Grabbing device and mold replacement equipment

Abstract

The utility model discloses a grabbing device which comprises two clamping jaws in mirror symmetry, one end of each clamping jaw is connected with a sliding block, and the connecting positions of the two clamping jaws and the sliding blocks are limited in the same guide groove. A driving block and the two sliding blocks are arranged on the two sides of the driving block correspondingly, the driving block and the sliding blocks form a slope moving pair, the driving block is connected with a first driving mechanism, and the first driving mechanism is used for driving the driving block to move in the direction of the vertical line of the plane where the guide groove is located; and the two clamping jaws are close to each other or far away from each other in the guide groove. The mold replacing equipment comprises a vehicle body, a lifting portal frame is arranged on the vehicle body, and the mounting base of the grabbing device is mounted on the lifting portal frame. According to the grabbing device, the two clamping jaws and the driving block form an action structure of a slope moving pair, clamping and releasing actions of the two clamping jaws can be achieved through one-way movement of the driving block, and the structure is simpler and more efficient.

Description

Technical Field

[0001] The utility model relates to the technical field of mold clamping and replacement, in particular to a grasping device and a mold replacement device. Background Art

[0002] The metal forging industry is gradually moving towards automation, replacing manual labor with automated equipment. For example, currently, forging dies generally have upper and lower dies, templates, and die bases. The forging rapid die change technology involves using a die change cart to remove the entire die base from the equipment and then replacing the die. The equipment must be equipped with a hydraulic die base positioning and locking mechanism. The upper and lower die bases need to be opened, and the upper die base needs to be flipped before the upper die can be replaced. After the upper die replacement is completed, it needs to be flipped again and closed. Sometimes, a special die flipping equipment is required for die flipping. Therefore, the forging die replacement cycle is long and the cost is high.

[0003] In the prior art, compared with replacing the entire die base, only replacing the die of the forging die has the advantages of time and labor saving and low cost. However, there are positioning pins or keys between the forging die and the die base. When only replacing the die in the closed space of the forging equipment, high precision in die space positioning is required. Using an industrial robot can achieve precise die space positioning. However, the weight of the forging die is much larger than that of the corresponding forging. Only using a robot to replace the die requires increasing the load of the robot, which makes the robot itself too large in tonnage and results in too high a cost for die replacement. In some other replacement methods, when only replacing the die of the forging die, a forklift is used to transport the die. Due to the limited precision adjustment of the forklift, manual assistance is required to adjust the die position. The die is heavy and difficult to move, and it is not easy to align with the die base. Die replacement is time-consuming, laborious, and inconvenient. Summary of the Utility Model

[0004] The purpose of the utility model is to provide a grasping device and a mold replacement device to solve the technical problem in the prior art that when using a forklift to replace the mold in the prior art, manual assistance is required to adjust the mold position, and the replacement is time-consuming and laborious.

[0005] To solve the above technical problems, the utility model specifically provides the following technical solutions:

[0006] A grasping device and a mold replacement device, two mirror-symmetrical jaws, one end of each jaw is connected with a slider, and the connection parts of the two jaws and the sliders are restricted in the same guiding groove;

[0007] A driving block, the two sliders are respectively arranged on both sides of the driving block, and the driving block and the sliders form an inclined plane moving pair. The driving block is connected with a first driving mechanism, and the first driving mechanism is used to drive the driving block to move along the direction perpendicular to the plane where the guiding groove is located, so that the two jaws approach or separate from each other in the guiding groove.

[0008] As a preferred embodiment of the present utility model, the driving block includes a wedge-shaped pushing block body, one side of the wedge-shaped pushing block body is provided with a first inclined surface, the other side of the wedge-shaped pushing block body is provided with a second inclined surface, and the first inclined surface and the second inclined surface are mirror-symmetrical;

[0009] Sliding rails are arranged on both the first inclined surface and the second inclined surface;

[0010] One of the sliders is connected to the sliding rail on the first inclined surface through a chute, and the other slider is connected to the sliding rail on the second inclined surface through a chute.

[0011] As a preferred embodiment of the present utility model, the first driving mechanism is connected with a telescopic assembly. The telescopic assembly includes a third box body. A telescopic member is arranged on the third box body. An opening for installing the telescopic member is arranged on the third box body, and the telescopic member can move in the opening. The end of the telescopic member far from the third box body is connected to the first driving mechanism. A third driving mechanism is arranged inside the third box body. The action end of the third driving mechanism is connected to the telescopic member. The third driving mechanism is used to drive the telescopic member to move along the perpendicular direction of the plane where the guiding groove is located.

[0012] As a preferred embodiment of the present utility model, it further includes a second driving mechanism. The second driving mechanism includes a movable seat and a mounting base. Two parallel guiding seats are arranged on the mounting base. A transmission lead screw is arranged between the two guiding seats. The movable seat is movably installed on the two guiding seats, and the movable seat is connected to the transmission lead screw through a nut pair. One end of the transmission lead screw is connected to a driving motor, and the movable seat is connected to the third box body;

[0013] The driving motor drives the movable seat to move on the guiding seat through the transmission pair composed of the transmission lead screw and the nut pair;

[0014] Wherein, the moving direction of the movable seat along the guiding seat is perpendicular to the perpendicular direction of the plane where the guiding groove is located.

[0015] The present utility model provides a mold changing device applying the grasping device, which includes a vehicle body. A lifting gantry is arranged on the vehicle body. The mounting base of the grasping device is mounted on the lifting gantry.

[0016] The present utility model has the following beneficial effects compared with the prior art:

[0017] The grasping device of the present utility model has an action structure of an inclined plane moving pair composed of two clamping jaws and a driving block. Through the one-way movement of the driving block, the clamping and releasing actions of the two clamping jaws can be realized, and the structure is simpler and more efficient. Brief Description of the Drawings

[0018] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only exemplary. For those of ordinary skill in the art, without creative efforts, other implementation drawings can also be obtained based on the provided drawings.

[0019] Figure 1 It is a schematic structural diagram of the grasping device in the embodiment of the present invention;

[0020] Figure 2 It is a schematic structural diagram of the cooperation between the driving block and the slider in the embodiment of the present invention;

[0021] Figure 3 It is a schematic structural diagram of the jaw assembly in the embodiment of the present invention;

[0022] Figure 4 It is a schematic structural diagram of the chute in the embodiment of the present invention;

[0023] Figure 5 It is a schematic structural diagram of the slide rail in the embodiment of the present invention;

[0024] Figure 6 It is a schematic structural diagram of the mold replacement device in the embodiment of the present invention.

[0025] The reference numerals in the drawings are respectively represented as follows:

[0026] 1 - Jaw; 11 - Jaw block; 12 - First box body; 13 - Second box body; 2 - Slider; 3 - Guide groove; 4 - Driving block; 41 - Wedge-shaped push block body; 42 - First inclined surface; 43 - Second inclined surface; 44 - Chute; 45 - Slide rail; 46 - Limit projection; 5 - First driving mechanism; 6 - Telescopic assembly; 61 - Third box body; 62 - Telescopic member; 63 - Third driving mechanism; 7 - Second driving mechanism; 71 - Movable seat; 72 - Installation base; 73 - Guide seat; 74 - Transmission lead screw; 75 - Nut pair; 76 - Driving motor; 8 - Vehicle body; 81 - Lifting gantry; 82 - Adjusting cylinder. Detailed Embodiments

[0027] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present invention.

[0028] AsFigures 1 to 5 As shown in the figure, the present utility model provides a grasping device, comprising:

[0029] Two jaws 1 that are mirror-symmetrical. One end of each jaw 1 is connected to a slider 2, and the connection points of the two jaws and the slider 2 are restricted in the same guiding groove 3;

[0030] A driving block 4. The two sliders 2 are respectively arranged on both sides of the driving block 4, and the driving block 4 and the slider 2 form an inclined-plane moving pair. The driving block 4 is connected to a first driving mechanism 5, and the first driving mechanism 5 is used to drive the driving block 4 to move along the direction perpendicular to the plane where the guiding groove 3 is located, so that the two jaws 1 approach or move away from each other in the guiding groove 3.

[0031] For example, the first direction is two directions of front and back (the forward and backward directions are determined according to the direction in which the grasping device faces the mold to be clamped). When the driving block 4 moves forward, the driving block 4 drives the two sliders 2 to move away from each other. The two jaws 1 move synchronously with their respective corresponding sliders 2 and also move away from each other. This action can be a preparatory action before clamping the mold or an action of releasing the clamped article; when the driving block 4 moves backward, the driving block 4 drives the two sliders 2 to move closer to each other. The two jaws 1 move synchronously with their respective corresponding sliders 2 and also move closer to each other. This action is the action of clamping the mold.

[0032] The moving directions of the two sliders 2 are perpendicular to the first direction in which the driving block 4 moves. Then the two sliders 2 can drive the two jaws 1 to clamp or release the article by means of translation.

[0033] To more clearly illustrate the above-mentioned action principle of the jaw 1, the present utility model provides a connection method between the driving block 4 and the slider 2, specifically:

[0034] The driving block 4 includes a wedge-shaped push-block main body 41. A first inclined surface 42 is arranged on one side of the wedge-shaped push-block main body 41, and a second inclined surface 43 is arranged on the other side of the wedge-shaped push-block main body 41, and the first inclined surface 42 and the second inclined surface 43 are mirror-symmetrical; slide rails 45 are arranged on both the first inclined surface 42 and the second inclined surface 43; one of the sliders 2 is connected to the slide rail 45 on the first inclined surface 42 through a chute 44, and the other slider 2 is connected to the slide rail 45 on the second inclined surface 43 through a chute 44.

[0035] When the wedge-shaped push block body 41 advances forward, the size of the wedge-shaped push block body 41 between the two sliders 2 gradually increases. The first inclined surface 42 and the second inclined surface 43 of the wedge-shaped push block body 41 can apply a thrust force to the corresponding sliders 2 respectively. Under the action of the thrust force, the two sliders 2 will move in the direction away from each other; when the wedge-shaped push block body 41 advances backward, the size of the wedge-shaped push block body 41 between the two sliders 2 gradually decreases. Since the two sliders 2 are slidably connected to their respective inclined surfaces, the wedge-shaped push block body 41 can apply a pulling force to the sliders 2, and the two sliders 2 will move in the direction approaching each other under the action of the pulling force.

[0036] The movement of the two sliders 2 mentioned above is within the same guiding groove 3. The connection of the slider 2 and the wedge-shaped push block body 41 in the present invention is integrally installed in the first box body 12. The first box body 12 is specifically a box-shaped box body. The surface of the first box body 12 facing the clamping jaw 1 is provided with a guiding groove 3, that is, the clamping jaw 1 is arranged outside the first box body 12.

[0037] For example, when the wedge-shaped push block body 41 moves forward, the wedge-shaped push block body 41 will apply a thrust force to the two sliders 2, so that the two sliders 2 drive the two clamping jaws 1 to move in the direction away from each other; when the wedge-shaped push block body 41 moves backward, the wedge-shaped push block body 41 will apply a pulling force to the two sliders 2, so that the two sliders 2 drive the two clamping jaws 1 to move in the direction approaching each other.

[0038] In an embodiment of the present invention, slide rails 45 are provided on the first inclined surface 42 and the second inclined surface 43 of the wedge-shaped push block body 41, and sliding grooves 44 are provided on the slider 2 that cooperate with the slide rails 45.

[0039] The wedge-shaped push block body 41 can apply a pulling force and / or a thrust force to the sliding groove 44 through the slide rail 45. For example, when the wedge-shaped push block body 41 moves backward, the slide rail 45 also moves backward synchronously. The sliding groove 44 of the slider 2 receives a pulling force from the slide rail 45, and the two sliders 2 move in the direction approaching each other;

[0040] When the wedge-shaped push block body 41 moves forward, the first inclined surface 42 and the second inclined surface 43 of the wedge-shaped push block body 41 are the main structures for pushing the slider 2 to move, and the slide rail 45 can also provide a part of the thrust force to the sliding groove 44, so that the slider 2 moves in the direction away from each other.

[0041] In another embodiment of the present invention, sliding grooves 44 are provided on the first inclined surface 42 and the second inclined surface 43 of the wedge-shaped push block body 41, and slide rails 45 are provided on the slider 2 that cooperate with the sliding grooves 44. The positions of the sliding grooves 44 and the slide rails 45 in this embodiment are opposite to those of the sliding grooves 44 and the slide rails 45 in the above text, and the movement principle is the same, so it will not be repeated here.

[0042] The cross-sections of the slide rail 45 and the sliding groove 44 are T-shaped.

[0043] Taking one end of the first inclined surface 42 as an example, in the moving direction of the slider 2, a force-bearing surface in contact with the slide rail 45 is formed between the slide rail 45 and the first inclined surface 42. Then, when the slide rail 45 moves backward along with the first inclined surface 42, the slide rail 45 can apply a pulling force towards the inclined surface direction to the chute 44, thereby causing the slider 2 to move towards the direction close to the first inclined surface 42.

[0044] By the same token, the slider 2 on the side of the second inclined surface 43 will also move towards the direction of the second inclined surface 43 under the cooperation of the slide rail 45 and the chute 44, thereby realizing the movement of the two sliders 2 towards the direction of approaching each other, and thus realizing the clamping action of the two jaws.

[0045] In addition to the cross-section of the above-mentioned slide rail 45 and chute 44 being T-shaped, the slide rail 45 may include a force-applying portion and a sliding portion. The size of the force-applying portion is larger than that of the sliding portion. The force-applying portion is located inside the chute 44 and forms a force-bearing surface with at least one side of the chute 44 facing away from the inclined surface, so as to facilitate the slide rail 45 to apply a pulling force to the chute 44 through the force-applying portion. The size of the sliding portion is smaller than that of the force-applying portion, thereby facilitating the relative sliding of the slide rail 45 and the chute 44.

[0046] The grasping device provided by the present utility model can adjust the position of the jaw 11 in the direction towards the mold (i.e., the direction perpendicular to the plane where the guiding groove 3 is located) by connecting the telescopic assembly 6, thereby aligning the jaw 1 with the item to be grasped. Then, the jaw 1 can accurately grasp the mold to be grasped by means of translational motion, as compared with the swinging jaw 1 of the link transmission structure.

[0047] The translational clamping action of the jaw 1 of the present utility model is more precise. At the same time, the cooperation between the driving block 4 and the slider 2 can also increase the transmission area, thereby increasing the mechanical strength of the jaw 1 assembly, which is beneficial to clamping molds with large weights.

[0048] Specifically, the first driving mechanism 5 of the present utility model is connected with a telescopic assembly 6. The telescopic assembly 6 includes a third box body 61. An expansion member 62 is arranged on the third box body 61. An opening for installing the expansion member 62 is arranged on the third box body 61, and the expansion member 62 can move in the opening. The end of the expansion member 62 away from the third box body 61 is connected to the first driving mechanism 5. A third driving mechanism 63 is arranged inside the third box body 61. The action end of the third driving mechanism 63 is connected to the expansion member 62, and the third driving mechanism 63 is used to drive the expansion member 62 to move along the direction perpendicular to the plane where the guiding groove 3 is located.

[0049] Furthermore, the utility model further includes a second driving mechanism 7. The second driving mechanism 7 includes a movable seat 71 and a mounting base 72. Two parallel guide seats 73 are arranged on the mounting base 72. A transmission lead screw 74 is arranged between the two guide seats 73. The movable seat 71 is movably installed on the two guide seats 73, and the movable seat 71 is connected to the transmission lead screw 74 through a nut pair 75. One end of the transmission lead screw 74 is connected to a driving motor, and the movable seat 71 is connected to the third box body 61.

[0050] The driving motor 76 enables the movable seat 71 to move on the guide seat 73 by means of a transmission pair composed of the driving transmission lead screw 74 and the nut pair 75.

[0051] Wherein, the direction in which the movable seat 71 moves along the guide seat 73 is perpendicular to the direction of the perpendicular line of the plane where the guide groove 3 is located.

[0052] The vehicle body 8 in this embodiment can be a forklift. The grasping device is installed on the lifting mast of the forklift, and the rough adjustment of the position of the grasping device in the height direction and the horizontal direction is realized through the driving wheels and the lifting mast of the forklift.

[0053] Currently, forging dies generally have upper and lower dies, templates and die bases. The upper and lower dies can be fixed to their respective corresponding die bases through pins. The grasping device of the utility model can place the lower die on the die base, which is easy to achieve alignment and installation. However, considering that when the grasping device holds the upper die with a large weight, the grasping device will have deflection deformation under the pressure of the upper die with a large weight, which may cause the die and the die base to be misaligned and unable to be installed.

[0054] Such as Figure 6 As shown, on the basis of the above-disclosed grasping device, the utility model proposes a die replacement device for an applied grasping device, which includes a vehicle body 8. A lifting mast 81 is arranged on the vehicle body 8. The mounting base 72 of the grasping device is installed on the lifting mast 81.

[0055] The above embodiments are only exemplary embodiments of the present application and are not used to limit the present application. The protection scope of the present application is defined by the claims. Those skilled in the art can make various modifications or equivalent replacements within the essence and protection scope of the present application, and such modifications or equivalent replacements should also be regarded as falling within the protection scope of the present application.

Claims

1. A gripping device, characterized in that: include: Two mirror-symmetrical clamping jaws (1), one end of each clamping jaw (1) being connected to a slider (2), and the connection between the two clamping jaws and the slider (2) being confined in the same guide groove (3); A driving block (4), the two sliders (2) are respectively arranged on both sides of the driving block (4), and the driving block (4) and the sliders (2) form an inclined plane moving pair, the driving block (4) is connected to a first driving mechanism (5), and the first driving mechanism (5) is used to drive the driving block (4) to move along the direction of a perpendicular line of the plane where the guide groove (3) is located, so that the two clamping jaws (1) are close to or away from each other in the guide groove (3).

2. A gripping device according to claim 1, characterized in that: The driving block (4) comprises a wedge-shaped push block body (41), a first inclined surface (42) is arranged on one side of the wedge-shaped push block body (41), a second inclined surface (43) is arranged on the other side of the wedge-shaped push block body (41), and the first inclined surface (42) and the second inclined surface (43) are mirror-symmetrical; Slide rails (45) are provided on both the first inclined surface (42) and the second inclined surface (43); One of the sliders (2) is connected to the slide rail (45) on the first inclined surface (42) through a slide groove (44), and the other slider (2) is connected to the slide rail (45) on the second inclined surface (43) through a slide groove (44).

3. A gripping device according to claim 1, characterized in that: The first driving mechanism (5) is connected to a telescopic component (6), the telescopic component (6) comprising a third box (61), a telescopic member (62) being arranged on the third box (61), an opening for mounting the telescopic member (62) being arranged on the third box (61), and the telescopic member (62) being movable in the opening, the end of the telescopic member (62) away from the third box (61) being connected to the first driving mechanism (5), a third driving mechanism (63) being arranged inside the third box (61), an action end of the third driving mechanism (63) being connected to the telescopic member (62), and the third driving mechanism (63) being used for driving the telescopic member (62) to move in a direction perpendicular to the plane where the guide groove (3) is located.

4. A gripping device according to claim 3, characterized in that: The invention also comprises a second driving mechanism (7), the second driving mechanism (7) comprising a movable seat (71) and a mounting base (72), the mounting base (72) being provided with two parallel guide seats (73), a transmission screw (74) being provided between the two guide seats (73), the movable seat (71) being movably mounted on the two guide seats (73), the movable seat (71) being connected to the transmission screw (74) via a nut pair (75), one end of the transmission screw (74) being connected to a driving motor, and the movable seat (71) being connected to the third housing (61); The driving motor (76) drives the transmission pair composed of the transmission screw (74) and the nut pair (75) to move the movable seat (71) on the guide seat (73); Wherein, the direction in which the movable seat (71) moves along the guide seat (73) is perpendicular to the direction of the vertical line of the plane where the guide groove (3) is located.

5. A mold replacement device using the gripping device according to any one of claims 1 to 4, characterized in that: It comprises a vehicle body (8), a lifting door frame (81) is arranged on the vehicle body (8), and the mounting base (72) of the grabbing device is mounted on the lifting door frame (81).

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