Bar feeding gripper device
By using linear modules and multiple pneumatic gripper components in the bar stock feeding gripper device, the problems of positioning accuracy and specification adaptability in the bar stock gripping process are solved, achieving efficient and low-cost bar stock picking, placing, and handling.
Patent Information
- Application Number
- CN202422902315.7
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-11-27
- Publication Date
- 2025-10-31
- Estimated Expiration
- 2034-11-27
AI Technical Summary
Existing bar stock gripping methods cannot meet positioning accuracy requirements and cannot accommodate bar stock products of various specifications, making them prone to rolling and falling off.
Using a linear module as the carrier, clamping pneumatic grippers and pushing cylinders are arranged on the module slide. Combined with three sets of pneumatic gripper components, the gripping and pushing of bars of different lengths is achieved by servo motor drive. The pneumatic grippers are equipped with V-shaped rollers and V-shaped blocks to adapt to materials of different shapes.
It enables efficient and low-cost handling and processing of bar stock of different lengths and shapes, ensuring product positioning accuracy and adapting to the needs of bar stock products of various specifications.
Smart Images
Figure CN223495589U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of feeding technology, and in particular to a bar feeding gripper device. Background Technology
[0002] In mechanized production, picking up and placing products and handling them are frequent operations. However, during the gripping of bar products, due to their shape and gravity, rolling and falling are common occurrences. Existing gripping methods cannot meet the positioning accuracy requirements, nor can they accommodate products of various specifications. Summary of the Invention
[0003] The technical problem to be solved by this utility model is: in order to solve the problems existing in the prior art in the background art, a bar feeding gripper device is provided, which uses a linear module as a carrier, and has a clamping pneumatic gripper and a pushing pneumatic cylinder arranged on the module slide to clamp bar products of various lengths and push the bar products to a designated position through two pushing devices.
[0004] The technical solution adopted by this utility model to solve its technical problem is: a bar feeding gripper device, including a module mounting plate, a linear module is mounted on the top surface of the module mounting plate, the linear module is driven by a servo motor, a first two-finger pneumatic gripper assembly is mounted on the top surface of the left end of the linear module, a gripper connecting plate is mounted on the left end face of the linear module, and a third two-finger pneumatic gripper assembly and a second pushing device are mounted on the gripper connecting plate.
[0005] A cylinder fixing plate is installed on the slide of the linear module. A second two-finger gripper assembly and a first pushing device are installed on the cylinder fixing plate. The first pushing device is located to the right of the second two-finger gripper assembly. The second two-finger gripper assembly and the pushing device slide left and right along the linear module.
[0006] Furthermore, the first two-finger pneumatic gripper assembly includes a cylinder mounting base plate on which the first two-finger pneumatic gripper is mounted. A roller fixing plate is mounted on the top surface of each female gripper portion of the first two-finger pneumatic gripper, and a V-shaped roller is mounted on the roller fixing plate.
[0007] Furthermore, the second two-finger gripper assembly includes a second two-finger gripper with its opening facing upwards. The second two-finger gripper has symmetrically arranged second fingers, and a second V-shaped block is installed on the inner end face of each second finger.
[0008] Furthermore, the third two-finger pneumatic gripper assembly includes a third two-finger pneumatic gripper with its opening facing left. The third two-finger pneumatic gripper has symmetrically arranged third fingers, and a third V-shaped block is installed on the inner wall of each third finger.
[0009] Furthermore, the first pushing device includes a guide rod cylinder, with a cylinder connecting plate installed at the extended end of the guide rod cylinder. A rear push cylinder connecting plate is installed on the cylinder connecting plate, and a first linear bearing is installed on the rear push cylinder connecting plate. A first rear push block is installed inside the first linear bearing. One end of the first rear push block has a first conical limiting end that limits the end face of the bar stock product. The opening of the first conical limiting end faces left. A first spring is sleeved on the shaft of the first rear push block between the first conical limiting end and the first linear bearing. The other end of the first rear push block has a threaded hole, and a guide shaft cover is connected to the first rear push block by bolts.
[0010] Furthermore, a second proximity switch is mounted on the right end face of the rear cylinder connecting plate via a switch bracket sheet metal.
[0011] Furthermore, a groove is provided on the surface of the cylinder connecting plate, and the guide rod cylinder is locked in the groove.
[0012] Furthermore, the second pushing device includes a second rear pushing block and a second linear bearing. The second linear bearing is mounted on the gripper connecting plate, and the second rear pushing block is mounted inside the second linear bearing. The left end of the second rear pushing block is provided with a second conical limiting end, the opening of which faces left. A second spring is sleeved on the shaft of the second rear pushing block between the second conical limiting end and the second linear bearing.
[0013] Furthermore, a first proximity switch is mounted on the right side of the gripper connecting plate via a switch bracket sheet metal part.
[0014] Furthermore, one side of the module mounting plate has a mounting hole for docking with the robot flange, the bottom surface of the module mounting plate is fitted with a flange, and a relay box and a solenoid valve for controlling the cylinder gripper are mounted on the flange.
[0015] The beneficial effects of this utility model are as follows: This utility model uses a linear module as a carrier. Clamping grippers and pushing cylinders are arranged on the module slide. A V-shaped roller is installed on the female gripper at the other end of the module mounting plate. The two-finger grippers at its ends are equipped with V-shaped clamping blocks, which can be used to clamp short bar products. It integrates three sets of gripper assemblies, which cooperate with each other to handle bar products of various lengths. Two sets of grippers are fixed, and one set is mounted on the linear module slide. The spacing between the grippers can be adjusted according to the product length set by the system. The distance is adjusted to accommodate the needs of gripping products of different lengths. A set of guide rod cylinders is also installed at the tail end of the slide table, and a first pushing device is installed at the end plate of the cylinder. The two pushing devices can ensure that the product is pushed to the designated position according to the material release requirements. When the length does not meet the gripping requirements of the main gripper, the two-finger pneumatic gripper at the end of the gripper can clamp the product, thereby meeting the requirements of bar material picking, placing and handling more efficiently and at a lower cost. In addition, the V-block installed on the female gripper can be replaced according to product requirements to adapt to the picking and placing requirements of other shaped materials. Attached Figure Description
[0016] The present invention will be further described below with reference to the accompanying drawings and embodiments.
[0017] Figure 1 This is a schematic diagram of the structure of this utility model;
[0018] Figure 2 This is a structural schematic diagram of another aspect of the present invention;
[0019] In the diagram: 1. First two-finger gripper; 2. Third two-finger gripper; 3. First proximity switch; 4. Linear module; 5. Guide rod cylinder; 6. Second proximity switch; 7. Second two-finger gripper; 8. Solenoid valve; 13. Module mounting plate; 14. Cylinder mounting base plate; 16. V-roller; 22. Roller fixing plate; 24. Cylinder fixing plate; 25. Second finger; 26. Second V-block; 31. First cylinder connecting plate; 32. Rear push cylinder connecting plate; 33. First rear push block; 34. Guide shaft pull cover; 35. First conical limit end; 36. Second rear push block; 37. Second conical limit end; 40. Servo motor; 41. First linear bearing; 42. Third finger; 43. Third V-block; 44. Second linear bearing; 57. Gripper connecting plate; 69. Relay box; 70. First spring; 71. Second spring. Detailed Implementation
[0020] The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic diagrams, illustrating only the basic structure of the present invention, and therefore only show the components relevant to the present invention.
[0021] like Figures 1-2The bar stock feeding gripper shown includes a module mounting plate 13. One side of the module mounting plate 13 has a mounting hole for docking with a robot flange. A flange is mounted on the bottom surface of the module mounting plate 13. A relay box 69 and a solenoid valve 8 for controlling the cylinder gripper are mounted on the flange. A linear module 4 is mounted on the top surface of the module mounting plate 13. The linear module 4 is driven by a servo motor 40, thereby driving the second two-finger gripper assembly and the first pushing device to move left and right. The first two-finger gripper assembly is mounted on the top surface of the left end of the linear module 4. A gripper connecting plate 57 is mounted on the left end face of the linear module 4. A third two-finger gripper assembly for picking up materials and a second pushing device for pushing short materials are mounted on the gripper connecting plate 57.
[0022] A cylinder fixing plate 24 is installed on the slide of the linear module 4. The cylinder fixing plate 24 is an irregularly shaped plate. A second two-finger gripper assembly and a first pushing device are installed on the cylinder fixing plate 24. The first pushing device is located on the right side of the second two-finger gripper assembly. The second two-finger gripper assembly and the pushing device slide left and right along the linear module 4.
[0023] The first two-finger pneumatic gripper assembly includes a cylinder mounting base plate 14, on which a first two-finger pneumatic gripper 1 is mounted. A roller fixing plate 22 is mounted on the top surface of each female gripper portion of the first two-finger pneumatic gripper 1, and a V-shaped roller 16 is mounted on the roller fixing plate 22.
[0024] The second two-finger gripper assembly includes a second two-finger gripper 7 with its opening facing upwards. The second two-finger gripper 7 has symmetrically arranged second fingers 25, and each second finger 25 has a second V-shaped block 26 installed on its inner end face, which can center the bar stock during the gripping process.
[0025] Two reference holes are machined on the gripper connecting plate 57 near the outer side. One reference hole is equipped with a positioning pin. The positioning pin cooperates with the inner hole at the end of the cylinder of the third two-finger pneumatic gripper 2 to position the third two-finger pneumatic gripper 2. The third two-finger pneumatic gripper assembly includes the third two-finger pneumatic gripper 2. The opening of the third two-finger pneumatic gripper 2 is set to the left. The third two-finger pneumatic gripper 2 has symmetrically arranged third fingers 42. A third V-block 43 is installed on the inner wall of each third finger 42 to center the bar stock during the gripping process.
[0026] The first pushing device includes a guide rod cylinder 5, which moves left and right. A cylinder connecting plate 31 is installed at the extended end of the guide rod cylinder 5. A rear push cylinder connecting plate 32 is installed on the cylinder connecting plate 31. A first linear bearing 41 is installed on the rear push cylinder connecting plate 32. A first rear push block 33 is installed inside the first linear bearing 41. One end of the first rear push block 33 has a first conical limiting end 35 that limits the end face of the bar product. The opening of the first conical limiting end 35 faces left. A first spring 70 is sleeved on the shaft of the first rear push block 33 between the first conical limiting end 35 and the first linear bearing 41.
[0027] The other end of the first push block 33 has a threaded hole. The guide shaft cover 34 is connected to the first push block 33 by bolts. Together with the first spring 70, it axially limits the first push block 33.
[0028] A second proximity switch 6 is mounted on the right end face of the rear push cylinder connecting plate 32 via a switch bracket sheet metal, which is used for detecting when the material is pushed into place.
[0029] A groove is provided on the surface of the cylinder connecting plate 31, and the guide rod cylinder 5 is locked in the groove. The groove limits the movement of the rear push cylinder connecting plate 32.
[0030] The second pushing device includes a second rear pushing block 36 and a second linear bearing 44. The second linear bearing 44 is mounted on the gripper connecting plate 57. The second rear pushing block 36 is mounted inside the second linear bearing 44. The left end of the second rear pushing block 36 is provided with a second conical limiting end 37 for limiting the end face of the bar product. The opening of the second conical limiting end 37 is set to the left. A second spring 71 is sleeved on the shaft of the second rear pushing block 36 between the second conical limiting end 37 and the second linear bearing 44.
[0031] The right side of the gripper connecting plate 57 is equipped with a first proximity switch 3 via a switch bracket sheet metal part, which is used for detecting when the material is pushed into place.
[0032] Work process:
[0033] The existing machine tool end face has an opening, through which this device picks up and feeds materials.
[0034] Long material handling: When the gripper is gripping the material, according to the bar product model set by the system, the linear module 4 drives the two-finger gripper 7 to move along the length of the workpiece to adapt to gripping products of different length specifications. After the second two-finger gripper 7 reaches the designated position, the first two-finger gripper 1 and the second two-finger gripper 7 open at the same time to complete the gripping of the bar product.
[0035] Long material feeding: After feeding the bar stock to the designated position on the machine tool, the first two-finger pneumatic gripper 1 and the second two-finger pneumatic gripper 7 are released simultaneously. The piston rod of the guide cylinder 5 extends, driving the first push block 33 to move to the rear end face of the bar stock. The conical face of the first conical limiting end 35 centers and limits the bar stock, pushing the bar stock to the designated position to complete the feeding.
[0036] Short material feeding: For bar products whose length does not meet the pushing requirements, when the first push block 33 cannot push the product into place, the gripper adjusts its posture and the second push block 36 extends into the machine tool to continue pushing the product into place.
[0037] When picking up materials: When the machine tool finishes processing the product and needs to take out the bar stock, if the exposed size of the bar stock does not meet the gripper requirements, the third two-finger pneumatic gripper 2 needs to clamp the product.
[0038] Based on the above-described preferred embodiments of this utility model, and through the foregoing description, those skilled in the art can make various changes and modifications without departing from the technical concept of this utility model. The technical scope of this utility model is not limited to the contents of the specification, but must be determined according to the scope of the claims.
Claims
1. A bar stock feeding gripper device, characterized in that: Includes a module mounting plate (13), on the top surface of which a linear module (4) is mounted, the linear module (4) is driven by a servo motor (40), a first two-finger gripper assembly is mounted on the top surface of the left end of the linear module (4), a gripper connecting plate (57) is mounted on the left end face of the linear module (4), and a third two-finger gripper assembly and a second pushing device are mounted on the gripper connecting plate (57). A cylinder fixing plate (24) is installed on the slide of the linear module (4). A second two-finger gripper assembly and a first pushing device are installed on the cylinder fixing plate (24). The first pushing device is located on the right side of the second two-finger gripper assembly. The second two-finger gripper assembly and the pushing device slide left and right along the linear module (4).
2. The bar stock feeding gripper device according to claim 1, characterized in that: The first two-finger pneumatic gripper assembly includes a cylinder mounting base plate (14), on which a first two-finger pneumatic gripper (1) is mounted. Each female gripper portion of the first two-finger pneumatic gripper (1) has a roller fixing plate (22) mounted on its top surface, and a V-shaped roller (16) is mounted on the roller fixing plate (22).
3. The bar stock feeding gripper device according to claim 1, characterized in that: The second two-finger pneumatic gripper assembly includes a second two-finger pneumatic gripper (7), the opening of the second two-finger pneumatic gripper (7) is set upward, the second two-finger pneumatic gripper (7) has symmetrically arranged second fingers (25), and a second V-shaped block (26) is installed on the inner end face of each second finger (25).
4. The bar stock feeding gripper device according to claim 1, characterized in that: The third two-finger pneumatic gripper assembly includes a third two-finger pneumatic gripper (2), the opening of the third two-finger pneumatic gripper (2) is set to the left, the third two-finger pneumatic gripper (2) has symmetrically arranged third fingers (42), and a third V-shaped block (43) is installed on the inner wall of each third finger (42).
5. The bar stock feeding gripper device according to claim 1, characterized in that: The first pushing device includes a guide rod cylinder (5), a cylinder connecting plate (31) is installed on the extended end of the guide rod cylinder (5), a rear push cylinder connecting plate (32) is installed on the cylinder connecting plate (31), a first linear bearing (41) is installed on the rear push cylinder connecting plate (32), a first rear push block (33) is installed inside the first linear bearing (41), one end of the first rear push block (33) has a first conical limiting end (35) for limiting the end face of the bar product, the opening of the first conical limiting end (35) is set to the left, and a first spring (70) is sleeved on the shaft of the first rear push block (33) between the first conical limiting end (35) and the first linear bearing (41); The other end of the first push block (33) is machined with a threaded hole, and the guide shaft cover (34) is connected to the first push block (33) by bolts.
6. The bar stock feeding gripper device according to claim 5, characterized in that: The right end face of the rear push cylinder connecting plate (32) is equipped with a second proximity switch (6) via a switch bracket sheet metal.
7. A bar stock feeding gripper device according to claim 5, characterized in that: The cylinder connecting plate (31) has a groove on its surface, and the guide rod cylinder (5) is engaged in the groove.
8. The bar stock feeding gripper device according to claim 1, characterized in that: The second pushing device includes a second rear push block (36) and a second linear bearing (44). The second linear bearing (44) is mounted on the gripper connecting plate (57). The second rear push block (36) is mounted inside the second linear bearing (44). The left end of the second rear push block (36) is provided with a second conical limiting end (37). The opening of the second conical limiting end (37) is set to the left. A second spring (71) is sleeved on the shaft of the second rear push block (36) between the second conical limiting end (37) and the second linear bearing (44).
9. A bar stock feeding gripper according to claim 7, characterized in that: The right side of the gripper connecting plate (57) is equipped with a first proximity switch (3) via a switch bracket sheet metal part.
10. A bar stock feeding gripper according to claim 1, characterized in that: The module mounting plate (13) has a mounting hole on one side for docking with the robot flange. The bottom surface of the module mounting plate (13) is fitted with a flange. A relay box (69) and a solenoid valve (8) for controlling the cylinder gripper are mounted on the flange.