Variable-pitch gripping apparatus

Abstract

The utility model discloses a variable-pitch gripping apparatus which comprises a base and at least one group of gripping mechanisms which are symmetrically arranged, each grabbing mechanism comprises two material taking grippers, the two material taking grippers are symmetrically arranged and movably installed on the base, and the two material taking grippers are configured to be capable of getting close to or getting away from each other so as to transfer materials; the grabbing mechanism further comprises a moving block and two connecting rods, the moving block is installed on the base in a sliding mode, one end of each connecting rod is movably installed on the moving block, the other end of each connecting rod is movably connected with one material taking gripper, and the moving block is configured to move on the base in a reciprocating mode. The two connecting rods are driven to drive the two material taking grippers to be close to or far away from each other; the movable block is combined with the two connecting rods to be movably connected with the material taking grippers, an efficient transmission structure which is good in linkage performance and compact in structure is formed, the two material taking grippers convert working points in an injection mold, and actions such as material taking and placing are conveniently executed.

Description

TECHNICAL FIELD

[0001] The utility model relates to mechanical gripper technical field especially relates to a variable distance gripper. BACKGROUND

[0002] As a product modeling method indispensable in modern industrial production, injection molding process is mainly divided into two categories of rubber injection molding and plastic injection molding according to different materials, and is further subdivided into injection molding forming die pressing method and die casting method and other technical paths, which injects molten material into an injection mold cavity through the high temperature and high pressure of a mold, and forms the required product after cooling and solidification, which is collectively referred to as an injection molded part; however, in the production process of injection molded parts, the surface temperature of the injection molded parts is still extremely high after high temperature and high pressure forming in the mold, and the workers cannot directly touch or take out the injection molded parts, which not only causes the risk of burns to the workers, but also affects the forming quality and precision of the injection molded parts. Therefore, modern injection molding production lines usually use mechanical grippers to complete the picking operation of injection molded parts to improve work efficiency and reduce errors caused by manual intervention.

[0003] As a kind of high-precision, high-flexibility and powerful automation equipment, six-axis mechanical gripper is widely used in the picking operation of injection molded parts; however, in actual application, especially in high-end precision injection molding fields such as automobile parts, electronic product shells and other productions, the injection mold structure is complex and compact, and has multiple closely distributed acupuncture points. When the traditional six-axis mechanical gripper rotates and moves in the limited opening and closing space of the injection mold to perform picking, placing and other operations, the risk of interference between the operating arm and the injection mold structure is easily faced, which not only limits the action range of the mechanical gripper, increases the complexity and cycle time of the operation, affects the work efficiency and product quality, but also may cause damage to the mold or the mechanical gripper itself, increases the production cost and safety risk. SUMMARY

[0004] The utility model aims at providing a kind of variable distance gripper, to solve the mechanical gripper in prior art in complex and compact multi-acupoint injection mold operation, be easily limited by mold structure, lead to operating arm interference, action range is limited, affect work efficiency, product quality and production cost.

[0005] In order to achieve the above purpose, the technical scheme adopted by the utility model is as follows:

[0006] A variable distance gripper comprising a base and at least one set of symmetrically arranged gripping mechanisms.

[0007] Each of the gripping mechanisms includes two material picking grippers, which are symmetrically arranged and movably mounted on the base, and are configured to approach or move away from each other to transport materials.

[0008] The grabbing mechanism further comprises a moving block and two connecting rods, the moving block is slidingly installed on the base, one end of each of the two connecting rods is movably installed on the moving block, the other end of each of the two connecting rods is movably connected with one of the material taking grippers, and the moving block is configured to reciprocate on the base to drive the two connecting rods to drive the two material taking grippers to approach or move away from each other.

[0009] According to the above technical means, by slidingly installing the moving block on the base and movably connecting each material taking gripper with the two connecting rods, a high-efficiency transmission structure with good linkage and compact structure is formed, so that when the moving block reciprocates on the base, the two material taking grippers can be accurately driven to approach or move away from each other symmetrically and flexibly through the two connecting rods, the distance between the two material taking grippers is changed to change the working point, and the actions of taking and placing materials are facilitated. The working range of the material taking gripper is large, the conversion amplitude is small, the structure is simple and compact, the interference problem between the operation arm of the traditional mechanical gripper and the structure of the injection mold is avoided, the service life of the injection mold or the material taking gripper is guaranteed, the problem of material (injection part) transfer in a complex injection mold environment is solved, the efficiency and accuracy of the material taking gripper in a complex or compact space are significantly improved, the application range is wide, the practicality is high, the production cost is reduced, the product quality is improved, the operation difficulty and cycle time are reduced, the stability and safety of the material (injection part) during the transfer process are ensured, and the adaptability and flexibility of the material taking gripper to the material (injection part) are high. The high-efficiency operation of the automatic production line is provided with strong support.

[0010] Further, the grabbing mechanism further comprises two support plates, the two support plates are respectively installed on the base, guide grooves are formed on the two support plates, sliding blocks are respectively slidingly installed in the two guide grooves, and the two sliding blocks are respectively connected with one of the material taking grippers.

[0011] According to the above technical means, by symmetrically installing two support plates on the base for supporting the two material taking grippers, and forming guide grooves on the support plates, the two material taking grippers are slidingly arranged in the guide grooves through the sliding blocks, so that the material taking grippers are more stable and accurate during movement, the structural strength and operation efficiency of the whole grabbing mechanism are improved, the practicality is high, and the high requirements for material transfer in a complex injection mold environment are further met.

[0012] Further, the two support plates are detachably installed on the base by bolts.

[0013] According to the above technical means, the support plate is detachably mounted on the base through bolts, which not only facilitates the installation and disassembly of the support plate, but also enables the direction of the support plate to be replaced according to the actual working environment and requirements, thereby changing the working path of the material taking gripper, making the adjustment of the material taking gripper in different working environments more flexible and convenient, and facilitating subsequent maintenance and maintenance work, reducing maintenance cost, and being high in flexibility.

[0014] Further, one end of the connecting rod is rotatably mounted on the moving block through a first rotating shaft, and the other end is rotatably mounted on the material taking gripper through a second rotating shaft.

[0015] According to the above technical means, one end of the connecting rod is rotatably mounted on the moving block through a first rotating shaft, and the other end is rotatably mounted on the material taking gripper through a second rotating shaft, which simplifies the installation and maintenance process, reduces the operation difficulty and cost, enhances the flexibility and efficiency of transmission, and makes the operation of the gripping mechanism in a complex or compact space more stable and reliable.

[0016] Further, the gripping mechanism further comprises a guide rail, the guide rail is mounted on the base, the moving block is slidably mounted on the guide rail, and the two material taking grippers are symmetrically arranged on both sides of the guide rail.

[0017] According to the above technical means, the moving block is slidably mounted on the guide rail, which ensures the stability of the movement of the moving block along the predetermined path, guarantees the working efficiency and quality, and optimizes the space utilization, so that the compactness of the gripping mechanism as a whole is good.

[0018] Further, the gripping mechanism further comprises a driving device, the driving device is mounted on the base and connected with the moving block, and the driving device is configured to drive the moving block to reciprocate along the guide rail.

[0019] According to the above technical means, during work, the moving block is driven by the driving device to realize precise and stable reciprocating movement along the guide rail, so as to control the material taking gripper to change the working point, improve the dynamic performance and response speed of the material taking gripper, and ensure the accurate control during the material transfer process, thereby laying a solid foundation for the efficient and stable operation of the automatic production line.

[0020] Further, a controller is further included, the controller is in control connection with the driving device, and the controller is configured to control the movement of the moving block through the driving device.

[0021] According to the technical scheme, the controller is connected with the driving device, the driving device can be accurately commanded according to the setting, the movement of the moving block is flexibly controlled, the stroke of the two material taking grippers is controlled, the automation level of the material taking gripper is improved, the operation precision and flexibility are improved, and powerful technical support is provided for efficient material transfer in a complex injection mold environment.

[0022] Further, the material taking gripper comprises a gripper disc and a suction disc, the gripper disc is installed on the sliding block, the suction disc is installed on the gripper disc, the top of the suction disc is communicated with a gas guide pipe, the gas guide pipe is used for being communicated with an external air compressor, and the bottom of the suction disc is formed with suction holes.

[0023] According to the technical scheme, the material taking gripper is composed of the gripper disc and the suction disc, the gripper disc is stably installed on the sliding block, the suction disc is firmly installed on the gripper disc, the suction disc is communicated with the external air compressor through the gas guide pipe, stable negative pressure can be generated in the suction disc, the bottom of the suction disc is uniformly distributed with the suction holes, the material such as an injection part can be firmly adsorbed under the action of the negative pressure, the adsorption capacity is high, the stability and accuracy of the material transfer are improved, the operation process is simple, the operation difficulty is reduced, and the flexibility is good.

[0024] Further, the number of the suction discs is two or more, and each suction disc is uniformly arranged on the gripper disc.

[0025] According to the technical scheme, the number of the suction discs is increased and uniformly distributed on the gripper disc, the adsorption capacity and stability of the material taking gripper to the material are improved, the work efficiency is improved, the balance and accuracy of the material in the transfer process are ensured, and powerful support is provided for efficient operation of the automatic production line.

[0026] Further, the driving device is a gas cylinder.

[0027] According to the technical scheme, the gas cylinder is used as the driving device, the gas cylinder has the characteristics of high efficiency, stability and easy control, provides strong driving force for the moving block, ensures that the moving block can quickly and accurately move back and forth along the guide rail, and provides solid guarantee for stable operation of the automatic production line.

[0028] The utility model realizes the beneficial effect that:

[0029] The utility model discloses a movable block is installed on the base through the sliding and combines two connecting rods and moves the each material taking gripper, forms the linkage good and the structure of the efficient transmission structure that is matched, when movable block reciprocating moves, can drive two material taking grippers accurately through two connecting rods and is close or far away each other symmetrically and flexibly, realizes two material taking grippers in injection mold horizontal movement change distance to convert work point, and the working range of material taking gripper is big, and the conversion amplitude is small, and the structure is simple and compact, avoids the interference problem of the operating arm of traditional mechanical gripper and injection mold structure, guarantees the service life of injection mold or material taking gripper, solves the difficult problem of material (injection part) transfer in complex injection mold environment, improves the efficiency and accuracy of material taking gripper in complex or compact space operation significantly, and the scope of application is wide, and the practicality is high, and the production cost is reduced, and the product quality is improved, reduces the operation difficulty and the cycle time, guarantees the stability and safety in the material (injection part) transfer process, and under the effect of the adaptability and the high flexibility of material (injection part) of material taking gripper, provides strong support for the efficient operation of automatic production line. BRIEF DESCRIPTION OF DRAWINGS

[0030] Figure 1 It is the structure schematic diagram of material taking gripper of the utility model far from each other.

[0031] Figure 2 It is the structure schematic diagram of material taking gripper of the utility model close to each other.

[0032] Wherein, 1-base;21-material taking gripper;211-grabbing disc;212-suction cup;22-moving block;23-connecting rod;24-supporting plate;241-guiding groove;242-sliding block;243-bolt;25-rail;26-driving device;3-material.

[0033] The drawings are only for example illustration, and can not be understood as the limitation of this patent;In order to better illustrate the utility model, some components of the drawings can be omitted, enlarged or reduced, and do not represent the size of actual product;For those skilled in the art, it is understandable that some well-known structures in the drawings and their description can be omitted;Same or similar signs correspond to same or similar components;The use of language describing position relation in the drawings is only for example illustration, and can not be understood as the limitation of this patent. DETAILED DESCRIPTION

[0034] The objectives, technical solutions and advantages of the present application will become more apparent from the following detailed description of the preferred embodiments of the present application, taken in conjunction with the accompanying drawings. The preferred embodiments of the present application will be described in detail below, and the skilled in the art can easily understand other advantages and effects of the present application from the disclosure of the present specification. The present application can also be implemented or applied in other different specific embodiments, and the details in the present specification can be modified or changed based on different views and applications without departing from the spirit of the present application. It should be understood that the preferred embodiments are only for illustrating the present application, but not for limiting the protection scope of the present application.

[0035] It should be noted that the drawings provided in the following embodiments only schematically illustrate the basic concept of the present application, and only the components related to the present application are shown in the drawings, but not drawn according to the number, shape and size of the components in actual implementation. The shape, number and proportion of each component in actual implementation can be arbitrarily changed, and the component layout pattern can also be more complex.

[0036] In the embodiments of the present application, unless otherwise explicitly specified and limited, the term "connection" should be understood broadly, for example, "connection" can be fixed connection, or detachable connection, or integral; can be directly connected, or indirectly connected through intermediate medium.

[0037] In the embodiments of the present application, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that the process, method, article or device including a series of elements not only includes those elements, but also includes other elements not explicitly listed, or includes elements inherent to such process, method, article or device. Without more limitations, the element defined by the sentence "including a…" does not exclude the presence of other identical elements in the process, method, article or device including the element.

[0038] The technical solutions of the present application will be described in detail below in combination with specific drawings.

[0039] The present embodiment relates to a variable distance grabber, such as Figure 1 and Figure 2As shown, the device comprises a base 1 and at least one set of symmetrically arranged grabbing mechanisms; each grabbing mechanism comprises two material taking grippers 21 symmetrically arranged and movably mounted on the base 1, and the two material taking grippers 21 are configured to approach or move away from each other to transfer the material 3; the grabbing mechanism further comprises a moving block 22 and two connecting rods 23, the moving block 22 is slidingly mounted on the base 1, one end of each of the two connecting rods 23 is movably mounted on the moving block 22, and the other end of each of the two connecting rods 23 is movably connected with one of the two material taking grippers 21, and the moving block 22 is configured to reciprocate on the base 1 to drive the two connecting rods 23 to drive the two material taking grippers 21 to approach or move away from each other.

[0040] In this embodiment, the moving block 22 slidingly mounted on the base 1 is combined with the two connecting rods 23 movably connected with the material taking grippers 21 to form a high-efficiency transmission structure with good linkage and compact structure. Specifically, when applied to an injection mold with two or four or more closely distributed acupuncture points, the number of material taking grippers 21 changes with the number of acupuncture points in the injection mold. During operation, the moving block 22 reciprocates on the base 1 to drive the two connecting rods 23 to drive the two material taking grippers 21 to approach or move away from each other, so that the two material taking grippers 21 move horizontally in the injection mold to change the distance and switch the working point, facilitating the execution of material taking, placing and other actions. The material taking gripper 21 has a large working range and a small switching range, and the structure is simple and compact. The problem of interference between the operating arm of the traditional mechanical gripper and the structure of the injection mold is avoided, the service life of the injection mold or the material taking gripper is ensured, the problem of material (injection part) transfer in a complex injection mold environment is solved, the efficiency and accuracy of the material taking gripper 21 in a complex or compact space are significantly improved, the application range is wide, the practicality is high, the production cost is reduced, the product quality is improved, the operation difficulty and cycle time are reduced, the stability and safety of the material (injection part) during the transfer process are ensured, and the adaptability and flexibility of the material taking gripper to the material (injection part) provide strong support for the efficient operation of the automatic production line.

[0041] Further, as a preferred embodiment, one end of the connecting rod 23 is rotatably mounted on the moving block 22 through a first rotating shaft 231, and the other end is rotatably mounted on the material taking gripper 21 through a second rotating shaft 232. Figure 1 As shown, in actual application, one end of the connecting rod 23 is rotatably mounted on the moving block 22 through the first rotating shaft 231, and the other end is rotatably mounted on the material taking gripper 21 through the second rotating shaft 232. The installation is simple, the transmission is flexible and efficient, and the operation of the grabbing mechanism in a complex or compact space is more stable and reliable.

[0042] In the embodiment, the grabbing mechanism further comprises two support plates 24, which are respectively installed on the base 1, and each of the two support plates 24 is formed with a guide groove 241, and each of the two guide grooves 241 is slidably installed with a sliding block 242, and each of the two sliding blocks 242 is connected with one of the material taking grippers 21.

[0043] As shown in the embodiment, Figure 1 two support plates 24 are symmetrically installed on the base 1 to stably support the two material taking grippers 21, and the guide grooves 241 are formed on the support plates 24 to guide the two material taking grippers 21 through the sliding blocks 242. Specifically, when the moving block 22 reciprocates on the base 1, the two material taking grippers 21 are driven by the two connecting rods 23 to move along the guide direction of the guide grooves 241 under the connection of the sliding blocks 242 to approach or move away from each other, so that the two material taking grippers 21 can switch the working points in the injection mold to facilitate the actions of taking and placing materials, and the material taking grippers 21 can move more stably and accurately during the movement, thereby improving the structural strength and work efficiency of the whole grabbing mechanism, and the practicality is high, and the high requirements for material transfer in a complex injection mold environment are further met.

[0044] Further, as a preferred embodiment, the two support plates 24 are detachably installed on the base 1 through bolts 243; as Figure 1 shown, in actual application, the direction of the support plate 24 can be disassembled and replaced through the bolt 243 according to the actual working environment and requirements, so as to change the working path of the material taking gripper 21, so that the adjustment of the material taking gripper 21 in different working environments becomes more flexible and convenient, and the subsequent maintenance and maintenance work is also facilitated, the maintenance cost is reduced, and the flexibility is high.

[0045] In the embodiment, the grabbing mechanism further comprises a guide rail 25, which is installed on the base 1, and the moving block 22 is slidably installed on the guide rail 25, and the two material taking grippers 21 are symmetrically arranged on the two sides of the guide rail 25.

[0046] As shown in the embodiment, Figure 1 and Figure 2 the guide rail 25 has the functions of guiding and stably supporting, and specifically, in actual application, the moving block 22 is slidably installed on the guide rail 25 to ensure the stability of the movement of the moving block 22 along the predetermined path, and the work efficiency and quality are guaranteed, and the two material taking grippers 21 are symmetrically arranged on the two sides of the guide rail 25 to optimize the space utilization, so that the compactness of the whole grabbing mechanism is good.

[0047] In the embodiment, the grabbing mechanism further comprises a driving device 26, which is installed on the base 1 and connected with the moving block 22, and the driving device 26 is configured to drive the moving block 22 to reciprocate along the guide rail 25.

[0048] The embodiment as shown in the figure Figure 1 And Figure 2 As shown in the figure, in actual work, the mobile block 22 is driven by the driving device 26 to realize precise and stable reciprocating movement along the guide rail 25, so as to control the work point of the material taking gripper 21 to improve the power performance and response speed of the material taking gripper 21, and ensure the precise control in the material transfer process, which lays a solid foundation for the efficient and stable operation of the automatic production line; wherein the driving device 26 can be a pneumatic cylinder.

[0049] In this embodiment, a controller is further included, which is in control connection with the driving device 26, and is configured to control the movement of the mobile block 22 through the driving device 26; in actual application, according to the set standard, the controller accurately instructs the driving device 26, so as to flexibly control the movement of the mobile block 22 on the guide rail 25, to control the stroke of the two material taking grippers 21, thereby improving the automation level of the material taking gripper 21, enhancing the precision and flexibility of its operation, and providing strong technical support for efficient material transfer in a complex injection mold environment.

[0050] In this embodiment, the material taking gripper 21 includes a gripper disc 211 and a suction disc 212, the gripper disc 211 is installed on the sliding block 242, and the suction disc 212 is installed on the gripper disc 211; the top of the suction disc 212 is communicated with a gas guide pipe, which is used to communicate with an external air compressor, and the bottom of the suction disc 212 is formed with a suction hole.

[0051] The embodiment as shown in the figure Figure 1 And Figure 2 As shown in the figure, in actual application, the external air compressor provides negative pressure, and under the transmission action of the gas guide pipe, the suction hole on the suction disc can firmly adsorb the material, such as an injection molded part, to realize the function of the material taking gripper 21 to transfer the material (injection molded part), improve the stability and accuracy of the material transfer, and the operation process is simple, which reduces the operation difficulty and has good flexibility.

[0052] Further, as a preferred embodiment, the number of suction discs 212 is two or more, and each suction disc 212 is evenly distributed on the gripper disc 211; specifically, by increasing the number of suction discs 212 and evenly distributing them on the gripper disc 211, the adsorption capacity and stability of the material taking gripper 21 to the material are improved, the work efficiency is improved, and the balance and accuracy of the material in the transfer process are ensured, which provides strong support for the efficient operation of the automatic production line.

[0053] The above sequence numbers of the embodiments of the present application are only for description, and do not represent the advantages and disadvantages of the embodiments. The above is only the preferred embodiment of the present application, and does not limit the patent scope of the present application, and any equivalent structure or equivalent process transformation using the content of the specification and drawings of the present application, or direct or indirect application in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A variable reach grapple, characterized in that, The base (1) and at least one set of symmetrically arranged grabbing mechanisms; Each of the grabbing mechanisms comprises two material taking grippers (21) symmetrically arranged and movably mounted on the base (1), and configured to approach or move away from each other to transfer the material (3); The grabbing mechanism further comprises a moving block (22) slidably mounted on the base (1), and two connecting rods (23) each having one end movably mounted on the moving block (22) and the other end movably connected with one of the material taking grippers (21), and the moving block (22) is configured to reciprocate on the base (1) to drive the two connecting rods (23) to drive the two material taking grippers (21) to approach or move away from each other.

2. The variable span gripper of claim 1, wherein, The grabbing mechanism further comprises two support plates (24) each mounted on the base (1) and each having a guide groove (241) formed thereon, and two sliding blocks (242) each slidably mounted in the guide groove (241) and connected with one of the material taking grippers (21).

3. The variable span grapple of claim 2, wherein, The two support plates (24) are detachably mounted on the base (1) by bolts (243).

4. The variable span gripper of claim 1, wherein, The connecting rod (23) has one end rotatably mounted on the moving block (22) by a first rotating shaft (231) and the other end rotatably mounted on the material taking gripper (21) by a second rotating shaft (232).

5. The variable span gripper of claim 1, wherein, The grabbing mechanism further comprises a guide rail (25) mounted on the base (1), and the moving block (22) is slidably mounted on the guide rail (25) and the two material taking grippers (21) are symmetrically arranged on both sides of the guide rail (25).

6. The variable span gripper of claim 1, wherein, The grabbing mechanism further comprises a driving device (26) mounted on the base (1) and connected with the moving block (22), and the driving device (26) is configured to drive the moving block (22) to reciprocate along the guide rail (25).

7. The variable span gripper of claim 6, wherein, The controller is connected with the driving device (26) and configured to control the moving block (22) to move by the driving device (26).

8. The variable span gripper of claim 1, wherein, The material taking gripper (21) comprises a grabbing disc (211) mounted on the sliding block (242) and a suction disc (212) mounted on the grabbing disc (211), and the suction disc (212) has a top portion communicated with a gas guide pipe connected with an external air compressor and a bottom portion formed with a gas suction hole.

9. The variable span gripper of claim 8, wherein, The number of the suction discs (212) is two or more, and each of the suction discs (212) is evenly arranged on the grabbing disc (211).

10. The variable span gripper of claim 6, wherein, The driving device (26) is a gas cylinder.

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