and a rear limiting plate for limiting the slider from sliding out of the guide rail. The front limiting plate and the rear limiting plate are set at both ends of the slider sliding direction. The anti-collision and shock-absorbing mechanism also includes an origin switch, a large slot switch and a connecting frame. One end of the connecting frame is fixedly connected to the mounting plate, and the other end extends to the top of the clamping part. The origin switch and the large slot switch are mounted on the connecting frame.

[0010] Method for inventorying molds using a gripper device:

[0011] First, the gripper fixing seat of the gripper device is in the origin position. Using the X and Y axes of the automatic mold issuing machine, it moves to the front of the mold storage hole that needs to be inventoried. The gripper actuator drives the pull rod, pull plate and pin to extend forward, and the upper and lower grippers open.

[0012] Then, driven by the servo motor, the lead screw moves forward and advances into the mold storage hole. It contacts and presses against the mold using the front face of the gripper fixing seat. Upon contact with the mold inside the storage hole, it encounters resistance. Simultaneously, the tension spring on the anti-collision and shock-absorbing mechanism is compressed, causing the telescopic movement mechanism to move backward relative to the anti-collision and shock-absorbing mechanism. The origin plate on the support moves backward and disengages from the origin slot switch. The origin slot switch then sends a signal, stopping the telescopic movement mechanism.

[0013] Finally, the controller of the automatic mold-making machine records the position of the gripper fixing seat at this time, thereby calculating the number of molds in the mold storage hole. After the molds in the mold storage hole are inventoried, the gripper fixing seat is pulled out of the mold storage hole by the lead screw and returns to the origin. The origin switch gives a signal, and the gripper device moves to other mold storage holes that need to be inventoried using the X and Y axes to continue a new round of inventory, and so on.

[0014] The method for gripping a mold using a gripper device is characterized by:

[0015] First, the gripper fixing seat of the gripper device is in the origin position. Using the X and Y axes of the automatic mold issuing machine, it moves to the front of the mold storage hole to be gripped. The gripper actuator drives the pull rod, pull plate and pin to extend forward, and the upper and lower grippers open.

[0016] Then, driven by the servo motor, the lead screw moves forward and advances into the mold storage holes. The advancing position is determined based on the mold inventory information in each mold storage hole. When the front end face of the gripper fixing seat contacts the mold, the gripper actuator retracts with the pull rod, the upper and lower grippers close, and the mold is clamped.

[0017] Finally, driven by the servo motor, the lead screw moves backward, allowing the gripper fixing seat to return to its origin. At this point, the large slot switch senses whether the mold has been clamped. If not, it tries to clamp it again. If the mold is successfully clamped, it moves along the X and Y axes to the corresponding pick-up hole position. Under the action of the servo motor, the lead screw, carrying the upper and lower grippers, moves forward to the position where the mold is placed in the pick-up hole. The mold is then released and placed in the pick-up hole. The lead screw moves backward and returns to its origin. The next mold is clamped, and the cycle is repeated until a set of molds is placed as required. Then, the worker is notified to pick them up. This process is repeated until the next set of molds is picked up.

[0018] The advantages of the gripper device of the present invention are: (1) It solves the problem of errors in manual mold counting and the time and effort of manual mold counting. It is more intelligent and meets the needs of enterprises for such machines. It can better cater to the market and increase the market share of products; (2) It can take out molds of different specifications from the mold storage hole of the mold issuing machine according to the workers' requirements and put them into the mold taking hole in sequence, which greatly reduces the workload of warehouse managers. Attached Figure Description

[0019] Figure 1 This is a front view of the gripper mechanism of the gripper device of the present invention with the gripper open;

[0020] Figure 2 This is a front view of the gripping mechanism of the gripper device of the present invention.

[0021] Figure 3 This is a front view of the telescopic movement mechanism of the gripper device of the present invention;

[0022] Figure 4 This is a top view of the telescopic movement mechanism of the gripper device of the present invention;

[0023] Figure 5 This is a left view of the telescopic movement mechanism of the gripper device of the present invention;

[0024] Figure 6 This is a schematic diagram of the lead screw structure of the gripper device of the present invention;

[0025] Figure 7 This is a front view of the anti-collision and shock absorption mechanism of the gripper device of the present invention;

[0026] Figure 8 This is a left view of the anti-collision and shock absorption mechanism of the gripper device of the present invention;

[0027] Figure 9 This is a top view of the anti-collision and shock absorption mechanism of the gripper device of the present invention;

[0028] Figure 10 This is a front view of the gripper device of the present invention during mold inventory;

[0029] Figure 11 This is a front view of the gripper device of the present invention when gripping a mold;

[0030] Figure 12 yes Figure 10 The left view;

[0031] Figure 13 yes Figure 10 Top view;

[0032] Figure 14 This is a front view of the automatic mold-making machine of the present invention;

[0033] Figure 15 yes Figure 14 The left view.

[0034] 1-Pull rod; 2-Gripper actuator; 3-Gripper fixing seat; 4-Upper gripper; 5-Lower gripper; 6-Pull plate; 7-Screw pin; 8-Pin shaft; 9-Connecting seat one; 10-Connecting seat two; 11-Bracket; 12-Transition sleeve; 13-Servo motor; 14-Lead screw; 15-Nut sleeve; 16-Spline sleeve; 17-Fixed part; 18-Rotating part; 19-Driving wheel; 20-Passive wheel; 21-Mounting plate; 22-Guide rail; 23-Slider; 24-Tension spring; 25-Origin slotted switch; 26-Origin plate; 27-Front limiting plate; 28-Rear limiting plate; 29-Origin switch; 30-Large slotted switch; 31-Connecting frame; 32-Mold storage hole; 33-Part removal hole; 34-Door. Detailed Implementation

[0035] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0036] like Figure 1-3As shown, the gripper device of the present invention includes a gripping mechanism, which includes a pull rod 1, a gripper actuator 2 disposed at one end of the pull rod 1, and a gripping part disposed at the other end of the pull rod 1. The output end of the gripper actuator 2 is fixedly connected to the pull rod 1. The gripping part includes a gripper fixing seat 3, an upper gripper 4, a lower gripper 5, and a pull plate 6. The middle parts of the upper gripper 4 and the lower gripper 5 are installed in the gripper fixing seat 3 by screw pins 7. The upper gripper 4 and the lower gripper 5 can rotate in the gripper fixing seat 3 along the screw pins 7. One side of the pull plate 6 is hinged to one end of the upper gripper 4 and the lower gripper 5 by a pin shaft 8, which is the end away from the opening and closing end of the upper gripper 4 and the lower gripper 5. The other side passes through the gripper fixing seat 3 and is fixedly connected to the pull rod 1. The upper gripper 4 and the lower gripper 5 can perform opening and closing actions under the pull of the gripper actuator 2. The opening and closing ends of the upper gripper 4 and the lower gripper 5 extend out of the gripper fixing seat 3.

[0037] A connecting seat 9 is provided on the side of the pull rod 1 near the gripper actuator 2, and a connecting seat 10 is provided on the side of the pull rod 1 near the gripping part.

[0038] like Figure 4-6 As shown, it also includes a telescopic movement mechanism, which includes a splined ball screw mechanism, a bracket 11, a transition sleeve 12, and a power unit. The splined ball screw mechanism includes a hollow screw 14, a nut sleeve 15 and a spline sleeve 16 disposed on the screw 14. The nut sleeve 15 has a fixed part 17 and a rotating part 18 disposed in the fixed part 17. The outer wall of the fixed part 17 is fixedly connected to one side of the transition sleeve 12, and the outer wall of the spline sleeve 16 is fixedly connected to the other side of the transition sleeve 12. The transition sleeve 12 is fixedly connected to the bracket 11. The power unit includes a servo motor 13, a drive wheel 19, a driven wheel 20, and a transmission belt. The servo motor 13 is mounted on the bracket 11. The end of the rotating part 18 near the driven wheel extends out from the fixed part 17. The driven wheel 20 is fixedly connected to the end of the rotating part 18. The output end of the servo motor 13 is connected to the drive wheel 19. The drive wheel 19 and the driven wheel 20 are connected by a transmission belt.

[0039] The pull rod 1 is installed inside the hollow lead screw via connecting seat 1 9 and connecting seat 2 10, and the main body of the gripper actuator 2 is installed on connecting seat 1 9.

[0040] like Figure 7-9As shown, it also includes an anti-collision and shock absorption mechanism, which includes a mounting plate 21, a guide rail 22, a slider 23, two tension springs 24, an origin slot-shaped switch 25 and an origin plate 26 mounted on the lower side of the mounting plate 21. The lower side of the mounting plate 21 is provided with a guide rail 22, and the slider 23 is disposed in the guide rail 22. The slider 23 is fixedly connected to the upper surface of the bracket 11. The two tension springs 24 are respectively disposed on both sides of the guide rail 22. One end of the tension spring 24 is fixedly connected to the mounting plate 21, and the other end is mounted on the bracket 11. One end of the origin plate 26 is mounted on the bracket 11, and the other end is located in the slot of the origin slot-shaped switch 25 when not in operation.

[0041] The anti-collision and shock absorption mechanism also includes a front limiting plate 27 and a rear limiting plate 28 for limiting the slider from sliding out of the guide rail. The front limiting plate 27 and the rear limiting plate 28 are located at both ends of the slider 23 in the sliding direction. The anti-collision and shock absorption mechanism also includes an origin switch 29, a large slotted switch 30 and a connecting frame 31. One end of the connecting frame 31 is fixedly connected to the mounting plate 21, and the other end extends to the top of the clamping part. The origin switch 29 and the large slotted switch 30 are mounted on the connecting frame 31.

[0042] like Figure 10-15 As shown, the method for inventorying molds using a gripper device:

[0043] First, the gripper fixing seat 3 of the gripper device is in the origin position. Using the X and Y axes of the automatic mold issuing machine, it moves to the front of the mold storage hole that needs to be inventoried. The gripper actuator 2 drives the pull rod 1, pull plate 6 and pin 8 to extend forward, and the upper gripper 4 and lower gripper 5 open.

[0044] Then, driven by the servo motor 13, the lead screw 14 moves forward and advances into the mold storage hole 32. It contacts and presses against the mold using the front face of the gripper fixing seat 3. Upon contacting the mold inside the mold storage hole 32, it encounters resistance. Simultaneously, the tension spring 24 on the anti-collision and shock-absorbing mechanism is compressed, causing the telescopic movement mechanism to move backward relative to the anti-collision and shock-absorbing mechanism. The origin plate 26 on the bracket 11 moves backward and disengages from the origin slot switch 25. The origin slot switch 25 then sends a signal, stopping the telescopic movement mechanism.

[0045] Finally, the controller of the automatic mold issuing machine records the position of the clamping base 3 at this time, thereby calculating the number of molds in the mold storage hole 32. After the molds in the mold storage hole 32 are inventoried, the clamping base 3 is pulled out of the mold storage hole 32 by the lead screw 14 and returns to the origin. The origin switch 29 gives a signal, and the clamping device moves to other mold storage holes 32 that need to be inventoried using the X and Y axes to continue a new round of inventory, and so on.

[0046] like Figure 10-15 As shown, the method for the gripper device to clamp the mold is as follows:

[0047] First, the gripper fixing seat 3 of the gripper device is in the origin position. Using the X and Y axes of the automatic mold-making machine, it moves to the front of the mold storage hole 32 that needs to be gripped. The gripper actuator 2 drives the pull rod 1, pull plate 6 and pin 8 to extend forward, and the upper gripper 4 and lower gripper 5 open.

[0048] Then, the lead screw 14 moves forward under the drive of the servo motor 13, advancing into the mold storage hole 32. The advancing position is determined based on the mold inventory information in each mold storage hole 32. When the front end face of the gripper fixing seat 3 contacts the mold, the gripper actuator 2 retracts with the pull rod 1, and the upper and lower grippers close, clamping the mold. It is worth noting that the mold inventory is performed using a torque mode. If the same torque mode is used to clamp the mold here, although it is possible, the front door 34 will be subjected to frequent forces. Therefore, in actual application, we use a position mode to clamp the mold. When the upper and lower grippers move to the mold clamping position, they clamp the mold. The position information is determined based on the mold inventory data feedback from the mold storage hole 32.

[0049] Finally, the lead screw 14 moves backward under the drive of the servo motor 13, allowing the gripper fixing seat 3 to return to its origin. At this time, the large slotted switch 30 senses whether the mold has been clamped. If not, it tries to clamp it again. If the mold is successfully clamped, it moves along the X-axis and Y-axis to the corresponding position of the picking hole 33. Under the action of the servo motor 13, the lead screw 14 moves forward with the upper and lower grippers to the position where the mold is placed in the picking hole 33. When the mold is released, the mold is placed in the picking hole 33, and the lead screw 14 moves backward to return to its origin. The next mold is clamped. After a set of molds is placed according to the requirements, the worker is notified to pick it up. Then, according to the requirements, the next set of molds is picked up and put down.

[0050] The gripper device of this application is used in conjunction with an automatic mold-making machine, which is a modification of the automatic mold-making machine of our company with patent number CN202210613244.1. Unlike the previous patent, the automatic mold-making machine of this application has M layers and N columns of mold storage holes 32 at the top and bottom, and G layers and N columns of part-removing holes 33 in the middle. Molds can be added through a door 34. The gripper device of this application for the automatic mold-making machine is mounted on the X-axis of the automatic mold-making machine, specifically through... The mounting plate 21 is installed on the X-axis, and the whole can move freely on the X-axis and Y-axis of the automatic mold making machine. When the gripper device of this application is used for inventory and gripping, it first moves along the X-axis and Y-axis to the slot of the mold storage hole 32 to be worked. When not working, the gripper fixing seat 3 is in the origin state (given by the origin switch 29). The controller is PLC control. It should also be noted that when the gripper device moves on the X-axis and Y-axis, the gripper fixing seat 3 must be in the origin state, otherwise it will collide and damage the equipment.

[0051] The above are merely preferred embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A gripper device, characterized in that: The device includes a clamping mechanism comprising a pull rod, a gripper actuator located at one end of the pull rod, and a clamping part located at the other end of the pull rod. The output end of the gripper actuator is fixedly connected to the pull rod. The clamping part includes a gripper fixing seat, an upper gripper, a lower gripper, and a pull plate. The upper and lower grippers are mounted in the gripper fixing seat by screws and pins. One side of the pull plate is hinged to the upper and lower grippers by a pin, and the other side passes through the gripper fixing seat and is fixedly connected to the pull rod. The upper and lower grippers can open and close under the pull of the gripper actuator, and the opening and closing ends of the upper and lower grippers extend out of the gripper fixing seat.

2. The gripper device as described in claim 1, characterized in that: A connecting seat one is provided on the side of the pull rod near the gripper actuator, and a connecting seat two is provided on the side of the pull rod near the gripping part.

3. The gripper device as described in claim 2, characterized in that: It also includes a telescopic movement mechanism, which comprises a splined ball screw mechanism, a bracket, a transition sleeve, and a power unit. The splined ball screw mechanism includes a hollow screw, a nut sleeve mounted on the screw, and a splined sleeve. The nut sleeve has a fixed part and a rotating part disposed within the fixed part. The outer wall of the fixed part is fixedly connected to one side of the transition sleeve, and the outer wall of the splined sleeve is fixedly connected to the other side of the transition sleeve. The transition sleeve is fixedly connected to the bracket. The power unit includes a servo motor, a drive wheel, a driven wheel, and a transmission belt. The servo motor is mounted on the bracket, the driven wheel is fixedly connected to the end of the rotating part, and the output end of the servo motor is connected to the drive wheel. The drive wheel and the driven wheel are connected by a belt for transmission.

4. The gripper device as described in claim 3, characterized in that: The pull rod is installed inside the hollow lead screw via connecting seat one and connecting seat two, and the main body of the gripper actuator is installed on connecting seat one.

5. The gripper device as described in claim 4, characterized in that: It also includes an anti-collision and shock absorption mechanism, which includes a mounting plate, a guide rail, a slider, two tension springs, an origin slot-shaped switch and an origin plate mounted on the lower side of the mounting plate. The mounting plate has a guide rail on its lower side, and the slider is set in the guide rail. The slider is fixedly connected to the upper surface of the bracket. The two tension springs are respectively set on both sides of the guide rail. One end of the tension spring is fixedly connected to the mounting plate, and the other end is mounted on the bracket. One end of the origin plate is mounted on the bracket, and the other end is located in the slot of the origin slot-shaped switch when not in operation.

6. The gripper device as described in claim 5, characterized in that: The anti-collision and shock absorption mechanism also includes a front limiting plate and a rear limiting plate for limiting the slider from sliding out of the guide rail. The front limiting plate and the rear limiting plate are set at both ends of the slider sliding direction. The anti-collision and shock absorption mechanism also includes an origin switch, a large slot switch and a connecting frame. One end of the connecting frame is fixedly connected to the mounting plate, and the other end extends to the top of the clamping part. The origin switch and the large slot switch are mounted on the connecting frame.

7. A method for inventorying molds using the gripper device according to any one of claims 1-6: characterized in that: First, the gripper fixing seat of the gripper device is in the origin position. Using the X and Y axes of the automatic mold issuing machine, it moves to the front of the mold storage hole that needs to be inventoried. The gripper actuator drives the pull rod, pull plate and pin to extend forward, and the upper and lower grippers open. Then, driven by the servo motor, the lead screw moves forward and advances into the mold storage hole. It contacts and presses against the mold using the front face of the gripper fixing seat. Upon contact with the mold inside the storage hole, it encounters resistance. Simultaneously, the tension spring on the anti-collision and shock-absorbing mechanism is compressed, causing the telescopic movement mechanism to move backward relative to the anti-collision and shock-absorbing mechanism. The origin plate on the support moves backward and disengages from the origin slot switch. The origin slot switch then sends a signal, stopping the telescopic movement mechanism. Finally, the controller of the automatic mold-making machine records the position of the gripper fixing seat at this time, thereby calculating the number of molds in the mold storage hole. After the molds in the mold storage hole are inventoried, the gripper fixing seat is pulled out of the mold storage hole by the lead screw and returns to the origin. The origin switch gives a signal, and the gripper device moves to other mold storage holes that need to be inventoried using the X and Y axes to continue a new round of inventory, and so on.

8. A method for gripping a mold using the gripper device according to any one of claims 1-6: characterized in that: First, the gripper fixing seat of the gripper device is in the origin position. Using the X and Y axes of the automatic mold issuing machine, it moves to the front of the mold storage hole to be gripped. The gripper actuator drives the pull rod, pull plate and pin to extend forward, and the upper and lower grippers open. Then, driven by the servo motor, the lead screw moves forward and advances into the mold storage holes. The advancing position is determined based on the mold inventory information in each mold storage hole. When the front end face of the gripper fixing seat contacts the mold, the gripper actuator retracts with the pull rod, the upper and lower grippers close, and the mold is clamped. Finally, driven by the servo motor, the lead screw moves backward, allowing the gripper fixing seat to return to its origin. At this point, the large slot switch senses whether the mold has been clamped. If not, it tries to clamp it again. If the mold is successfully clamped, it moves along the X and Y axes to the corresponding pick-up hole position. Under the action of the servo motor, the lead screw, carrying the upper and lower grippers, moves forward to the position where the mold is placed in the pick-up hole. The mold is then released and placed in the pick-up hole. The lead screw moves backward and returns to its origin. The next mold is clamped, and the cycle is repeated until a set of molds is placed as required. Then, the worker is notified to pick them up. This process is repeated until the next set of molds is picked up.

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