Pneumatic three-jaw grabbing device with improved structure

Abstract

A pneumatic three-jaw material grabbing device with an improved structure comprises a base plate, a rotary disc, a rotary air cylinder, three workpiece clamping hands, a linear guide rail, a sliding plate and a driving rod, a shaft hole is formed in the base plate, the driving end of the rotary air cylinder penetrates through the shaft hole to be arranged on the upper side face of the base plate, and the lower end portion of the driving end is combined with the center of the upper side face of the rotary disc. The linear guide rails are arranged on the lower side face of the base plate in a radial mode at equal intervals and surround the rotary disc, the sliding plate is arranged on the linear guide rails in a sliding mode, one end of the driving rod is hinged to the inner side of the periphery of the rotary disc, the other end of the driving rod is hinged to the sliding plate, and the workpiece clamping hands are arranged on the lower side face of the sliding plate. The rotary air cylinder drives the rotary disc to conduct reciprocating circumferential rotation of a radian stroke, so that the driving rod drives the sliding plate and the workpiece clamping hand to conduct reciprocating motion of a linear stroke. Therefore, the pneumatic three-jaw material grabbing device is simple and compact in structure, the moving stroke range of the workpiece clamping hand is large, and workpieces with different outer diameters can be firmly grabbed.

Description

Technical Field

[0001] The utility model relates to a mechanical arm grasping device, in particular to a pneumatic three-claw grasping device with an improved structure. Background Art

[0002] The quenching press is a very important heat treatment equipment in the workpiece heat treatment production line. For press-quenching heat treatment products, the corresponding molds are required to perform limited-shape press quenching on specific products to reduce or even eliminate the workload of subsequent production links, thereby greatly saving production costs and improving the qualified rate of heat treatment quenching products. Among them, press-quenching heat treatment products mainly involve annular products, such as bearing rings, gears, gear rings, etc. In order to save production costs, the same quenching press in the heat treatment production line is often replaced by the quenching mold to meet the press quenching of products of different types, specifications and shapes. In order to meet the needs of modern and automated production, equipment manufacturers usually use automatic loading robots and finished product grippers to load dies and discharge products. However, when using finished product grippers to grip products of different outer diameters (especially when the outer diameters differ greatly), the existing finished product grippers have very limited movement strokes. When the outer diameter of the gripped product changes, it is necessary to manually adjust the basic position of the gripper and the movement stroke of the gripper. There are many operating steps and the adjustment process is very complicated. Even when the movement stroke of the gripper cannot meet the needs of gripping products with large outer diameters, it is necessary to replace the gripper with a large stroke to meet the discharge needs. This will take up more operating time and have an adverse effect on the production efficiency of the entire production line.

[0003] Therefore, how to provide a gripping device with a simple and compact structure, stable operation, a large range of jaw movement, and very convenient stroke adjustment, so as to firmly grasp workpieces of different outer diameters, has become one of the technical problems to be urgently solved in this field. Utility Model Content

[0004] The technical problem to be solved by this technical solution is how to provide a grasping device with a simple, compact structure and stable operation, and to enable the moving stroke range of the clamping jaws to be large so as to firmly grasp workpieces of different outer diameters, and the clamping jaw stroke adjustment is very convenient and will not take up much operating time, thereby ensuring high production efficiency of the entire production line.

[0005] In order to solve the above technical problems, the present technical scheme provides a pneumatic three-claw material gripping device with an improved structure, which includes: a base plate, a turntable, three workpiece grippers, a rotary cylinder, three linear guide rails, three sliding plates and three driving rods, wherein the plate surface of the base plate and the turntable surface are both horizontally arranged, and the turntable and the three workpiece grippers are all located below the lower side surface of the base plate, an axial hole is opened on the base plate, and the rotary cylinder is fixedly mounted on the upper side surface of the base plate with its driving end facing vertically downward and passing through the axial hole, and the lower end portion of the driving end is fixedly combined with the center of the upper side surface of the turntable, and the three linear guide rails are radially spaced at the same intervals from each other and surround The three linear guides are fixedly arranged on the lower side of the base plate around the turntable, and the distances between the ends of the three linear guides close to each other and the periphery of the turntable are the same. The three sliding plates are slidably arranged on the three linear guides, and one ends of the three driving rods are spaced at the same distance from each other and are respectively hinged to the inner part of the periphery of the turntable, and the other ends of the three driving rods are respectively hinged to each sliding plate, and the three workpiece clamps are respectively fixedly mounted on the lower side of the three sliding plates; during operation, the rotary cylinder drives the turntable to perform a reciprocating circumferential rotation with an arc stroke, so as to drive the sliding plate and the workpiece clamp to perform a reciprocating movement in a straight line along the linear guide through the driving rod. Accordingly, the driving structure that drives the turntable to rotate through the rotary cylinder can make the structure of the pneumatic three-jaw grasping device simple and compact, and the driving rod drives the sliding plate and the workpiece clamp to move to the upper limit of the linear guide rail, which can increase the coordination and stability of the operation of the three workpiece clamps and ensure that the workpiece clamps have a larger moving stroke. In addition, by controlling the time and flow rate of compressed gas entering and exiting the rotary cylinder, the rotation rate and output torque of the rotary cylinder can be effectively controlled, and by simply adjusting the adjusting screw on the rotary cylinder that controls the rotation angle, the arc stroke can be quickly adjusted to quickly adjust the three workpiece clamps to be suitable for grasping workpieces of different outer diameters, and the adjustment process takes a short operation time, thereby ensuring that the entire production line has high production efficiency.

[0006] As another embodiment of the present technical solution, each linear guide is fixedly arranged on the lower side of the base plate so that the straight line on which it is located is tangent to the inner part of the periphery of the rotary disk. In this way, the relative installation position of the linear guide and the rotary disk can be made more compact while ensuring that the sliding plate has a large moving stroke.

[0007] As another embodiment of the present technical solution, the straight line where the hinge of each sliding plate and the other end of the driving rod are running in a straight line is tangent to the inner part of the periphery of the rotating disk. In this way, the stability of the sliding plate being driven to slide can be further increased, and the compactness of the device can be further increased.

[0008] As another implementation of the technical solution, the length of the driving rod is greater than or equal to the length of the diameter of the rotating disk, so that the rotating disk can produce a larger driving stroke for the driving rod.

[0009] As another implementation of the technical solution, the driving rod is in the shape of a strip plate and its plate surface is arranged horizontally, the upper side surface of one end of the driving rod is hinged to the lower side surface of the inner part of the periphery of the rotating disk, and the lower side surface of the other end of the driving rod is hinged to the upper side surface of the sliding plate. Accordingly, the rotating disk, the driving rod and the sliding plate present a layered structure, which can effectively avoid contact interference between the components during operation.

[0010] As another implementation of the technical solution, the pneumatic three-claw material grabbing device also includes: three sliders, the sliding plate is divided into a sliding area, a mounting area and a driving area connected in sequence, each slider is fixedly mounted on the upper side of the sliding area of ​​each sliding plate, each workpiece gripper is fixedly mounted on the lower side of each mounting area, the lower side of the other end of each driving rod is hinged to the upper side of each driving area, and the slider of each sliding plate can be slidably embedded in the track groove of each linear guide rail.

[0011] As another implementation of the present technical solution, the workpiece clamp is composed of a vertical rod and a locking block. The vertical rod is vertically arranged and its upper end is fixedly mounted on the lower side of the mounting area. The locking block is horizontally arranged and one side of it is facing the direction of the straight line where the center of the turntable is located, and the other side is fixedly connected to the lower end of the vertical rod.

[0012] As another embodiment of the technical solution, the one side of the clamping block gradually tilts from bottom to top toward the combined vertical rod to form a clamping inclined surface, thereby scooping up the workpiece and clamping it between the three clamping blocks, and preventing the workpiece from falling off during the discharging process.

[0013] As another implementation of the technical solution, the pneumatic three-claw gripper device further includes: a plurality of connecting rods and a heat-insulating disk, wherein the plurality of connecting rods are vertically arranged and the upper ends of the plurality of connecting rods are evenly fixedly combined with the base plate around the rotating disk, and the disk surface of the heat-insulating disk is horizontally arranged and the upper side surface thereof is combined and fixedly combined with the lower ends of the plurality of connecting rods. Accordingly, in the process of grasping the workpiece after heat treatment, the heat-insulating disk can effectively prevent the residual temperature of the workpiece and the smoke generated after press quenching from adversely affecting the various components of the pneumatic three-claw gripper device.

[0014] As another implementation of the technical solution, the heat insulation disk is circular, and the distance between the heat insulation disk and the base plate is smaller than the distance between the locking block and the base plate, the center of the heat insulation disk and the center of the turntable are on the same vertical straight line, and the diameter of the heat insulation disk is smaller than the diameter of the circle enclosed by the vertical rods of the three workpiece clamps when they are close to each other. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a side partial cross-sectional view of a specific embodiment of the pneumatic three-claw material grabbing device with an improved structure of the utility model;

[0016] Figure 2 It is a bottom view schematically showing the specific embodiment of the utility model on the upper part of the heat insulation plate.

[0017] Explanation of symbols in the accompanying drawings: 1 base plate; 2 rotary plate; 21 basic circle; 22 hinge; 3 workpiece clamp; 31 vertical rod; 32 engaging block; 321 engaging inclined surface; 4 rotary cylinder; 5 linear guide rail; 6 sliding plate; 61 sliding area; 62 installation area; 63 driving area; 7 driving rod; 8 sliding block; 91 connecting rod; 92 heat insulation disk; A workpiece. DETAILED DESCRIPTION

[0018] The detailed description and technical contents of the present invention are described below with reference to the accompanying drawings. However, the accompanying drawings are only provided for reference and description and are not intended to limit the present invention.

[0019] In the context of this specification, any two or more embodiments of the present invention may be arbitrarily combined, and the technical solution thus formed belongs to part of the original disclosure of this specification and also falls within the protection scope of the present invention.

[0020] like Figure 1 and 2The figure shows a schematic diagram of a specific embodiment of a pneumatic three-claw material gripper with an improved structure of the utility model. The pneumatic three-claw material gripper with an improved structure (hereinafter referred to as the pneumatic three-claw material gripper) includes a base plate 1, a rotating disk 2, three workpiece grippers 3, a rotating cylinder 4, three linear guide rails 5, three sliding plates 6 and three driving rods 7. Among them, the plate surface of the base plate 1 and the disk surface of the rotating disk 2 are both arranged horizontally. The base plate 1 can be of any shape, and it is connected and fixed to a mobile mechanical arm (not shown in the figure). The rotating disk 2 and the three workpiece grippers 3 are all located below the lower side of the base plate 1. An axial hole (not shown in the figure) is opened on the base plate 1, and the rotating cylinder 4 is fixedly mounted on the upper side of the base plate 1 with its driving end (not shown in the figure) vertically facing downward and passing through the axial hole. The driving end usually needs to be equipped with a bearing and passed through the axial hole, and the lower end of the driving end is fixedly combined with the center of the upper side of the rotating disk 2. The three linear guides 5 are radially arranged with the same spacing from each other and are fixedly arranged on the lower side of the base plate 1 around the turntable 2, and the distances between the ends of the three linear guides 5 that are close to each other (the ends located on the inner side) and the periphery of the turntable 2 are the same. The three sliding plates 6 are slidably arranged on the three linear guides 5 respectively. One ends of the three driving rods 7 are spaced at the same distance from each other and are respectively hinged to the inner part of the periphery of the turntable 2, and the other ends of the three driving rods 7 are respectively hinged to each sliding plate 6, wherein the turntable 2 can be circular, but it can also be based on the basic circle 21 so that the hinge 22 between the one end of the driving rod 7 and the turntable 2 protrudes outside the basic circle 21, such as Figure 2 As shown, the three protruding hinges 22 and the basic circle 21 together form the shape of the turntable 2, and the periphery of the turntable 2 is the circular periphery where the outer edges of the three protruding hinges 22 are located. The utility model does not limit the shape of the turntable 2. The three workpiece grippers 3 are respectively fixedly mounted on the lower side surfaces of the three sliding plates 6. During operation, the turntable 2 is driven by the rotary cylinder 4 to perform a reciprocating circumferential rotation of an arc stroke, so that the sliding plate 6 and the workpiece grippers 3 are driven by the driving rod 7 to reciprocate along the linear guide rail 5 in a straight line stroke, so as to achieve the simultaneous approach or distance of the three workpiece grippers 3 to grasp or release the workpiece A. The rotary cylinder used in the utility model is an existing device, which inputs compressed gas through a pump body (not shown) and a pipeline (not shown) to drive the output end to rotate at a certain angle, and by adjusting the inlet and outlet gas rate and flow rate of the compressed gas, the rotation rate and output torque of the output end can be effectively controlled, and by adjusting the adjustment screw (not shown) on the rotary cylinder that controls the rotation angle, the rotation angle of the output end can also be conveniently adjusted. Since the structure and principle of the rotary cylinder are both existing technologies, and the utility model only applies it but not protects it, the rotary cylinder will not be described in detail.

[0021] Specifically, each linear guide rail 5 is formed by connecting the straight line on which it is located with the inner part of the periphery of the rotating disk 2 (i.e. Figure 2 The hinge on the central turntable is tangent to the lower side of the base plate 1. The straight line where the hinge of each sliding plate 6 and the driving rod 7 at the other end is located when performing a linear stroke is tangent to the inner part of the periphery of the turntable 2. The above-mentioned structure tangent to the inner part of the periphery of the turntable 2 can ensure that the sliding plate 6 has a larger moving stroke, and can make the installation position of the linear guide 5 and the turntable 2 relatively compact, and can also increase the stability of the sliding plate 6 being driven to slide. In addition, the length of the driving rod 7 is greater than or equal to the length of the diameter of the turntable 2, so that the turntable 2 can produce a larger driving stroke for the driving rod 7.

[0022] Furthermore, the driving rod 7 may be in the shape of a strip plate and its plate surface is arranged horizontally, and the upper side surface of the one end of the driving rod 7 is aligned with the inner side portion of the periphery of the rotating disk 2 (i.e. Figure 2 The lower side of the other end of the driving rod 7 is hinged to the upper side of the sliding plate 6. Accordingly, the rotating disk 2, the driving rod 7 and the sliding plate 6 present a layered structure, which can effectively avoid contact and interference between the components during operation.

[0023] In this embodiment, the pneumatic three-claw material gripping device may also include three sliders 8. The sliding plate 6 is divided into a sliding area 61, a mounting area 62 and a driving area 63 connected in sequence, wherein each slider 8 is fixedly mounted on the upper side of the sliding area 61 of each sliding plate 6, each workpiece gripper 3 is fixedly mounted on the lower side of each mounting area 62, the lower side of the other end of each driving rod 7 is hinged to the upper side of each driving area 63, and the slider 8 of each sliding plate 6 is slidably embedded in the track groove of each linear guide rail 5. The workpiece gripper 3 is composed of a vertical rod 31 and a clamping block 32, wherein the vertical rod 31 is vertically arranged and its upper end is fixedly mounted on the lower side of the mounting area 62, and the clamping block 32 is horizontally arranged and one side thereof is oriented toward the direction of the straight line where the center of the turntable 2 is located, and the other side thereof is fixedly coupled to the lower end of the vertical rod 31. In addition, the one side of the locking block 32 gradually tilts from bottom to top toward the combined vertical rod 31 to form a locking inclined surface 321, so that the workpiece A can be scooped up and fixed between the three locking blocks 32, and the workpiece A can be prevented from falling off during the unloading process.

[0024] In this embodiment, the pneumatic three-claw gripping device may also include a plurality of connecting rods 91 and a heat-insulating disk 92. The plurality of connecting rods 91 are all arranged vertically, and the upper ends of the plurality of connecting rods 91 are evenly fixedly combined with the base plate 1 around the rotary disk 2, and the disk surface of the heat-insulating disk 92 is arranged horizontally, and its upper side surface is fixedly combined with the lower ends of the plurality of connecting rods 91. The heat-insulating disk 92 may be arranged in a circular shape, and the distance between the heat-insulating disk 92 and the base plate 1 is smaller than the distance between the clamping block 32 and the base plate 1, the center of the heat-insulating disk 92 and the center of the rotary disk 2 are on the same vertical straight line, and the diameter of the heat-insulating disk 92 is smaller than the diameter of the circle enclosed by the vertical rods 31 of the three workpiece grippers 3 when they are close to each other. In addition, the heat-insulating plate 92 can also be set in any shape (not shown in the figure), and the distance between the heat-insulating plate and the base plate is also smaller than the distance between the clamping block and the base plate. The heat-insulating plate can be provided with three hollow strip openings (not shown in the figure) corresponding to the moving paths of the three workpiece grippers, so that the three workpiece grippers can move in the three hollow strip openings respectively when performing a linear stroke. The setting of the heat-insulating plate can effectively prevent the residual temperature of the workpiece and the smoke generated after press quenching from having adverse effects on the various components of the device during the process of the pneumatic three-claw gripper grasping the workpiece after heat treatment.

[0025] In summary, the pneumatic three-claw material gripping device of the utility model has a simple and compact structure, and the driving rod drives the sliding plate and the workpiece gripper to move at the upper limit of the linear guide rail, which can not only increase the coordination and stability of the operation of the three workpiece grippers, but also ensure that the workpiece grippers have a larger moving stroke. By controlling the time and flow of compressed gas entering and exiting the rotary cylinder, the rotation rate and output torque of the rotary cylinder can be effectively controlled, and by simply adjusting the adjustment screw on the rotary cylinder that controls the rotation angle, the arc stroke can be quickly adjusted to quickly adjust the three workpiece grippers to be suitable for grasping workpieces of different outer diameters, and the adjustment process takes a short operation time, thereby ensuring that the entire production line has a high production efficiency.

[0026] The above are only preferred embodiments of the present invention and are not intended to limit the patent scope of the present invention. Other equivalent changes made using the patent concept of the present invention should all fall within the patent protection scope of the present invention.

Claims

1. A pneumatic three-claw material grabbing device with an improved structure, comprising: The utility model relates to a base plate, a rotating disk and three workpiece clamps, wherein the plate surface of the base plate and the plate surface of the rotating disk are both arranged horizontally, and the rotating disk and the three workpiece clamps are all located below the lower side surface of the base plate, and the utility model is characterized in that it also includes: a rotating cylinder, three linear guides, three sliding plates and three driving rods, and an axial hole is opened on the base plate, and the rotating cylinder is fixedly mounted on the upper side surface of the base plate with its driving end vertically facing downward and passing through the axial hole, and the lower end portion of the driving end is fixedly combined with the center of the upper side surface of the rotating disk, and the three linear guides are radially arranged and spaced at the same interval from each other and are fixedly arranged around the rotating disk on the lower side surface of the base plate. The three guide rails are connected to each other at the same distance from the ends thereof close to each other to the periphery of the turntable, the three sliding plates are slidably arranged on the three linear guide rails, one ends of the three driving rods are spaced at the same distance from each other and are respectively hinged to the inner part of the periphery of the turntable, the other ends of the three driving rods are respectively hinged to each of the sliding plates, and the three workpiece clamps are respectively fixedly mounted on the lower side surfaces of the three sliding plates; wherein the rotary cylinder drives the turntable to perform a reciprocating circumferential rotation with an arc stroke, so as to drive the sliding plate and the workpiece clamp to perform a reciprocating movement in a straight line stroke along the linear guide rails through the driving rods.

2. The pneumatic three-claw material grabbing device according to claim 1, characterized in that: Each of the linear guide rails is fixedly arranged on the lower side of the base plate so that the straight line on which the linear guide rail is located is tangent to the inner side portion of the periphery of the rotary disk.

3. The pneumatic three-claw material grabbing device according to claim 1, characterized in that: The straight line where the hinged joint of each sliding plate and the other end of the driving rod is located when performing the linear stroke is tangent to the inner side part of the periphery of the rotary disk.

4. The pneumatic three-claw material grabbing device according to claim 1, characterized in that: The length of the driving rod is greater than or equal to the length of the diameter of the turntable.

5. The pneumatic three-claw material grabbing device according to claim 1, characterized in that: The driving rod is in the shape of a strip plate and its plate surface is arranged horizontally. The upper side surface of one end of the driving rod is hinged to the lower side surface of the inner part of the periphery of the turntable, and the lower side surface of the other end of the driving rod is hinged to the upper side surface of the sliding plate.

6. The pneumatic three-claw material grabbing device according to claim 5, characterized in that: Also includes: Three sliders, the sliding plate is divided into a sliding area, a mounting area and a driving area which are connected in sequence, each of the sliders is fixedly mounted on the upper side of the sliding area of ​​each sliding plate, each of the workpiece clamps is fixedly mounted on the lower side of each mounting area, the lower side of the other end of each driving rod is hinged to the upper side of each driving area, and the slider of each sliding plate can be slidably embedded in the rail groove of each linear guide rail.

7. The pneumatic three-claw material grabbing device according to claim 6, characterized in that: The workpiece clamp is composed of a vertical rod and a clamping block. The vertical rod is vertically arranged and its upper end is fixedly mounted on the lower side of the mounting area. The clamping block is horizontally arranged and one side of it is oriented toward the straight line where the center of the turntable is located, and the other side is fixedly connected to the lower end of the vertical rod.

8. The pneumatic three-claw material grabbing device according to claim 7, characterized in that: The one side of the engaging block is gradually inclined from bottom to top toward the combined vertical rod to form an engaging inclined surface.

9. The pneumatic three-claw material grabbing device according to claim 8, characterized in that: Also includes: Several connecting rods and heat insulation plates, the several connecting rods are vertically arranged and the upper ends of the several connecting rods are evenly fixedly combined on the base plate around the rotating plate, and the plate surface of the heat insulation plate is horizontally arranged and the upper side surface thereof is fixedly combined with the lower ends of the several connecting rods.

10. The pneumatic three-claw material grabbing device according to claim 9, characterized in that: The heat insulation disk is circular, and the distance between the heat insulation disk and the base plate is smaller than the distance between the locking block and the base plate. The center of the heat insulation disk and the center of the turntable are on the same vertical line, and the diameter of the heat insulation disk is smaller than the diameter of the circle enclosed when the vertical rods of the three workpiece clamps are close to each other.

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