Workpiece grasping mechanism

Abstract

The utility model relates to the technical field of gripping tooling, and specifically to a workpiece gripping mechanism, which includes a mechanical arm, which includes a pillar, a swing arm, a clamp arm, a primary rotary drive, a secondary rotary drive and a pair of clamping claws; the first end of the swing arm is hinged to the top of the pillar through a first hinge shaft; the second end of the swing arm is hinged to the clamp arm through a second hinge shaft; a pair of clamping claws are provided at the free end of the clamp arm, and the pair of clamping claws can approach or move away from each other; the first end of the swing arm is provided with a primary rotary drive, which is connected to the first hinge shaft; the second end of the swing arm is provided with a secondary rotary drive, which is connected to the second hinge shaft; the first hinge shaft and the second hinge shaft are arranged in parallel along a first direction. During the entire handling process, the pillar is fixed and does not rotate, and the operation safety is high; the mechanical arm has a simple and practical structure, and is easy to troubleshoot equipment failures and repair; the equipment occupies a small space.

Description

Technical Field

[0001] The utility model relates to the technical field of grabbing tooling, in particular to a workpiece grabbing mechanism. Background Art

[0002] Workpiece grabbing fixtures are commonly used transfer fixtures, which are used to transfer workpieces between the previous process and the next process. Workpiece grabbing fixtures are usually equipped with robots, which complete a series of complex actions, including clamping the workpiece in the previous process and transporting the workpiece to the next process for unloading.

[0003] Traditional robots are generally equipped with multiple motors on their swing arms to increase the robot's degree of freedom and enable the robot to perform more complex movements. However, the cost of such robots is relatively high and it is difficult to promote them on multiple production lines. Secondly, most traditional robots are equipped with a turntable at their bottom, which can drive the robot to rotate in the horizontal plane. Therefore, the handling actions of traditional robots are usually clamping the workpiece, rotating horizontally, and unclamping and unloading. Since the robot takes up a large space when rotating in the horizontal plane and there are safety hazards, this requires that there must be enough space on the production line to place the workpiece grabbing tooling, which places high requirements on the production line production space. Utility Model Content

[0004] 1. Technical issues to be resolved

[0005] In view of the above-mentioned shortcomings and deficiencies of the prior art, the utility model provides a workpiece grasping mechanism, which solves the technical problems that the robot movements of traditional workpiece grasping tooling are complex, resulting in high costs and high requirements for production line production space.

[0006] (II) Technical solution

[0007] In order to achieve the above-mentioned object, the workpiece grasping mechanism of the utility model comprises a mechanical arm, wherein the mechanical arm comprises a support, a swing arm, a clamping arm, a primary rotary drive, a secondary rotary drive and a pair of clamping claws;

[0008] The first end of the swing arm is hinged to the top end of the pillar through a first hinge shaft; the second end of the swing arm is hinged to the clamp arm through a second hinge shaft; a pair of clamping claws are provided at the free end of the clamp arm, and the pair of clamping claws can move closer to or farther away from each other;

[0009] The first end of the swing arm is provided with the primary rotary drive, and the primary rotary drive is connected to the first hinge shaft; the second end of the swing arm is provided with the secondary rotary drive, and the secondary rotary drive is connected to the second hinge shaft; the first hinge shaft and the second hinge shaft are arranged in parallel along the first direction.

[0010] Optionally, the workpiece grasping mechanism further comprises a ground rail;

[0011] The bottom end of the support column is slidably connected to the ground rail along the first direction.

[0012] Optionally, a pair of the mechanical arms are slidably disposed on the ground rail.

[0013] Optionally, the workpiece grabbing mechanism further includes a conveying track and a storage rack;

[0014] The storage rack is slidably connected to the conveying track along the first direction;

[0015] The storage rack is provided with a plurality of placement layers along the vertical direction, and the primary rotary drive and the secondary rotary drive can drive the clamp to rise and fall between the plurality of placement layers.

[0016] Optionally, the workpiece gripping mechanism further comprises a guide rail and a workpiece bending machine;

[0017] The workpiece bending machine comprises a machine body, a pair of rollers and a support plate; the machine body is slidably connected to the guide rail along the first direction; the pair of rollers are rotatably connected to the machine body, and the rotation directions of the pair of rollers are opposite; the support plate is arranged on the machine body;

[0018] A pair of the rollers and the support plate are arranged along the first direction.

[0019] Optionally, a pair of the workpiece bender is slidably disposed on the guide rail;

[0020] A support is provided on the guide rail; the support is provided between a pair of the workpiece bending machines; and the pair of mechanical arms can be lifted and lowered at both ends of the support in a one-to-one correspondence.

[0021] Optionally, the support member includes a base, a clamping plate and a clamping driver;

[0022] The base is arranged on the guide rail;

[0023] The clamping plate is slidably connected to the base;

[0024] The clamping driver is arranged on the base, and the clamping driver can drive the clamping plate to rise and fall in a vertical direction.

[0025] (III) Beneficial effects

[0026] The beneficial effects of the utility model are:

[0027] The first hinge shaft is driven to rotate synchronously by the primary rotary drive, and then the swing arm is driven to rotate around the axis of the first hinge shaft, and the clamp arm is adjusted to the primary swing. The second hinge shaft is driven to rotate synchronously by the secondary rotary drive, and then the clamp arm is driven to rotate around the axis of the second hinge shaft, and the clamp arm is adjusted to the secondary swing. Through the coordinated drive of the primary rotary drive and the secondary rotary drive, a pair of clamps can drive the clamped workpiece to flip, and transport the workpiece from the front side of the robot arm to the back side of the robot arm. During the entire handling process, the pillar is fixed and does not rotate, and the operation is highly safe; the robot arm has a simple and practical structure, which is easy to troubleshoot equipment failures and repairs, effectively reducing equipment costs, and can be promoted on multiple production lines; the robot arm is set between the loading station and the unloading station, and the equipment occupies a small space. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is a structural schematic diagram of the workpiece grasping mechanism of the utility model;

[0029] Figure 2 It is a structural schematic diagram of the mechanical arm of the utility model;

[0030] Figure 3 for Figure 1 The enlarged view of point B in the middle;

[0031] Figure 4 for Figure 1 Enlarged view of point A in the middle.

[0032] [Description of Reference Numerals]

[0033] 1: Robotic arm; 11: Support; 12: Swing arm; 13: Clamp arm; 14: Primary rotary drive; 15: Secondary rotary drive; 16: Clamp claw;

[0034] 2: Ground rail;

[0035] 3: Conveyor track;

[0036] 4: Storage rack;

[0037] 5: Guide rail;

[0038] 6: workpiece bending machine; 61: machine body; 62: roller; 63: support plate;

[0039] 7: support member; 71: base; 72: clamping plate; 73: clamping driver. DETAILED DESCRIPTION

[0040] In order to better explain the present invention and facilitate understanding, the present invention is described in detail below through specific implementation modes in conjunction with the accompanying drawings.

[0041] It should be noted that all directional indications in the embodiments of the present invention (such as up, down, left, right, front, back...) are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0042] In addition, in the present invention, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0043] In the present invention, unless otherwise clearly specified and limited, the terms "connection", "fixation", etc. should be understood in a broad sense. For example, "fixation" can be a fixed connection, a detachable connection, or an integral connection; "connection" can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0044] See also Figure 1 and Figure 2 The utility model provides a workpiece grasping mechanism, which includes a mechanical arm 1, which includes a pillar 11, a swing arm 12, a clamp arm 13, a primary rotary drive 14, a secondary rotary drive 15 and a pair of clamps 16; the first end of the swing arm 12 is hinged to the top of the pillar 11 through a first hinge axis; the second end of the swing arm 12 is hinged to the clamp arm 13 through a second hinge axis; a pair of clamps 16 are provided at the free end of the clamp arm 13, and the pair of clamps 16 can move closer to or farther from each other; the first end of the swing arm 12 is provided with a primary rotary drive 14, which is connected to the first hinge axis; the second end of the swing arm 12 is provided with a secondary rotary drive 15, which is connected to the second hinge axis; the first hinge axis and the second hinge axis are arranged in parallel along a first direction, and the first direction is the axis or length direction of the workpiece. In this embodiment, the workpiece is a steel bar. The pair of clamps 16 are driven by a cylinder, and the cylinder drives the pair of clamps 16 to move synchronously in opposite directions to clamp or release the workpiece. The primary rotary drive 14 and the secondary rotary drive 15 may be electric motors.

[0045] The first hinge shaft is driven to rotate synchronously by the primary rotary driver 14, and then the swing arm 12 is driven to rotate around the axis of the first hinge shaft, and the clamp arm 13 is adjusted to the primary swing. The second hinge shaft is driven to rotate synchronously by the secondary rotary driver 15, and then the clamp arm 13 is driven to rotate around the axis of the second hinge shaft, and the clamp arm 13 is adjusted to the secondary swing. Through the coordinated drive of the primary rotary driver 14 and the secondary rotary driver 15, a pair of clamping claws 16 can drive the clamped workpiece to flip, and transport the workpiece from the front side of the robot arm 1 to the back side of the robot arm 1. During the entire handling process, the support 11 is fixed and does not rotate, and the operation safety is high; the robot arm 1 has a simple and practical structure, is easy to troubleshoot equipment failures and repairs, effectively reduces equipment costs, and can be promoted on multiple production lines; the robot arm 1 is set between the loading station and the unloading station, and the equipment occupies a small space.

[0046] Furthermore, the workpiece gripping mechanism further includes a ground rail 2; the bottom end of the support 11 is slidably connected to the ground rail 2 along a first direction. The provision of the ground rail 2 enables the robot arm 1 to move along the axis of the workpiece, thereby adjusting the clamping position of the pair of jaws 16, thereby improving the adaptability of the robot arm 1 to clamping workpieces of different lengths.

[0047] Secondly, a pair of mechanical arms 1 are slidably arranged on the ground rail 2. The pair of mechanical arms 1 synchronously clamp the workpiece and synchronously flip the workpiece, which can effectively improve the adaptability of carrying heavy workpieces and improve the stability of the carrying.

[0048] In addition, the workpiece grasping mechanism also includes a conveying track 3 and a storage rack 4; the storage rack 4 is slidably connected to the conveying track 3 along a first direction; the storage rack 4 is provided with multiple placement layers along the vertical direction, and the primary rotary driver 14 and the secondary rotary driver 15 can drive the clamp 16 to rise and fall between the multiple placement layers. Since the models of the workpieces at the loading station may be different, in order to improve the adaptability of the workpiece grasping mechanism to carry multiple models of workpieces, the storage rack 4 is set as a multi-layer storage structure, and the workpieces of the corresponding models are transported to the corresponding placement layers of the storage rack 4, so as to realize the continuous operation of the workpiece grasping mechanism and improve the working efficiency. The model of the workpiece includes length and weight parameters. For the working condition of mixed loading of workpieces of different models, a weight sensor can be set on the robot 1 for detection, and the corresponding program can be executed according to the measured weight to transport the workpiece to the placement layer of the corresponding weight; for the working condition of separate loading of workpieces of different models, the robot 1 can select the program according to the model of the workpiece to be processed, and there is no need to frequently replace the storage rack 4, so that multiple models of workpieces can be placed in a storage rack 4 in a partition, thereby improving the processing efficiency of workpieces of different models.

[0049] like Figure 3As shown, the workpiece grabbing mechanism also includes a guide rail 5 and a workpiece bending machine 6; the workpiece bending machine 6 includes a body 61, a pair of rollers 62 and a support plate 63; the body 61 is slidably connected to the guide rail 5 along a first direction; the pair of rollers 62 is rotatably connected to the body 61, and the pair of rollers 62 turn in opposite directions; the support plate 63 is arranged on the body 61; the pair of rollers 62 and the support plate 63 are arranged along the first direction. Specifically, the pair of rollers 62 is used to extrude the workpiece to a set shape, and the workpiece is extruded and formed in the gap between the pair of rollers 62. In this embodiment, the semi-finished steel bar is extruded and bent into a finished steel bar. The support plate 63 is used to support and guide the finished steel bar after being bent by the workpiece bending machine 6, reduce the pressure of the workpiece on the roller 62, and extend the service life of the roller 62. Optionally, the spacing of the pair of rollers 62 is adjustable to improve the adaptability to the bending of workpieces of different models. The machine body 61 is slidably connected to the guide rail 5 so that a pair of rollers 62 can move along the axis of the workpiece, thereby compensating for the sliding path of the robot arm 1, reasonably adjusting the center of gravity position of the finished steel bars, and improving the handling stability of the robot arm 1.

[0050] Secondly, a pair of workpiece bending machines 6 are slidably arranged on the guide rail 5; a support member 7 is arranged on the guide rail 5; the support member 7 is arranged between the pair of workpiece bending machines 6; and a pair of mechanical arms 1 can be raised and lowered at both ends of the support member 7 in a one-to-one correspondence. The support member 7 serves as a fulcrum between the pair of workpiece bending machines 6, and the support member 7 can effectively support the center of gravity position of the finished steel bar, thereby improving the processing adaptability of the pair of workpiece bending machines 6 to longer workpieces. A pair of mechanical arms 1 are raised and lowered at both ends of the support member 7 in a corresponding manner, and specifically the mechanical arms 1 can be raised and lowered between the workpiece bending machine 6 and the support member 7. Since a pair of clamps 16 only rotate around the first hinge axis and the second hinge axis and do not rotate in the horizontal plane, even if the equipment occupies a small space, there will be no equipment interference.

[0051] See also Figure 4 , the support member 7 includes a base 71, a clamping plate 72 and a clamping driver 73; the base 71 is arranged on the guide rail 5; the clamping plate 72 is slidably connected to the base 71; the clamping driver 73 is arranged on the base 71, and the clamping driver 73 can drive the clamping plate 72 to rise and fall in the vertical direction. In this embodiment, the clamping driver 73 is a cylinder. The support member 7 is set as a clamping structure, so that the support member 7 has both supporting and clamping functions. After the support member 7 clamps the workpiece, the workpiece is cut into a set size by an external cutting setting. After a pair of mechanical arms 1 clamp the workpiece, the support member 7 unlocks the clamping of the workpiece, and the pair of mechanical arms 1 flips the workpiece to the corresponding placement layer of the storage rack 4. The layout between each device is reasonable, the equipment occupies a small space, the equipment has a small idle running path, and the operation efficiency is high.

[0052] It should be understood that the above description of the specific embodiments of the utility model is only for illustrating the technical route and features of the utility model, and its purpose is to enable those skilled in the art to understand the content of the utility model and implement it accordingly, but the utility model is not limited to the above specific implementation methods. All changes or modifications made within the scope of the claims of the utility model should be included in the protection scope of the utility model.

Claims

1. A workpiece grasping mechanism, characterized in that: The workpiece grasping mechanism comprises a mechanical arm (1), wherein the mechanical arm (1) comprises a support (11), a swing arm (12), a clamping arm (13), a primary rotary drive (14), a secondary rotary drive (15) and a pair of clamping claws (16); The first end of the swing arm (12) is hinged to the top end of the support (11) via a first hinge axis; the second end of the swing arm (12) is hinged to the clamp arm (13) via a second hinge axis; a pair of clamping claws (16) are provided at the free end of the clamp arm (13), and the pair of clamping claws (16) can move closer to or farther from each other; The first end of the swing arm (12) is provided with the primary rotary drive (14), and the primary rotary drive (14) is connected to the first hinge shaft; the second end of the swing arm (12) is provided with the secondary rotary drive (15), and the secondary rotary drive (15) is connected to the second hinge shaft; the first hinge shaft and the second hinge shaft are arranged in parallel along a first direction.

2. The workpiece grasping mechanism according to claim 1, characterized in that: The workpiece grasping mechanism also includes a ground rail (2); The bottom end of the support (11) is slidably connected to the ground rail (2) along the first direction.

3. The workpiece grasping mechanism according to claim 2, characterized in that: A pair of mechanical arms (1) are slidably arranged on the ground rail (2).

4. The workpiece grasping mechanism according to claim 1, characterized in that: The workpiece grabbing mechanism also includes a conveying track (3) and a storage rack (4); The storage rack (4) is slidably connected to the conveying track (3) along the first direction; The storage rack (4) is provided with a plurality of placement layers in the vertical direction, and the primary rotary drive (14) and the secondary rotary drive (15) can drive the clamping claw (16) to rise and fall between the plurality of placement layers.

5. The workpiece grasping mechanism according to claim 1, characterized in that: The workpiece grasping mechanism further comprises a guide rail (5) and a workpiece bending machine (6); The workpiece bending machine (6) comprises a machine body (61), a pair of rollers (62) and a support plate (63); the machine body (61) is slidably connected to the guide rail (5) along the first direction; the pair of rollers (62) are rotationally connected to the machine body (61), and the pair of rollers (62) have opposite directions of rotation; the support plate (63) is arranged on the machine body (61); A pair of rollers (62) and the support plate (63) are arranged along the first direction.

6. The workpiece grasping mechanism according to claim 5, characterized in that: A pair of workpiece bending machines (6) are slidably arranged on the guide rail (5); A support member (7) is provided on the guide rail (5); the support member (7) is provided between a pair of workpiece bending machines (6); and the pair of mechanical arms (1) can be raised and lowered in a one-to-one correspondence at both ends of the support member (7).

7. The workpiece grasping mechanism according to claim 6, characterized in that: The support member (7) comprises a base (71), a clamping plate (72) and a clamping driver (73); The base (71) is arranged on the guide rail (5); The clamping plate (72) is slidably connected to the base (71); The clamping driver (73) is arranged on the base (71), and the clamping driver (73) can drive the clamping plate (72) to rise and fall in a vertical direction.

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