Pin driving and pulling manipulator and plate positioning system

Abstract

The utility model belongs to the technical field of machining equipment, and discloses a pin driving and pulling manipulator which comprises a fixing mechanism and a driving mechanism, and the driving mechanism can move relative to the fixing mechanism. The driving mechanism comprises a driving piece and a plurality of clamping pieces; the driving piece is provided with a plurality of inclined guide blocks which are uniformly arranged and inclined to the axial direction of the driving piece; the clamping piece is provided with an inclined hole or an inclined groove inclined to the axis of the clamping piece, the clamping piece and the inclined guide block are arranged correspondingly, and the clamping piece is in linear sliding fit with the fixing mechanism in the radial direction of the driving piece. The inclined guide block is matched with the inclined hole or the inclined groove of the clamping piece, so that when the driving piece moves along the axis of the driving piece, the clamping piece moves in the radial direction of the driving piece. A clamping face of the clamping piece is provided with a clamping portion in a protruding mode. The pin clamping device can stably clamp a pin, and the clamping force on the pin is improved. The utility model further discloses a plate positioning system. The utility model further discloses a plate positioning system.

Description

Technical Field

[0001] The utility model belongs to the technical field of mechanical processing equipment, and in particular relates to a pin driving and pulling manipulator and a plate positioning system. Background Art

[0002] In the process of sheet metal processing and manufacturing, the automatic pinning and pulling function of processing tools is a development trend, which can reduce the time of replacing pins and the standby time of processing equipment. For example, during the operation of sheet metal processing equipment, it is necessary to constantly replace the parts used to fix the sheet metal, such as latches. These operations are usually completed manually, so some manufacturers have designed and manufactured manipulators that can be used for pinning and pulling. However, this type of manipulator has the problem of easily causing the pins to slip, which makes it impossible to fully meet the requirements of sheet metal positioning. Utility Model Content

[0003] In order to solve the above technical problems, the utility model discloses a pin driving and pulling manipulator, which can realize stable clamping of the pins and improve the clamping force of the pins. The utility model also discloses a plate positioning system.

[0004] The specific technical solution of the utility model is as follows:

[0005] A pin driving and pulling manipulator, comprising:

[0006] A fixing mechanism and a driving mechanism, wherein the driving mechanism is movable relative to the fixing mechanism;

[0007] The driving mechanism comprises:

[0008] A driving member, wherein the driving member has a plurality of evenly arranged inclined guide blocks inclined to the axial direction of the driving member, and the driving member has a power source for driving the driving member to move in the axial direction; and

[0009] A plurality of clamping members for clamping pins, wherein the clamping members are provided with oblique holes or oblique grooves inclined to the axis thereof, the clamping members are arranged corresponding to the oblique guide blocks, and the clamping members are linearly slidably matched with the fixing mechanism in the radial direction of the driving member;

[0010] Wherein, the oblique guide block is matched with the oblique hole or oblique groove of the clamping member, so that when the driving member moves along its own axis, the clamping member moves along the radial direction of the driving member;

[0011] The clamping surface of the clamping piece for clamping the pin is protrudingly provided with a locking portion.

[0012] The driving member can convert its axial movement into the radial movement of the clamping member. Therefore, in this process, the multiple clamping members can move away from each other or move towards each other according to the movement direction of the driving member, so that the multiple clamping members can grasp the pin, thereby meeting the purpose of pulling out the pin; the clamping part is a part used to clamp the pin. In the prior art, the clamping part is designed as a surface design, that is, the clamping part is generally a smooth structure. Therefore, when the clamping part clamps the pin, slippage may occur between the pin and the clamping part, resulting in the inability to pull out the pin. At this time, it is necessary to increase the clamping force of the clamping part on the pin to prevent the pin from slipping. In the present application, the stopping part can realize the clamping of the pin, so the pin is limited in the axial direction of the pin to prevent the pin from slipping.

[0013] Preferably, the fixing mechanism comprises:

[0014] A mounting seat 1 and a mounting seat 2 are fixedly connected, and an assembly space is formed between the mounting seat 1 and the mounting seat 2;

[0015] Wherein, the driving member is located in the assembly space; at least a part of the clamping member is located outside the assembly space, and the clamping member and the second mounting seat are slidably matched.

[0016] The second mounting seat provides a moving platform for the clamping member, so that it can only move in a direction perpendicular to the moving direction of the driving member, thereby meeting the requirement of synchronous and co-planar movement of multiple clamping members.

[0017] Preferably, the driving mechanism further comprises:

[0018] The guide member is connected to the driving member, the power source transmits power to the driving member through the guide member, and the guide member cooperates with a guide of the mounting seat in the axial direction of the driving member.

[0019] The guide member can provide movement limitation for the driving member so that it can only move along the axis of the driving member itself, thereby improving the driving efficiency.

[0020] Preferably, the fixing mechanism further comprises:

[0021] A mounting member, the mounting member is arranged in the assembly space, the mounting member is connected to the second mounting seat, the mounting member is provided with a hole portion that matches the inclined guide block, and the diameter of the hole portion in the radial direction of the driving member is larger than the diameter of the inclined guide block in the radial direction of the driving member;

[0022] Wherein, the clamping member and the mounting member are slidably matched, and the clamping member is located between the mounting member and the second mounting seat.

[0023] In the radial direction of the driving member, the hole portion can reserve a movement distance for the inclined guide block, so that when the inclined guide block applies force to the inclined hole or inclined groove, it can pull or push the clamping member to move along the radial direction of the driving member, thereby better meeting the requirements of clamping the pin or releasing the pin.

[0024] Preferably, the clamping member has step portions extending along both sides of its moving direction, one side of the step portion cooperates with the mounting member, and the other side cooperates with the second mounting seat.

[0025] The step portion can be slidably matched with the mounting member and the second mounting seat at the same time, so that the clamping member has better movement ability on the basis that the mounting member is fixed relative to the second mounting seat.

[0026] Preferably, a guide member is provided between the second mounting seat and the step portion.

[0027] The guide member can make the clamping member move in a directional manner on the second mounting seat, further meeting the requirement that multiple clamping members clamp the pin synchronously or release the pin synchronously, thereby giving the pin an appropriate clamping force only when the pin needs to be clamped.

[0028] Preferably, a ball bearing is arranged between the clamping member and the second mounting seat, and / or a ball bearing is arranged between the clamping member and the mounting member.

[0029] The balls can reduce the friction between the clamping member and the second mounting seat or the mounting member, thereby making the movement of the clamping member smoother.

[0030] Preferably, a positioning column extending toward the second mounting seat is provided in the middle of the mounting member, and a positioning portion cooperating with the positioning column is provided on the same side of the clamping surface of the clamping member.

[0031] During assembly, the clamping member is first assembled on the mounting seat 2, and then the mounting member is assembled. During the process of assembling the mounting member, a positioning space is formed between the positioning parts of the multiple clamping members, and the positioning column is extended into the positioning space, thereby providing guidance for the mounting member during the assembly process, so that when the mounting member is positioned and assembled, the multiple clamping members are kept in a preset displacement path, and the multiple clamping members maintain a movement angle, thereby better meeting the displacement driving requirements.

[0032] A plate positioning system, comprising:

[0033] The pin driving and pulling robot as claimed in claim 1; and

[0034] A pin, wherein at least one end of the pin is provided with a locking groove matched with the locking portion.

[0035] The locking groove provided on the pin can be well engaged with the locking part. When the locking part extends into the locking groove, the clamping piece can drive the pin to move with the movement of the manipulator. In this process, the pin can be pulled out without applying a large clamping force, and the pin can be prevented from slipping off the clamping piece, thereby better meeting the plate positioning requirements.

[0036] Preferably, the retaining groove is an annular groove.

[0037] The closed-loop groove portion of the annular structure can avoid complicated positioning operations during the process of the clamping member clamping the pin, thereby effectively improving the efficiency of driving and pulling the pin.

[0038] Compared with the prior art, the utility model can solve the problem of pins slipping easily when positioning the plate during plate processing; in the process of driving the clamping part to move, the utility model can make the movement of the clamping part more efficient and smoother, and meet the stability of the movement of the manipulator carrying the pin without applying a large clamping force. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 An exploded diagram of a plate positioning system in an embodiment of the utility model;

[0040] Figure 2 A bottom view of the plate positioning system in the embodiment of the utility model;

[0041] Figure 3 for Figure 2 AA section view;

[0042] Figure 4 for Figure 2 BB cross-sectional view;

[0043] Figure 5 A schematic diagram of a clamping member in an embodiment of the utility model;

[0044] Figure 6 This is a schematic diagram of the second mounting base in the embodiment of the utility model;

[0045] Figure 7 A schematic diagram of a pin in an embodiment of the utility model;

[0046] Figure 8 This is a schematic diagram of another arrangement of the balls in the embodiment of the utility model.

[0047] In the figure: 1-pin; 2-clamping member; 3-locking portion; 4-locking groove; 5-driving member; 6-oblique guide block; 7-oblique hole; 8-mounting seat 1; 9-mounting seat 2; 10-positioning protrusion; 11-positioning groove; 12-guide member; 13-guide portion; 14-positioning protrusion 2; 15-mounting member; 16-hole portion; 17-step portion; 18-ball; 19-slider; 20-slide groove; 21-positioning column; 22-positioning portion. DETAILED DESCRIPTION

[0048] In order to enable those skilled in the art to better understand the technical solution of the present invention, the present invention is further described in detail below in conjunction with specific implementation methods.

[0049] The utility model is mainly used in the field of plate processing, to be precise, for positioning the plate on the processing table. The present embodiment assumes that the manipulator reciprocates vertically in the up and down directions to realize the pulling out of the pin 1. Therefore, it can be known that the movement plane of the component used to clamp the pin 1 is a plane perpendicular to the movement direction of the manipulator, that is, a horizontal plane. It can be known that in different operating conditions, the movement direction of the manipulator can also be inclined to the vertical.

[0050] like Figure 1 to Figure 7 As shown, in this embodiment, a plate positioning system is disclosed, including a pin-pulling robot, and a pin 1. The robot includes a clamping member 2, and the clamping surface of the clamping member 2 for clamping the pin 1 is protrudingly provided with a locking portion 3. At least one end of the pin 1 is provided with a locking groove 4 that cooperates with the locking portion 3. This embodiment utilizes the cooperation of the locking portion 3 and the locking groove 4 to enable the clamping member 2 and the pin 1 to be clamped. It can be understood that when the locking portion 3 is embedded in the locking groove 4, the locking portion 3 realizes axial positioning for the pin 1, thereby preventing the pin 1 from slipping. In this embodiment, the locking groove 4 is an annular groove, which can avoid complicated clamping and positioning during specific use, thereby better improving the use efficiency.

[0051] Therefore, when using this embodiment, Figure 5 and Figure 7 As shown, an annular groove is processed at each end of the pin 1, and a locking portion 3 is provided on the clamping surface of the clamping member 2. When the three clamping members 2 move toward each other at the same time to clamp the pin 1, the locking portion 3 on the clamping member 2 is embedded in the locking groove 4 on the pin 1, tightly clamping the pin 1, so that it will not slip when pulled up and moved upward; when the pin 1 is embedded in the pin 1 hole of the workbench, the locking portion 3 on the clamping member 2 is also used to embed it into the locking groove 4 on the pin 1, tightly clamping the pin 1 and keeping it embedded in the pin 1 hole at a vertical angle.

[0052] In this embodiment, the manipulator is an active component, and its drive can achieve the pin 1 pulling out, such as Figure 1 to Figure 4As shown, specifically, it includes a fixing mechanism and a driving mechanism, and the driving mechanism can move relative to the fixing mechanism; the driving mechanism includes a driving member 5, and a plurality of clamping members 2 as described above; the driving member 5 has a plurality of evenly arranged inclined guide blocks 6 inclined to the axial direction of the driving member 5, and the driving member 5 has a power source for driving it to move axially; the clamping member 2 is used to clamp the pin 1, and the clamping member 2 is provided with an inclined hole 7 inclined to its axis, the clamping member 2 is arranged corresponding to the inclined guide block 6, and the clamping member 2 is linearly slidably matched with the fixing mechanism in the radial direction of the driving member 5; the inclined guide block 6 is matched with the inclined hole 7 of the clamping member 2, so that when the driving member 5 moves along its own axis, the clamping member 2 moves along the radial direction of the driving member 5. Thus, when the power source is activated, the driving member 5 moves up and down along its axis, and the inclined guide block 6 simultaneously moves along the extension direction of the inclined hole 7, and the friction between the two enables each clamping member 2 to move along a plane parallel to the processing table, thereby achieving synchronous clamping of the pin 1 or releasing of the pin 1 by multiple clamping members 2. It is known that in some embodiments, the clamping member 2 is provided with an inclined groove inclined to its axis, and the inclined guide block 6 cooperates with the inclined groove of the clamping member 2, which will not be described in detail here.

[0053] Furthermore, the fixing mechanism includes a mounting seat 1 8 and a mounting seat 2 9 which are fixedly connected, and an assembly space is formed between the mounting seat 1 8 and the mounting seat 2 9; the driving member 5 is located in the assembly space; at least a part of the clamping member 2 is located outside the assembly space, and the clamping member 2 and the mounting seat 2 9 are slidably matched. When the power source is in operation, due to the friction between the inclined guide block 6 and the inclined hole 7, the friction is along the extension direction of the inclined hole 7. Therefore, on the basis of the sliding match between the clamping member 2 and the mounting seat 2 9, the axial component of the friction force of the driving member 5 can be offset and the radial component of the friction force of the driving member 5 can be retained, so that the component can realize the driving of the radial displacement of the clamping member 2. The clamping member 2 can be completely set in the assembly space, or partially set in the assembly space. In this embodiment, the clamping member 2 is partially set in the assembly space, so that the mounting seat 1 8 and the mounting seat 2 9 can safely protect the clamping member 2. The portion exposed in the assembly space is actually the portion of the clamping member 2 used to clamp the pin 1 . At this time, the locking portion 3 is also located outside the assembly space so as to meet the clamping requirements for the pin 1 .

[0054] In this embodiment, if Figure 1 and Figure 6 As shown, there is a positioning member 1 between the mounting seat 1 8 and the mounting seat 2 9, and the positioning member 1 includes a positioning protrusion 10 and a positioning groove 11, one of which is arranged on the mounting seat 1 8, and the other is arranged on the mounting seat 2 9, thereby enabling quick installation when assembling the mounting seat 1 8 and the mounting seat 2 9, thereby improving assembly efficiency.

[0055] In this embodiment, in order to improve the displacement efficiency of the driving member 5, the driving mechanism further includes a guide member 12, the guide member 12 is connected to the driving member 5, the power source transmits power to the driving member 5 through the guide member 12, and the guide member 12 is guided and matched with the mounting seat 1 8 in the axial direction of the driving member 5. Further, the mounting seat 1 8 is provided with a guide hole at one end away from the mounting seat 2 9, and the driving member 5 has a guide portion 13 matched with the guide hole. On the basis of the sliding match between the guide portion 13 and the guide hole, the power source only makes the driving member 5 move along its axial direction, so as to avoid the movement path of the driving member 5 and the preset path being deviated during the movement of the manipulator, thereby avoiding the asynchronous movement of the multiple clamping members 2, thereby avoiding the invalid clamping of the pin 1, and thus avoiding the pin 1 from slipping from between the multiple clamping members 2 due to insufficient clamping force.

[0056] In this embodiment, the guide member 12 and the mounting member 15 are connected by screws, and a positioning component 2 is arranged between the guide member 12 and the mounting member 15. The arrangement of the positioning component 2 is similar to that of the positioning component 1. The assembly positioning between the guide member 12 and the mounting member 15 is achieved by the positioning protrusion 14 and the positioning groove 11 to improve assembly efficiency.

[0057] In this embodiment, the fixing mechanism further includes a mounting member 15, which is arranged in the assembly space, connected to the second mounting seat 9, and provided with a hole portion 16 that cooperates with the inclined guide block 6, and the diameter of the hole portion 16 in the radial direction of the driving member 5 is larger than the diameter of the inclined guide block 6 in the radial direction of the driving member 5; the clamping member 2 and the mounting member 15 are slidably matched, and the clamping member 2 is located between the mounting member 15 and the second mounting seat 9. The mounting member 15 is connected between the second mounting seat 9 and the limiting portion by screws, and can provide installation conditions for the clamping member 2, so that the clamping member 2 is pressed between the mounting member 15 and the second mounting portion, thereby further providing a guide path for the clamping member 2, thereby providing the movement stability of the clamping member 2.

[0058] In this embodiment, the clamping member 2 has a step portion 17 extending along both sides of its movement direction, one side of the step portion 17 cooperates with the mounting member 15, and the other side cooperates with the mounting seat 2 9. In other words, the clamping member 2 is pressed between the mounting member 15 and the mounting seat 2 9 through its step portion 17. Furthermore, a ball 18 is provided between the clamping member 2 and the mounting seat 2 9, and / or a ball 18 is provided between the clamping member 2 and the mounting member 15. Specifically, one side of the step portion 17 is in sliding cooperation with the mounting member 15 through the ball 18, and / or the other side is in sliding cooperation with the mounting seat 2 9 through the ball 18, thereby effectively reducing the sliding friction of the clamping member 2, thereby realizing the movement of the clamping member 2 more smoothly. Of course, if Figure 8As shown, in some other embodiments, a ball 18 can be arranged between the end of the step portion 17 and the second mounting seat 9, and the effect is that the clamping part can slide smoothly. Furthermore, a guide member is arranged between the second mounting seat 9 and the step portion 17. The guide member includes a slider 19 and a slide groove 20, the slider 19 is arranged at the end of the step portion 17, and the slide groove 20 is arranged on the second mounting seat 9, thereby not only meeting the quick assembly of the clamping member 2, but also achieving better limiting of the movement path of the clamping member 2.

[0059] In this embodiment, a positioning column 21 extending toward the mounting seat 29 is provided in the middle of the mounting member 15, and a positioning portion 22 cooperating with the positioning column 21 is provided on the same side of the clamping surface of the clamping member 2. The positioning portion 22 is a curved surface structure, and the positioning column 21 is an inverted cone structure. Therefore, during the assembly process, if multiple clamping members 2 are close to each other, the relative distance between the clamping members 2 can be adjusted instantly through the positioning column 21, so that there is a reasonable gap between the clamping surfaces of the multiple clamping members 2, so as to achieve stable clamping of the pin 1 at any time.

[0060] In addition, in this embodiment, the guide member 12 is provided with a trumpet-shaped structure, the diameter of which increases from small to large from top to bottom, so as to accommodate the clamping member 2, the mounting member 15, and the driving member 5 together, thereby improving the compactness of the overall structure.

[0061] Thus, the mounting member 15 is fixedly mounted on the mounting seat 2 9, the clamping member 2 is installed and matched between the mounting member 15 and the mounting seat 2 9, and the driving member 5 is slidably matched with the mounting member 15 and the clamping member 2; the driving member 5 is fixedly connected with the guide member 12, and the guide member 12 is slidably matched with the mounting seat 1 8, one end of the mounting seat 1 8 is connected to the mounting seat 2 9, and the other end is connected to the cylinder, so that the assembly of the pin-pulling manipulator is realized. Under the action of the cylinder, the guide member 12 and the driving member 5 are driven to move up and down, and the up and down movement of the driving member 5 drives all the clamping members 2 to move together. Since the clamping member 2 and the driving member 5 have a radial sliding fit relationship, when the driving member 5 moves up and down, the driving direction of the force given by the cylinder can be changed: that is, the vertical movement up and down is converted into horizontal movement through the clamping member 2, so that the three clamping members 2 move in the radial direction at the same time, and the pin 1 can be clamped. In this way, the direction of the force is changed and the force of the clamping without slipping is increased, which effectively improves the stability of the manipulator.

[0062] The above are only preferred embodiments of the present invention. It should be noted that the above preferred embodiments should not be regarded as limiting the present invention. The protection scope of the present invention should be based on the scope defined by the claims. For ordinary technicians in this technical field, several improvements and modifications can be made without departing from the spirit and scope of the present invention, and these improvements and modifications should also be regarded as the protection scope of the present invention.

Claims

1. A pin driving and pulling robot, characterized in that: include: A fixing mechanism and a driving mechanism, wherein the driving mechanism is movable relative to the fixing mechanism; The driving mechanism comprises: A driving member, wherein the driving member has a plurality of evenly arranged inclined guide blocks inclined to the axial direction of the driving member, and the driving member has a power source for driving the driving member to move in the axial direction; and A plurality of clamping members for clamping pins, wherein the clamping members are provided with oblique holes or oblique grooves inclined to the axis thereof, the clamping members are arranged corresponding to the oblique guide blocks, and the clamping members are linearly slidably matched with the fixing mechanism in the radial direction of the driving member; Wherein, the oblique guide block is matched with the oblique hole or oblique groove of the clamping member, so that when the driving member moves along its own axis, the clamping member moves along the radial direction of the driving member; The clamping surface of the clamping piece for clamping the pin is protrudingly provided with a locking portion.

2. A pin driving and pulling robot as claimed in claim 1, characterized in that: The fixing mechanism comprises: A mounting seat 1 and a mounting seat 2 are fixedly connected, and an assembly space is formed between the mounting seat 1 and the mounting seat 2; Wherein, the driving member is located in the assembly space; at least a part of the clamping member is located outside the assembly space, and the clamping member and the second mounting seat are slidably matched.

3. A pin driving and pulling robot as claimed in claim 2, characterized in that: The driving mechanism further comprises: The guide member is connected to the driving member, the power source transmits power to the driving member through the guide member, and the guide member cooperates with a guide of the mounting seat in the axial direction of the driving member.

4. A pin driving and pulling robot as claimed in claim 2, characterized in that: The fixing mechanism also includes: A mounting member, the mounting member is arranged in the assembly space, the mounting member is connected to the second mounting seat, the mounting member is provided with a hole portion that matches the inclined guide block, and the diameter of the hole portion in the radial direction of the driving member is larger than the diameter of the inclined guide block in the radial direction of the driving member; Wherein, the clamping member and the mounting member are slidably matched, and the clamping member is located between the mounting member and the second mounting seat.

5. A pin driving and pulling robot as claimed in claim 4, characterized in that: The clamping member has step portions extending along both sides of the moving direction thereof, one side of the step portion cooperates with the mounting member, and the other side cooperates with the second mounting seat.

6. A pin driving and pulling robot as claimed in claim 5, characterized in that: A guide component is arranged between the second mounting seat and the step portion.

7. A pin driving and pulling robot as claimed in claim 5, characterized in that: A ball bearing is arranged between the clamping member and the second mounting seat, and / or a ball bearing is arranged between the clamping member and the mounting member.

8. A pin driving and pulling robot as claimed in claim 4, characterized in that: A positioning column extending toward the second mounting seat is arranged in the middle of the mounting member, and a positioning portion cooperating with the positioning column is arranged on the same side of the clamping surface of the clamping member.

9. A plate positioning system, characterized in that: include: The pin driving and pulling robot according to any one of claims 1 to 8; as well as A pin, wherein at least one end of the pin is provided with a locking groove matched with the locking portion.

10. A plate positioning system as claimed in claim 9, characterized in that: The retaining groove is an annular groove.

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