Anti-collision shaft part grabbing device

Abstract

The utility model provides an anti-collision shaft part grabbing device. The anti-collision shaft part grabbing device comprises a telescopic air cylinder and a clamping air cylinder. The telescopic air cylinder is provided with a piston rod and further provided with a detection switch used for detecting the position of the piston rod. One end of the clamping air cylinder is fixedly connected with the tail end of the piston rod, the other end of the clamping air cylinder is provided with two sliding blocks capable of moving relatively, and the sliding blocks are fixedly provided with clamping jaws. The anti-collision shaft part grabbing device has the functions of buffering protection and collision detection and can be compatible with products of different models.

Description

Technical Field

[0001] The utility model relates to a parts grabbing device, in particular to an anti-collision shaft parts grabbing device. Background Art

[0002] The crankshaft is an essential part of the engine. Currently, crankshafts and other shaft products are still transported by truss grippers to achieve product loading and unloading and flow between various stations on the production line. Traditional truss grippers have a small stroke, large size, and cannot grip materials normally after wear. They are also not compatible with different models of products and do not have functions such as buffer protection and collision detection, which cannot meet actual production needs.

[0003] Therefore, it is necessary to provide an improved technical solution to address the above-mentioned deficiencies in the prior art. Utility Model Content

[0004] The utility model aims to provide an anti-collision shaft parts grasping device, which has the functions of buffer protection and collision detection and is compatible with products of different models.

[0005] In order to achieve the above purpose, the utility model provides the following technical solutions:

[0006] An anti-collision shaft parts grabbing device comprises a telescopic cylinder and a clamping cylinder;

[0007] The telescopic cylinder is provided with a piston rod, and the telescopic cylinder is also provided with a detection switch for detecting the position of the piston rod;

[0008] One end of the clamping cylinder is fixedly connected to the end of the piston rod, and the other end of the clamping cylinder is provided with two relatively movable slide blocks, and the slide blocks are fixedly provided with clamping claws.

[0009] According to an embodiment of the utility model, a spring is provided between the two sliders so that the two sliders are normally kept in a position close to each other.

[0010] According to one embodiment of the utility model, the clamping claw includes a fixed block and a connecting beam, the fixed block is fixedly connected to the slider, one end of the connecting beam is fixedly connected to the fixed block, and the other end of the connecting beam is provided with a C-shaped grabbing portion.

[0011] According to an embodiment of the present invention, the width and thickness of the end of the gripping portion are gradually reduced.

[0012] According to an embodiment of the utility model, a flange seat is provided at one end of the telescopic cylinder away from the clamping cylinder, and the flange seat is fixedly connected to the flange plate via a connecting column.

[0013] According to one embodiment of the utility model, the telescopic cylinder is provided with two guide rods, the guide rods are passed through the telescopic cylinder and are parallel to the piston rod; the ends of the guide rods and the piston rod are vertically connected to a connecting plate, and the connecting plate is fixedly connected to the clamping cylinder.

[0014] According to one embodiment of the utility model, a buffer plate is provided between the connecting plate and the clamping cylinder.

[0015] According to one embodiment of the utility model, there are three detection switches, which are arranged at both ends and the middle of the piston rod stroke.

[0016] According to one embodiment of the utility model, the two claws are symmetrically arranged.

[0017] Compared with the prior art, the advantages and beneficial effects of the embodiments of the present invention are:

[0018] 1) The anti-collision shaft parts grabbing device provided in the embodiment of the utility model can buffer the impact caused by grabbing parts through the gas compression in the telescopic cylinder and the retraction of the claws, so as to protect the robot motor and other hardware from damage;

[0019] 2) The anti-collision shaft parts grabbing device provided by the embodiment of the utility model can detect the position of the piston rod of the telescopic cylinder in real time through the detection switch in the telescopic cylinder, so as to realize the in-place detection and collision detection, reduce the frequency of equipment collision and hardware damage, and improve the stability of the production line;

[0020] 3) The anti-collision shaft parts grabbing device provided by the embodiment of the utility model can grab parts of different sizes by clamping the two claws of the cylinder that can move relatively, and has strong compatibility, and does not need to replace different grippers, thereby reducing production and operation costs;

[0021] 4) The anti-collision shaft parts grasping device provided in the embodiment of the utility model uses a large-stroke clamping cylinder with an internal spring. On the basis of being compatible with shaft parts of different diameters, the claws wear evenly and can realize the air-off protection function, thereby improving the safety of production operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The drawings constituting part of the present invention are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation on the present invention. Among them:

[0023] Figure 1 A schematic diagram of the structure of the anti-collision shaft parts grabbing device provided in an embodiment of the utility model;

[0024] Figure 2A schematic diagram of the structure of a clamping cylinder of a collision-proof shaft parts grabbing device provided in an embodiment of the utility model;

[0025] Figure 3 A top view of a clamping cylinder of a collision-proof shaft parts grabbing device provided in an embodiment of the utility model;

[0026] Figure 4 A schematic diagram of the structure of the clamping cylinder claws of the anti-collision shaft parts grabbing device provided by the embodiment of the utility model;

[0027] Figure 5 A front view of the claws of the clamping cylinder of the anti-collision shaft parts grasping device provided in an embodiment of the utility model.

[0028] Description of reference numerals:

[0029] 1. Telescopic cylinder; 11. Piston rod; 12. Guide rod; 13. Connecting plate; 2. Clamping cylinder; 21. Slider; 22. Claw; 221. Fixed block; 222. Connecting beam; 223. Grasping part; 3. Flange seat; 4. Flange plate; 5. Connecting column; 6. Buffer plate. DETAILED DESCRIPTION

[0030] The present invention will be described in detail below with reference to the accompanying drawings and in conjunction with embodiments. Each example is provided by way of explanation of the present invention and does not limit the present invention. In fact, it will be clear to those skilled in the art that modifications and variations may be made in the present invention without departing from the scope or spirit of the present invention. For example, a feature shown or described as a part of one embodiment may be used in another embodiment to produce yet another embodiment. Therefore, it is desired that the present invention includes such modifications and variations within the scope of the appended claims and their equivalents.

[0031] In the description of the present invention, "first", "second" and similar words do not indicate any order, quantity or importance, but are only used to distinguish different components. "Include" or "comprising" and similar words mean that the elements or objects appearing before the word include the elements or objects listed after the word and their equivalents, but do not exclude other elements or objects. The directions or positional relationships indicated by the terms "longitudinal", "transverse", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom" and the like are based on the directions or positional relationships shown in the drawings, which are only for the convenience of describing the present invention and do not require that the present invention must be constructed and operated in a specific direction. Therefore, they cannot be understood as limitations on the present invention. The terms "connected", "connected" and "set" used in the present invention should be understood in a broad sense, for example, they can be fixedly connected or detachably connected; they can be directly connected or indirectly connected through an intermediate component; they can be wired electrical connections, radio connections, or wireless communication signal connections. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to specific circumstances.

[0032] like Figure 1 As shown, an embodiment of the utility model provides an anti-collision shaft parts grasping device, including a telescopic cylinder 1 and a clamping cylinder 2.

[0033] like Figure 1 As shown, the telescopic cylinder 1 is provided with a piston rod 11, and the telescopic cylinder 1 is also provided with a detection switch (not shown) for detecting the position of the piston rod 11. In this embodiment, the detection switches are three, which are arranged at the two ends and the middle of the stroke of the piston rod 11 in the telescopic cylinder 1 (with the detection switches being the detection switches of the piston rod 11 and the detection switches of the piston rod 11). Figure 1 The telescopic cylinder 1 can be viewed from the middle direction, that is, the upper, middle and lower positions. Figure 1-Figure 3 As shown, one end of the clamping cylinder 2 is fixedly connected to the end of the piston rod 11 , and the other end of the clamping cylinder 2 is provided with two relatively movable sliders 21 , and the sliders 21 are fixedly provided with claws 22 .

[0034] When the anti-collision shaft parts grasping device provided by the embodiment of the utility model is in use, the piston rod 11 of the telescopic cylinder 1 is extended to the position, and the two sliders 21 of the clamping cylinder 2 drive the claws 22 to open and prepare to grasp the workpiece. During the grasping process, the piston rod 11 of the telescopic cylinder 1 is in an extended state. When the claws 22 collide, the compressed air in the telescopic cylinder 1 is further compressed, and the claws 22 retreat to protect the hardware structure from damage. At the same time, the detection switch installed in the telescopic cylinder 1 detects the position of the piston rod 11 of the telescopic cylinder 1 in real time to achieve in-place detection and collision detection. After reaching the target position, the clamping cylinder 2 is closed under the action of air pressure, clamps the workpiece and transports it to the target position. The anti-collision shaft parts grasping device provided by the embodiment of the utility model can solve the problem that the existing gripper has no buffer protection, which is easy to cause product deformation and damage to the mechanical arm, and the existing gripper has no collision detection and other functions, and cannot detect interference and collision risks in time. In addition, since the distance between the claws 22 of the clamping cylinder 2 can be adjusted, it can be compatible with different models of products and grasp parts of different sizes. It has a wider applicability and can reduce the changeover time and cost. Combined with visual recognition, it can achieve disordered grasping. At the same time, it solves the problem that the existing truss is a lever structure, and the claws cannot grasp the material normally after wear, affecting production efficiency.

[0035] In order to prevent the two claws 22 from loosening and causing parts to fall after the clamping cylinder 2 is accidentally cut off, a spring is provided between the two sliders 21 to keep the two sliders 21 in a close (i.e. clamped) position at all times so that the parts can still be clamped after the clamping cylinder 2 is cut off, thereby solving the safety hazard of the existing gripper falling under the action of gravity after abnormal cutting off of the gas, as it has no gas cut-off protection.

[0036] In one embodiment of the present invention, Figure 4 , Figure 5As shown, the clamping claw 22 includes a fixed block 221 and a connecting beam 222. The fixed block 221 is fixedly connected to the slider 21. One end of the connecting beam 222 is fixedly connected to the fixed block 221. The other end of the connecting beam 222 is provided with a C-shaped grasping portion 223. The cross section of the connecting beam 222 can be rectangular. The C-shaped grasping portion 223 has a guiding function when grasping materials, and can guide non-target workpieces. The two C-shaped grasping portions 223 can adapt to the circular cross-section of shaft parts, making it more stable when grasping parts. At the same time, the wear amount is uniform, avoiding local excessive wear that causes a gap between the grasping portion 223 and the parts, so as to improve the grasping stability of the grasping portion 223 after wear, reduce the downtime and maintenance time of the clamping claw 22 due to wear, and improve the conveying efficiency of the equipment. Furthermore, the width and thickness of the end of the grasping portion 223 are gradually reduced. On the basis of achieving part guidance, small gap workpiece grasping can be achieved, and the grasping is more flexible, so as to improve the problem that the existing grippers can only be used to grasp single parts that are regularly arranged, at specific positions, and in specific postures, as well as to improve the problems that the existing grippers have a single grasping position, a large gripper interference area, and a single grasping product.

[0037] In one embodiment of the present invention, Figure 1 As shown, the end of the telescopic cylinder 1 away from the clamping cylinder 2 is provided with a flange seat 3, and the flange seat 3 is fixedly connected to the flange plate 4 through a connecting column 5. Through the flange plate 4, the entire gripping device can be connected to the robot and the truss flange plate, and can be installed on different equipment, thereby improving the versatility of the gripper and reducing the cost of spare parts, so as to solve the problem that the existing gripper is only applicable to special trusses and cannot be installed on other equipment.

[0038] When the anti-collision shaft parts grabbing device provided by the embodiment of the utility model is used, after the parts are identified through visual recognition, track, predetermined position PLC signal, etc., the grabbing device of the utility model is installed on various equipment such as robots and trusses and reaches the predetermined position, the piston rod 11 of the telescopic cylinder 1 is extended, and the two claws 22 of the clamping cylinder 2 are opened, ready to grab the workpiece. During the grabbing process, the piston rod 11 of the telescopic cylinder 1 is in an extended state. When a collision occurs, the compressed air in the telescopic cylinder 1 is further compressed, and the claws 22 retreat, which can protect the hardware structure from being damaged. At the same time, the three detection switches installed on the upper, middle and lower parts of the telescopic cylinder 1 detect the position of the piston rod 11 of the telescopic cylinder 1 in real time to realize collision detection. After reaching the target position, the clamping cylinder 2 is closed under the action of the internal spring and air pressure, clamps the workpiece and transports it to the target position. Due to the existence of the internal spring of the clamping cylinder 2, the two claws 22 of the clamping cylinder 2 always remain in a closed state without being affected by external forces, and the parts will not fall due to gravity potential energy when the abnormal air path is interrupted.

[0039] In one embodiment of the present invention, Figure 1As shown, the telescopic cylinder 1 is a cylinder with guide rods, which is provided with two guide rods 12, which are inserted into the telescopic cylinder 1 and are parallel to the piston rod 11. The ends of the guide rods 12 and the piston rod 11 are vertically connected to a connecting plate 13, so that the piston rod 11 runs in a straight line, reducing the wear of the piston rod 11 and the inner wall of the telescopic cylinder 1. The connecting plate 13 is fixedly connected to the clamping cylinder 2, and further, a buffer plate 6 is provided between the connecting plate 13 and the clamping cylinder 2 to reduce the impact when the parts are grasped.

[0040] In one embodiment of the present invention, the two claws 22 are symmetrically arranged to improve the stability when grasping parts.

[0041] Each embodiment of the utility model further includes a control mechanism and an air supply mechanism for operating the telescopic cylinder 1 and the clamping cylinder 2, which are prior arts and will not be described in detail.

[0042] In the production process of engine crankshafts, the gripping device of the utility model can be combined with a visual recognition system to realize disordered gripping of blanks. During the gripping process, the gripping device of the utility model can be compatible with different models and diameter differences in different gripping parts. The gripping device of the utility model has a buffering function, and does not need to run at a low speed when gripping materials, which improves the production rhythm. The claws of the gripping device of the utility model have a guiding function, which can grip corners and interlaced parts, greatly improving the success rate of gripping. It has been proved through actual production that the application of the gripping device of the utility model has improved production efficiency, achieved personnel optimization, reduced manufacturing costs, and improved the level of safety production control.

[0043] The above description is only a preferred embodiment of the utility model and is not intended to limit the utility model. For those skilled in the art, the utility model may have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the utility model shall be included in the protection scope of the utility model.

Claims

1. A collision-proof shaft parts grabbing device, characterized in that: It comprises a telescopic cylinder (1) and a clamping cylinder (2); The telescopic cylinder (1) is provided with a piston rod (11), and the telescopic cylinder (1) is also provided with a detection switch for detecting the position of the piston rod (11); One end of the clamping cylinder (2) is fixedly connected to the end of the piston rod (11), and the other end of the clamping cylinder (2) is provided with two relatively movable slide blocks (21), and the slide blocks (21) are fixedly provided with claws (22).

2. The anti-collision shaft parts grabbing device according to claim 1 is characterized in that: A spring is arranged between the two sliders (21) so that the two sliders (21) are normally kept in a position close to each other.

3. The anti-collision shaft parts grabbing device according to claim 1 or 2, characterized in that: The clamping claw (22) comprises a fixed block (221) and a connecting beam (222); the fixed block (221) is fixedly connected to the sliding block (21); one end of the connecting beam (222) is fixedly connected to the fixed block (221); and the other end of the connecting beam (222) is provided with a C-shaped grabbing portion (223).

4. The anti-collision shaft parts grabbing device according to claim 3 is characterized in that: The width and thickness of the end of the gripping portion (223) are gradually reduced.

5. The anti-collision shaft parts grabbing device according to claim 1 or 2, characterized in that: A flange seat (3) is provided at one end of the telescopic cylinder (1) away from the clamping cylinder (2), and the flange seat (3) is fixedly connected to the flange plate (4) via a connecting column (5).

6. The anti-collision shaft parts grabbing device according to claim 1 or 2, characterized in that: The telescopic cylinder (1) is provided with two guide rods (12), the guide rods (12) being passed through the telescopic cylinder (1) and being parallel to the piston rod (11); the ends of the guide rods (12) and the piston rod (11) are vertically connected to a connecting plate (13), and the connecting plate (13) is fixedly connected to the clamping cylinder (2).

7. The anti-collision shaft parts grabbing device according to claim 6, characterized in that: A buffer plate (6) is provided between the connecting plate (13) and the clamping cylinder (2).

8. The anti-collision shaft parts grabbing device according to claim 1 or 2, characterized in that: There are three detection switches, which are arranged at both ends and the middle of the stroke of the piston rod (11).

9. The anti-collision shaft parts grabbing device according to claim 1 or 2, characterized in that: The two clamping claws (22) are symmetrically arranged.

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