Gripping mechanism capable of adjusting opening degree and automatic assembling equipment

Abstract

The utility model discloses an opening degree adjustable grabbing mechanism and automatic assembling equipment, and relates to the technical field of sealing plug and rubber ring assembly.The opening degree adjustable grabbing mechanism comprises a machine frame and a grabbing structure, the machine frame is provided with a table top, the grabbing structure comprises a limiting part and a grabbing clamping part, and the limiting part is arranged on the table top. And the limiting part is arranged on the table top and is used for limiting the rubber ring. According to the technical scheme, the grabbing and clamping part and the limiting part are arranged, the rubber rings can be placed through the limiting part, grabbing of the grabbing and clamping part is facilitated, the limiting size can be adjusted and controlled through the arrangement of the limiting part, and therefore the rubber rings with different sizes can be placed, and the use is convenient. Through the arrangement of the grabbing and clamping part, the grabbing and clamping part can be used for clamping and expanding to realize the adjustment of the opening degree, so that the grabbing and clamping part is matched with the limiting part to realize the grabbing of different rubber rings, and the practicability is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of the assembly of a sealing plug and a rubber ring, and particularly relates to a grasping mechanism with adjustable opening degree and an automatic assembly device. Background Art

[0002] When a rubber ring and a sealing plug are assembled, the traditional method is that workers manually put the rubber ring on the sealing plug for assembly. However, due to a large number of assemblies and long operation time, automatic assembly devices have gradually emerged for assembly. However, in the process of assembly by existing automatic assembly devices, there are still certain defects. For example, they can only grasp rubber rings of fixed sizes for assembly, with a single size and inability to grasp and assemble rubber rings of different sizes, which has limitations.

[0003] In view of this, we propose a grasping mechanism with adjustable opening degree and an automatic assembly device to solve the above problems. Summary of the Utility Model

[0004] The main purpose of the utility model is to provide a grasping mechanism with adjustable opening degree and an automatic assembly device, aiming to achieve the purpose of automatically assembling rubber rings of different sizes.

[0005] To achieve the above purpose, the grasping mechanism with adjustable opening degree proposed by the utility model for assembling a rubber ring and a sealing plug includes:

[0006] A frame having a tabletop; and

[0007] A grasping structure including a limiting part and a clamping part. The limiting part is arranged on the tabletop of the frame for limiting the rubber ring, and the clamping part is arranged above the tabletop for clamping and expanding the rubber ring.

[0008] In an embodiment, the limiting part includes a bottom table and a limiting plate;

[0009] The bottom table is installed on the tabletop of the frame, and the limiting plate is connected to one end of the bottom table along its thickness direction.

[0010] In an embodiment, the limiting part further includes an extension plate and a driving part;

[0011] There are two extension plates, both of which are arranged at one end of the bottom table along its thickness direction. The driving part is arranged inside the bottom table and is connected to the two extension plates for driving the two extension plates to move relative to or away from each other along the width direction of the bottom table;

[0012] The two extension plates include the limiting plate.

[0013] In one embodiment, the driving part includes a biaxial motor, two threaded rods, two sleeve columns, and two connecting plates;

[0014] The biaxial motor is installed inside the base table. One end of each of the two threaded rods in the axial direction thereof is fixed to the two output shafts of the biaxial motor respectively. The two sleeve columns are respectively threadedly connected to the outer peripheral walls of the two threaded rods. The two connecting plates are respectively fixed to the ends of the two sleeve columns away from the biaxial motor. The end faces of the two extension plates close to the base table are fixed to the two connecting plates.

[0015] In one embodiment, the clamping part includes a column, a plurality of semi-circular plates, a transmission part, and at least one follower part;

[0016] Each of the semi-circular plates forms a ring and is movably arranged below the column. The transmission part is arranged inside the column and is connected to each of the semi-circular plates to drive each of the semi-circular plates to open and close. At least one follower part is arranged on the outer peripheral wall of one of each of the semi-circular plates to follow the opening and closing of the semi-circular plate.

[0017] In one embodiment, the transmission part includes a motor, a screw rod, a sleeve, and a plurality of push rods;

[0018] The motor is installed inside the column. The output shaft of the motor is fixed to one end of the screw rod in the axial direction thereof. The sleeve is threadedly connected to the outer peripheral wall of the screw rod. One end of each of the push rods is hinged to the outer peripheral wall of the sleeve, and the other end is hinged to the inner wall of each of the semi-circular plates.

[0019] In one embodiment, the follower part includes a follower plate, a cylinder, and a telescopic rod;

[0020] The follower plate is attached to the outer peripheral wall of one of each of the semi-circular plates. The cylinder is installed inside the follower plate, and the output end of the cylinder is arranged downward. The telescopic rod is arranged between the column and the follower plate, and its two ends are respectively fixed between the opposite sides of the column and the follower plate.

[0021] In one embodiment, the follower part further includes a push plate, and the push plate is connected to the output end of the cylinder to push the rubber ring away from each of the semi-circular plates.

[0022] The utility model also proposes an automatic assembly device, including the above-mentioned gripping mechanism with adjustable opening and a bearing structure, the bearing structure including a bearing platform and a motor, the bearing platform and the gripping mechanism with adjustable opening are arranged opposite to each other for placing a sealing plug, the motor is installed on the frame, and its output end is connected to the bearing platform away from the gripping mechanism with adjustable opening, so that the motor drives the bearing platform to rotate to assemble the sealing plug and the rubber ring.

[0023] In one embodiment, the supporting structure further includes a plurality of accommodating grooves, each of which is opened inside the supporting platform and each of which is arranged in a surrounding manner for placing a sealing plug.

[0024] The technical solution of the utility model is provided with a gripping portion and the limiting portion, and the rubber ring can be placed through the limiting portion, which is conducive to the gripping of the gripping portion. Through the setting of the limiting portion, the limiting size can be adjusted to adapt to the placement of rubber rings of different sizes. Through the setting of the gripping portion, the gripping portion can clamp and expand to adjust the opening, thereby cooperating with the limiting portion to grasp different rubber rings, thereby improving practicality. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying creative work.

[0026] Figure 1 A schematic structural diagram of an embodiment of a gripping mechanism with adjustable opening provided by the utility model;

[0027] Figure 2 A side cross-sectional schematic diagram of a limiter in a gripping mechanism with adjustable opening provided by the utility model;

[0028] Figure 3 for Figure 1 A partial enlarged view of the middle A;

[0029] Figure 4 A three-dimensional schematic diagram of the connection between the semicircular plate, the follower plate and the push plate in the gripping mechanism with adjustable opening provided by the utility model;

[0030] Figure 5 A three-dimensional schematic diagram of a bearing platform in a gripping mechanism with adjustable opening provided by the utility model.

[0031] Description of the reference numerals in the drawings:

[0032] 1000, automatic assembly equipment; 100, grasping mechanism with adjustable opening; 1, frame; 11, tabletop; 2, grasping structure; 21, limiting part; 211, bottom table; 212, limiting plate; 213, extension plate; 214, driving part; 2141, double-shaft motor; 2142, threaded rod; 2143, sleeve column; 2144, connecting plate; 22, gripping part; 221, column; 222, semi-circular plate; 223, transmission part; 2231, motor; 2232, screw; 2233, sleeve; 2234, push rod; 224, follower part; 2241, follower plate; 2242, cylinder; 2243, telescopic rod; 2244, push plate; 200, bearing structure; 201, bearing table; 202, motor; 203, accommodating groove.

[0033] The realization of the purpose, functional features and advantages of the present utility model will be further described in conjunction with the embodiments and with reference to the accompanying drawings. Detailed implementation manners

[0034] Next, the technical solutions in the embodiments of the present utility model will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all of the embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without making creative efforts shall fall within the protection scope of the present utility model.

[0035] It should be noted that all directional indications (such as up, down, left, right, front, back...) in the embodiments of the present utility model are only used to explain the relative positional relationship and movement conditions between components in a specific posture (as shown in the drawings). If the specific posture changes, the directional indications will also change accordingly.

[0036] In addition, the descriptions involving "first", "second", etc. in the present utility model are only for descriptive purposes, and cannot be understood as indicating or implying their relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one of such features. In addition, the technical solutions between various embodiments may be combined with each other, but it must be based on the fact that those of ordinary skill in the art can implement them. When the combination of technical solutions appears to be contradictory or unable to be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the protection scope required by the present utility model.

[0037] When the rubber ring and the sealing plug are assembled, the traditional method is for workers to manually put the rubber ring on the sealing plug for assembly. However, due to the large number of assemblies and long operation time, automatic assembly equipment has gradually emerged for assembly. However, during the assembly process of the existing automatic assembly equipment, there are still certain defects. For example, it can only grasp rubber rings of fixed sizes for assembly, with a single size, and cannot grasp and assemble rubber rings of different sizes, which has limitations.

[0038] In view of this, we propose a grasping mechanism with adjustable opening and an automatic assembly equipment to solve the above problems.

[0039] The present utility model proposes a grasping mechanism with adjustable opening.

[0040] Please refer to Figures 1 to 5 , in an embodiment of the present utility model, the grasping mechanism with adjustable opening is used for the assembly of the rubber ring and the sealing plug. The grasping mechanism with adjustable opening 100 includes a frame 1 and a grasping structure 2. The frame 1 has a tabletop 11; the grasping structure 2 includes a limiting part 21 and a clamping part 22. The limiting part 21 is arranged on the tabletop 11 to limit the rubber ring, and the clamping part 22 is arranged above the tabletop 11 to clamp and expand the rubber ring.

[0041] The technical solution of the present utility model is provided with the clamping part 22 and the limiting part 21. The rubber ring can be placed through the limiting part 21, which is beneficial for the clamping part 22 to grasp. Moreover, through the setting of the limiting part 21, the limiting size can be adjusted to adapt to the placement of rubber rings of different sizes. Through the setting of the clamping part 22, the clamping part 22 can clamp and expand to realize the adjustment of the opening, so as to cooperate with the limiting part 21 to realize the grasping of different rubber rings, improving the practicability.

[0042] There are various setting methods for the limiting part 21. It can be a plate with a groove, or it can be the assembly and clamping between two plates to limit the rubber ring. Different setting methods are described in detail below.

[0043] It should be noted that a control module is arranged on the frame 1. The control module is a three-axis linear module, which can drive the grasping structure 2 to move up and down, left and right, and back and forth, thereby realizing the automatic assembly effect.

[0044] In the embodiment where the limiting part 21 is a plate with a groove, specifically, in the technical solution of the present utility model, the limiting part 21 includes a base 211 and a limiting plate 212; the base 211 is installed on the tabletop 11 of the frame 1, and the limiting plate 212 is connected to one end of the base 211 along its thickness direction.

[0045] In this embodiment, the base 211 is fixed on the tabletop 11 of the frame 1, and the limiting plate 212 is fixedly connected to the base 211, such as by bolting.

[0046] In this embodiment, as Figure 2 shown, the limiting plate 212 can be set as a U-shaped plate when viewed from the side, and the rubber ring is placed in the limiting plate 212 and arranged in sequence, so that rubber rings of fixed sizes can be placed.

[0047] In the embodiment where the limiting plate 212 is assembled and clamped between two plates, the limiting portion 21 further includes an extension plate 213 and a driving portion 214; there are two extension plates 213, and both are arranged at one end of the base 211 along its thickness direction, and the driving portion 214 is arranged inside the base 211 and is connected to the two extension plates 213 to drive the two extension plates 213 to move relative to or away from each other along the width direction of the base 211; thus arranged, in this embodiment, the driving portion 214 provides power for the two extension plates 213 to drive the two extension plates 213 to merge or separate, that is, to change the distance between the two extension plates 213, so as to realize the placement of rubber rings of different sizes and improve the practicability.

[0048] The contact between the extension plate 213 and the base 211 is beneficial to the movement of the extension plate 213.

[0049] In the embodiment of the present utility model, the setting method of the driving portion 214 is not specifically limited. For example, it can be a cylinder or can also be driven by a motor.

[0050] Specifically, in the technical solution of the present utility model, the driving portion 214 includes a double-shaft motor 2141, two threaded rods 2142, two sleeve columns 2143 and two connecting plates 2144; the double-shaft motor 2141 is installed inside the base 211, one ends of the two threaded rods 2142 along their axial directions are respectively fixed to the two output shafts of the double-shaft motor 2141, the two sleeve columns 2143 are respectively threadedly connected to the outer peripheral walls of the two threaded rods 2142, the two connecting plates 2144 are respectively fixed to the ends of the two sleeve columns 2143 away from the double-shaft motor 2141, and the end faces of the two extension plates 213 close to the base 211 are fixed to the two connecting plates 2144; thus arranged, the double-shaft motor 2141 provides power for the threaded rods 2142 to drive the sleeve columns 2143 to move towards each other or away from each other, realizing the merging or separation of the two extension plates 213, and further adjusting the distance between the two extension plates 213 to realize the placement of different rubber rings.

[0051] It should be noted that the thread directions of the two threaded rods 2142 are set in opposite directions.

[0052] It should be explained that an installation groove for placing the dual-axis motor 2141 is provided inside the base 211, which avoids the dual-axis motor 2141 being exposed outside and improves safety.

[0053] There are various ways to set the gripping part 22, which can also be a robotic arm or a jaw.

[0054] Specifically, in the technical solution of this embodiment, the gripping part 22 includes a column 221, a plurality of semi-circular plates 222, a transmission part 223, and at least one follower part 224; the column 221 is connected to the control module, and the column 221 can be driven to move through the control module. Each semi-circular plate 222 is movably arranged below the column 221 and forms a ring, which is beneficial to gripping the rubber ring. The transmission part 223 is arranged inside the column 221 and is connected to each semi-circular plate 222 to drive each semi-circular plate 222 to open and close. At least one follower part 224 is arranged on the outer peripheral wall of one of the semi-circular plates 222 to follow the opening and closing of the semi-circular plate 222; with this setting, the transmission part 223 and the semi-circular plate 222 can achieve the purpose of clamping the rubber ring, and then the rubber ring is conveyed to the sealing plug through the control module. The rubber ring can be separated from the semi-circular plate 222 through the follower part 224, realizing the assembly effect of the rubber ring sleeve and the sealing plug.

[0055] In some embodiments, there are various ways to set the transmission part 223. For example, it can be a cylinder or driven by a motor.

[0056] In this embodiment, preferably, two sets of follower parts 224 are provided to balance the thrust and push the rubber ring.

[0057] Specifically, in the technical solution of the present utility model, the transmission part 223 includes a motor 2231, a screw rod 2232, a sleeve 2233, and a plurality of push rods 2234; the motor 2231 is installed inside the column 221, and the output shaft of the motor 2231 is fixed to one end of the screw rod 2232 along its axial direction. The sleeve 2233 is threadedly connected to the outer peripheral wall of the screw rod 2232. One end of each push rod 2234 is hinged to the outer peripheral wall of the sleeve 2233, and the other end is hinged to the inner wall of each semi-circular plate 222. With such a setting, the motor 2231 provides power for the screw rod 2232 to drive the sleeve 2233 to move up and down, thereby driving the push rods 2234 to achieve the effect of spreading outward or contracting inward, thus expanding or contracting between the semi-circular plates 222 to achieve the purpose of clamping rubber rings of different sizes, and can also firmly hold the rubber ring on the semi-circular plates 222 for transportation.

[0058] It should be noted that a slot adapted to the motor 2231 is provided inside the column 221, and the motor 2231 is fixedly installed inside the slot.

[0059] The setting mode of the follower part 224 can be a movable plate.

[0060] Specifically, in the technical solution of the present utility model, the follower part 224 includes a follower plate 2241, a cylinder 2242, and a telescopic rod 2243; the follower plate 2241 is attached to the outer peripheral wall of one of the semi-circular plates 222. The cylinder 2242 is installed inside the follower plate 2241, and the output end of the cylinder 2242 is arranged downward. The telescopic rod 2243 is arranged between the column 221 and the follower plate 2241, and both ends thereof are fixed between the opposite sides of the column 221 and the follower plate 2241.

[0061] It should be explained that a transfer slot adapted to the size of the telescopic rod 2243 is provided on the outer peripheral wall of the column 221, and the inner wall of the transfer slot is fixed to one end of the telescopic rod 2243; a placement slot adapted to the size of the cylinder 2242 is provided inside the follower plate 2241, and the inner wall of the placement slot is fixed to one end of the cylinder 2242.

[0062] It can be understood that when the output end of the cylinder 2242 directly extends out to push the rubber ring downward for peeling, there may be a situation where it cannot make contact. Further, in the technical solution of the present invention, the follower part 224 further includes a push plate 2244. The push plate 2244 is connected to the output end of the cylinder 2242 and is used to push the rubber ring away from each semi-circular plate 222. With such a setting, the cylinder 2242 provides a downward thrust to the push plate 2244, thereby pushing the push plate 2244 downward, driving the rubber ring to move downward, and then separating from the semi-circular plate 222, achieving an automated assembly effect.

[0063] The present invention also provides an automatic assembly device. The automatic assembly device 1000 includes the above-mentioned adjustable-opening grasping mechanism 100 and a carrying structure 200. The carrying structure 200 includes a carrying platform 201 and a motor 202. The carrying platform 201 is disposed opposite to the adjustable-opening grasping mechanism 100 and is used to place the sealing plug. The motor 202 is installed on the frame 1. Wherein, the outer peripheral wall of the motor is fixedly installed with the tabletop 11, and the output end of the motor 202 is in transmission connection with the carrying platform 201 away from the adjustable-opening grasping mechanism 100, so that the motor 202 drives the carrying platform 201 to rotate to assemble the sealing plug and the rubber ring.

[0064] It should be explained that the specific structure of the automatic assembly device 1000 refers to the above-mentioned embodiments. Since the automatic assembly device 1000 adopts all the technical solutions of the above-mentioned embodiments, it at least has all the beneficial effects brought by the technical solutions of the above-mentioned embodiments, which will not be elaborated here one by one.

[0065] Further, in order to achieve the effect of batch assembly of the sealing plugs and the rubber rings of different sizes, the carrying structure 200 further includes a plurality of accommodating grooves 203. Each accommodating groove 203 is opened inside the carrying platform 201, and the accommodating grooves 203 are arranged in a surrounding manner for placing the sealing plugs. In this way, through the setting of the motor 202, the carrying platform 201 can be driven to rotate, thereby achieving the purpose of batch assembly.

[0066] It should be noted that the connection manner between the carrying platform 201 and the motor 202 can be various, which can be fixed or detachably connected, such as bolt connection. Compared with the fixed connection, the carrying platform 201 can be replaced, and different-sized accommodating grooves 203 can be used to place sealing plugs of different sizes, so as to achieve the assembly purpose of the sealing plugs and the rubber rings of different sizes.

[0067] The above are only the preferred embodiments of the present utility model, and thus do not limit the patent scope of the present utility model. Any equivalent structural transformation made under the inventive concept of the present utility model by using the content of the specification and drawings of the present utility model, or any direct / indirect application in other related technical fields shall be included within the patent protection scope of the present utility model.

Claims

1. A gripping mechanism with adjustable opening, used for assembling a rubber ring and a sealing plug, characterized in that: include: A rack having a table top; The gripping structure comprises a limiting part and a gripping part, wherein the limiting part is arranged on the table surface to limit the rubber ring, and the gripping part is arranged above the table surface to clamp and expand the rubber ring; The limiting part includes a base and a limiting plate; The base is installed on the table top of the frame, and the limit plate is connected to one end of the base along the thickness direction thereof; and, The gripping part includes a column, a plurality of semicircular plates, a transmission part and at least one follower part; Each of the semicircular plates forms a ring shape and is movably arranged below the column. The transmission part is arranged inside the column and connected to each of the semicircular plates to drive each of the semicircular plates to open and close. At least one follower part is arranged on the outer peripheral wall of one of the semicircular plates to follow the opening and closing of the semicircular plates.

2. The gripping mechanism with adjustable opening as claimed in claim 1, characterized in that: The limiting part also includes an expansion plate and a driving part; The expansion plates are provided with two, and both are provided at one end of the base along the thickness direction thereof; the driving unit is provided inside the base and connected with the two expansion plates, and is used to drive the two expansion plates to move toward opposite or opposite sides of the base along the width direction thereof; The two extension plates include the limiting plate.

3. The gripping mechanism with adjustable opening as claimed in claim 2, characterized in that: The driving part includes a dual-axis motor, two threaded rods, two sleeves and two connecting plates; The dual-axis motor is installed inside the base, one end of the two threaded rods along the axial direction is respectively fixed to the two output shafts of the dual-axis motor, the two sleeves are respectively threadedly connected to the outer peripheral walls of the two threaded rods, the two connecting plates are respectively fixed to one end of the two sleeves away from the dual-axis motor, and the two extension plates are fixed to the end surfaces of the two extension plates close to the base.

4. The gripping mechanism with adjustable opening as claimed in claim 1, characterized in that: The transmission part includes a motor, a screw, a sleeve and a plurality of push rods; The motor is installed inside the column, the output shaft of the motor is fixed to one end of the screw along its axial direction, the sleeve is threadedly connected to the outer peripheral wall of the screw, one end of each push rod is hinged to the outer peripheral wall of the sleeve, and the other end is hinged to the inner wall of each semicircular plate.

5. The gripping mechanism with adjustable opening as claimed in claim 1, characterized in that: The follower part includes a follower plate, a cylinder and a telescopic rod; The follower plate is fitted on the outer peripheral wall of one of the semicircular plates, the cylinder is installed inside the follower plate, and the output end of the cylinder is arranged downward, the telescopic rod is arranged between the column and the follower plate, and its two ends are respectively fixed between the column and the opposite side of the follower plate.

6. The gripping mechanism with adjustable opening as claimed in claim 5, characterized in that: The follower also includes a push plate, which is connected to the output end of the cylinder and is used to push the rubber ring to separate from each of the semicircular plates.

7. An automatic assembly device, characterized in that: It comprises a gripping mechanism with adjustable opening and a bearing structure as described in any one of claims 1 to 6, wherein the bearing structure comprises a bearing platform and a motor, wherein the bearing platform is arranged opposite to the gripping mechanism with adjustable opening and is used to place a sealing plug, and the motor is mounted on the frame, wherein the output end of the motor is connected to the bearing platform away from the gripping mechanism with adjustable opening, so that the motor drives the bearing platform to rotate, so as to assemble the sealing plug and the rubber ring.

8. The automatic assembly equipment according to claim 7, characterized in that: The bearing structure further includes a plurality of accommodating grooves, each of which is disposed inside the bearing platform and is arranged in a surrounding manner for accommodating a sealing plug.

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