Three-face material pushing mechanical paw

Abstract

The utility model relates to a three-face material pushing mechanical gripper which comprises a finger air cylinder, the finger air cylinder is a three-jaw finger air cylinder, a base jaw fixedly connected with a clamping jaw of the finger air cylinder is arranged on the clamping jaw of the finger air cylinder, and a sub-jaw fixedly connected with the base jaw is arranged on the front face of the base jaw. A mounting plate is arranged at the position, between every two adjacent base claws, of the front face of the finger air cylinder, a linear bearing is arranged on the mounting plate, a linear guide pin in sliding fit with the linear bearing is arranged in the linear bearing, and a material pushing plate is arranged at the front end of the linear guide pin. And a spring is sleeved outside the part, between the material pushing plate and the linear bearing, of the linear guide pin. According to the three-face material pushing mechanical gripper, rapid clamping of workpieces can be achieved; the sub-claws can be adjusted according to workpieces with different diameters, and the compatibility is wide; the floating material pushing mechanism can prevent the workpiece from moving downwards due to gravity, the clamping position of the workpiece is effectively guaranteed, the deviation clamping condition is avoided, and the machining safety is guaranteed.

Description

TECHNICAL FIELD

[0001] The utility model relates to the mechanical hand claw of numerical control machine tool feeding, especially a three -sided push material mechanical hand claw. BACKGROUND

[0002] When the lathe is in large -batch part turning, the spindle needs frequent feeding and taking.

[0003] In the prior art, the feeding of the spindle is mostly manual operation, and during the turning, the operator needs to take and feed continuously, and the operation process is time -consuming, which seriously affects the production efficiency, and the manual operation needs to be repeatedly positioned, so that the precision of the displacement processing is difficult to guarantee.

[0004] The mechanical hand is an automatic device with the function of grabbing and moving workpieces, and is usually composed of an execution mechanism, a driving mechanism and a control mechanism. The execution mechanism is usually a finger cylinder, and the number of fingers required can be selected according to the grabbed workpiece. The three parts are basically modularized, and enter the mature application stage. They can be purchased in the market and gradually applied to the automatic production line.

[0005] At present, in the field of automatic line machining of machine tools, the machine tool commonly used is usually a horizontal lathe, and the machine tool clamp is a three -jaw hydraulic chuck. During processing, the mechanical hand can clamp the workpiece to the machine tool for feeding. When feeding, the mechanical hand clamping jaw is loose, and the workpiece will fall down due to the problem of gravity center when placed, resulting in displacement of the machine tool clamp when clamping the workpiece. When the machine tool clamp is clamped, the workpiece will be deviated, so that the workpiece will be affected by the centrifugal force when rotating and the cutting force of the tool, and the workpiece will fly out, causing personal and property losses. SUMMARY

[0006] The technical problem to be solved by the utility model is to provide a three -sided push material mechanical hand claw which can realize quick clamping of feeding workpieces and guarantee the clamping position of the workpiece on the machine tool chuck.

[0007] In order to solve the above technical problems, the utility model is realized by the following technical schemes:

[0008] A three-face pushing mechanical hand claw, comprising a finger cylinder, the finger cylinder is a three-claw finger cylinder, a base claw fixedly connected with the finger cylinder is arranged on the claw, a sub-claw fixedly connected with the base claw is arranged on the front surface of the base claw; a mounting plate fixedly connected with the finger cylinder is arranged on the front surface of the finger cylinder between the adjacent two groups of base claws, a linear bearing fixedly connected with the mounting plate is arranged on the mounting plate, a linear guide pin in sliding fit with the linear bearing is arranged in the linear bearing, a pushing plate fixedly connected with the front end of the linear guide pin is arranged on the front end of the linear guide pin, a spring is arranged outside the linear guide pin between the pushing plate and the linear bearing, and the pushing plate can elastically move relative to the mounting plate through the linear guide pin and the spring.

[0009] Further, the mounting plate is fixedly installed on the finger cylinder through a pad block; the pad block is composed of a fixed block and a connecting column fixedly connected with the front surface of the fixed block, is integrally formed, and has an "L" shape structure; a positioning groove is arranged on the middle part of the front surface of the finger cylinder between the adjacent two groups of claws, the fixed block is fixedly connected in the positioning groove through bolts, and the mounting plate is fixedly connected with the connecting column through bolts.

[0010] Further, the linear bearing on the mounting plate has two groups, and the two groups of linear bearings are arranged side by side along the length direction of the mounting plate.

[0011] Further, an axle connecting hole in communication between the front and the back is arranged on the mounting plate, the linear bearing is embedded in the axle connecting hole and fixedly connected together through bolts; the linear bearing has a "T" shape structure, the outer side of the front surface of the linear bearing has a limiting stop edge extending radially outward, and the limiting stop edge abuts against the front surface of the mounting plate.

[0012] Further, a gasket baffle is arranged on the back surface of the linear bearing and fixedly connected with the end of the linear guide pin through a screw.

[0013] Further, a buffer hole is arranged on the finger cylinder corresponding to the linear guide pin.

[0014] Further, the front surface of the base claw and the back surface of the sub-claw are tooth-shaped surfaces, and the tooth-shaped surfaces of the sub-claw and the base claw are tooth-shaped matched.

[0015] Further, the sub-claw has an "L" shape structure, a finger fixedly connected with the sub-claw is arranged on one side of the sub-claw corresponding to the center of the finger cylinder, and a tooth groove with an anti-skid function is arranged on the front surface of the finger.

[0016] Compared with the prior art, the three-side pushing material mechanical hand claw has the advantages that the three-side pushing material mechanical hand claw can realize quick clamping of a preset part, i.e., a workpiece to be processed, through the base claw and the sub claw; the base claw is of a pitch structure, the position of the sub claw on the base claw can be adjusted, the workpieces with different diameters can be adjusted, and the compatibility is wide; the floating pushing material mechanism can push the hand claw to the machine tool, the floating pushing material mechanism can abut against the workpiece after the sub claw is loosened, the workpiece is prevented from being displaced downward due to gravity, the machine tool clamp can effectively clamp the workpiece, the clamping position of the workpiece is effectively ensured, the workpiece is not deviated and clamped, the workpiece is not ejected during the processing, and the safety of the processing is ensured. BRIEF DESCRIPTION OF DRAWINGS

[0017] In order to more clearly illustrate the technical scheme of the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiments. It should be understood that the following drawings only show some embodiments of the present application, and therefore should not be regarded as a limitation to the scope. For those skilled in the art, other related drawings can also be obtained without creative labor on the basis of these drawings.

[0018] Figure 1 is a three-side pushing material mechanical hand claw shaft side structure schematic view of the present application;

[0019] Figure 2 is a three-side pushing material mechanical hand claw side structure schematic view of the present application;

[0020] Figure 3 is Figure 2 structure sectional view of A-A in the figure;

[0021] Figure 4 is a three-side pushing material mechanical hand claw mechanical hand structure schematic view of the present application;

[0022] Figure 5 is a three-side pushing material mechanical hand claw floating pushing material mechanism combined three-dimensional structure schematic view of the present application;

[0023] Figure 6 is a three-side pushing material mechanical hand claw floating pushing material mechanism structure sectional view of the present application.

[0024] In the figure: 1, finger cylinder; 11, clamping jaw; 12, buffer hole; 13, positioning groove; 2, base claw; 3, sub claw; 31, finger; 4, floating pushing material mechanism; 41, mounting plate; 411, shaft connecting hole; 42, linear bearing; 421, limiting stop edge; 43, linear guide pin; 44, spring; 45, pushing plate; 46, pad block; 461, fixed block; 462, connecting column; 47, gasket baffle; 48, screw. DETAILED DESCRIPTION

[0025] So that the purpose, technical scheme and advantages of the embodiments of the present application are clearer, the technical scheme in the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application described and shown in the drawings can be arranged and designed in various different configurations.

[0026] Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the claimed present application, but only represents selected embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without making creative efforts fall within the scope of the present application. It should be noted that: similar reference numbers and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings. In the description of the embodiments of the present application, it should be explained that if the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship when the product of the present application is usually placed, which is only for the convenience of describing the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the indicated device or element must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application. In addition, the terms "first", "second" and the like are only used for differentiation, and cannot be understood as indicating or implying relative importance.

[0027] In addition, if the terms "horizontal", "vertical" and the like appear, it does not mean that the component must be absolutely horizontal or vertical, but can be slightly inclined. For example, "horizontal" only means that its direction is relatively more horizontal than "vertical", and does not mean that the structure or component must be completely horizontal, but can be slightly inclined.

[0028] In the description of the embodiments of the present application, "a plurality of" represents at least 2.

[0029] In the description of the embodiments of the present application, it should also be explained that unless otherwise explicitly specified and limited, if the terms "set", "install", "connected", "connected" appear, they should be understood in a broad sense, for example, they can be fixedly connected, or can be detachably connected, or integrally connected; can be mechanically connected, or can be electrically connected; can be directly connected, or can be indirectly connected through an intermediate medium; can be the communication inside two elements. For those of ordinary skill in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0030] Embodiment

[0031] Please refer to the drawings of the specification Figures 1 to 3 The drawings of the specification Figures 1 to 3 The three-side pushing material mechanical hand claw is used for automatic workpiece feeding of a horizontal lathe, and the three-side pushing material mechanical hand claw comprises a finger cylinder 1, the finger cylinder 1 is preferably a three-claw finger cylinder, the finger cylinder is installed on a mechanical hand through a fixing plate and can be moved in linkage through the mechanical hand, a base claw 2 is fixedly connected to a clamping claw 11 of the finger cylinder 1, the three-claw finger cylinder is provided with three circular array clamping claws 11, the clamping claw 11 can move in a radial straight line relative to the center of the end face of the finger cylinder 1, correspondingly, the base claw 2 is also provided with three base claws 2 corresponding to the three clamping claws 11, the base claw 2 and the clamping claw 11 are fixedly connected together through bolts, and are convenient to disassemble and assemble. Figures 1 to 4 The base claw 2 is provided with a threaded connection hole, the sub-claw 3 is connected together with the threaded connection hole on the base claw 2 through bolts passing through the mounting hole, the fixed connection of the sub-claw 3 on the base claw 2 is realized, the mounting hole is a long circular hole, the radial position of the sub-claw 3 on the base claw 2 can be adjusted, in order to ensure the stability and reliability of the installation of the sub-claw 3 on the base claw 2, the drawings of the specification Figure 1 、 3 The front surface of the base claw 2 and the back surface of the sub-claw 3 are toothed surfaces, the toothed surfaces of the sub-claw 3 and the base claw 2 are toothed matched, one side of the sub-claw 3 corresponding to the center of the finger cylinder 1 is provided with a finger 31 fixedly connected thereto, the finger 31 is a copper finger, which is fixedly connected to the sub-claw 3 through bolts, in order to ensure the stability when clamping the workpiece and prevent the workpiece from slipping, the front surface of the finger 31 is provided with a tooth groove with an anti-skid function, the front surface of the base claw 2 between adjacent two groups of base claws 2 is provided with a mounting plate 41 fixedly connected thereto, correspondingly, the finger cylinder 1 is provided with three groups of base claws 2, so that three groups of mounting plates 41 can be installed, the included angles between the three groups of mounting plates 41 are the same, and the three groups of mounting plates 41 are connected together corresponding to the center part of the finger cylinder 1, the three groups of mounting plates 41 are integrated with each other, in order to facilitate the installation and disassembly of the mounting plate 41 on the finger cylinder 1, the drawings of the specification Figure 3 、 5As shown in FIGS. 6 and 5, the mounting plate 41 is fixedly mounted on the finger air cylinder 1 through the elevation block 46; specifically, the elevation block 46 is composed of a fixed block 461 and a connecting column 462 fixed on the front side of the fixed block 461, and is integrally formed in an "L" shape structure, the fixed block 461 is provided with a front-rear communication fixed connecting hole, the end of the connecting column 462 is provided with a front-rear penetrating threaded connecting hole, the mounting plate 41 is provided with a countersunk hole, and a screw is arranged in the countersunk hole to cooperate with the threaded connecting hole of the connecting column 462, so that the elevation block 46 and the mounting plate 41 are fixedly connected together; in order to facilitate the mounting and dismounting of the elevation block 46 on the finger air cylinder 1 and ensure the accuracy of the mounting position, the finger air cylinder 1 is provided with a positioning groove 13 at the middle position between the adjacent two groups of claws 11 on the front side, the profile shape of the positioning groove 13 is matched with the structure shape of the fixed block 461, the bottom of the positioning groove 13 is provided with a threaded hole, the elevation block 46 is fixedly connected together through the bolt penetrating through the fixed connecting hole on the fixed block 461 and the threaded hole in the positioning groove 13, and the fixed block 461 is fixedly connected in the positioning groove 13, so as to realize the mounting and fixing of the mounting plate 41 on the finger air cylinder 1; referring to the drawings Figures 1 to 3 As shown in FIGS. 6 and 5, the mounting plate 41 is provided with a linear bearing 42 fixedly connected thereto, in order to facilitate the mounting of the linear bearing 42 on the mounting plate 41, referring to the drawings Figure 3 and 6 As shown in FIGS. 6 and 5, the mounting plate 41 is provided with a front-rear communication shaft connecting hole 411, the linear bearing 42 is embedded in the shaft connecting hole 411, and the linear bearing 42 is fixedly connected on the mounting plate 41 through the bolt; in order to facilitate the connection, the linear bearing 42 is in a "T" shape structure, and the front outer side thereof has a limiting stop edge 421 extending radially outward, which abuts against the front side of the mounting plate 41 to limit the position of the linear bearing 42 on the mounting plate 41, and it should be noted that a plurality of counterbores are arranged in the circumferential direction on the limiting stop edge 421, the front side of the mounting plate 41 is provided with screw holes corresponding to the number and position of the counterbores on the limiting stop edge 421, and the linear bearing 42 is fixedly connected together through the bolt penetrating through the counterbores and the corresponding screw holes; the linear bearing 42 is provided with a linear guide pin 43 slidingly fitted therein; the front end of the linear guide pin 43 is provided with a pushing plate 45 fixedly connected thereto, and the pushing plate 45 and the front end of the linear guide pin 43 are fixedly connected together through the screw, which is convenient to dismount, the outer portion of the linear guide pin 43 between the pushing plate 45 and the linear bearing 42 is sleeved with a spring 44, the front end of the spring 44 abuts against the back surface of the pushing plate 45, and the rear end thereof abuts against the front surface of the linear bearing 42, so that the pushing plate 45 can elastically move relative to the mounting plate 41 through the linear guide pin 43 and the spring 44; in order to prevent the linear guide pin 43 from falling off from the linear bearing 42, referring to the drawings Figure 6As shown, the back of the linear bearing 42 is provided with a gasket baffle 47, which is fixedly connected to the end of the linear guide pin 43 by screws; it should be noted that the diameter of the gasket baffle 47 is greater than the diameter of the linear guide pin 43 and less than the diameter of the rear end of the linear bearing 42, and the gasket baffle 47 is used to abut against the back of the linear bearing 42 to prevent the linear guide pin 43 from slipping out of the linear bearing 42. In order to avoid interference between the linear guide pin 43 of the corresponding finger cylinder 1 and the finger cylinder 1 when the linear guide pin 43 moves backward, refer to the drawings Figure 3 and 4 As shown, the part of the finger cylinder 1 corresponding to the linear guide pin 43 is provided with a buffer hole 12, and the diameter of the buffer hole 12 is greater than the diameter of the corresponding limiting baffle 421, so that the linear guide pin 43 can extend into the buffer hole 12 when it moves backward, without colliding with the finger cylinder 1. In order to ensure the stability of the movement of the pushing plate 45 on the mounting plate 41, refer to the drawings Figure 6 As shown, the linear bearing 42 on the mounting plate 41 has two groups, and the two groups of linear bearings 42 are arranged side by side along the length direction of the mounting plate 41. The front ends of the linear guide pins 43 in the two groups of linear bearings 42 are fixedly connected together with the pushing plate 45.

[0032] The specific working principle is as follows: when clamping a workpiece, the finger cylinder 1 drives the base claw 2 to expand outward through the pawl 11, and the base claw 2 drives the sub-claw 3 to move synchronously outward. When the three groups of sub-claws 3 are sleeved on the workpiece, the pushing plate 45 contacts the end of the workpiece and moves backward, and the spring 44 is compressed and contracted. Then the finger cylinder 1 drives the pawl 11 to move toward the center, the pawl 11 drives the base claw 2 to move synchronously, and the base claw 2 drives the sub-claw 3 to move synchronously. When the fingers 31 on the three groups of sub-claws 3 clamp the workpiece, the workpiece is clamped. The manipulator moves to the machine tool through the movement of the finger cylinder 1, and when the end of the workpiece enters the machine tool clamp and abuts against the center of the machine tool clamp, the machine tool clamp gradually clamps the workpiece. At the same time, the finger cylinder 1 drives the pawl 11 to move outward, the pawl 11 drives the base claw 2 to move synchronously, and the base claw 2 drives the sub-claw 3 to move, so that the fingers 31 on the sub-claw 3 release the workpiece. At the same time, due to the tension of the spring 44 of the pushing plate 45, the pushing plate 45 abuts against the end of the workpiece, and the spring superimposed force can offset the downward gravity of the workpiece after the fingers 31 are released, so as to prevent the workpiece from moving. Finally, the machine tool clamp clamps the workpiece, effectively ensuring the clamping position of the workpiece.

[0033] The three-side pushing mechanical hand claw can realize quick clamping of preset parts, i.e. workpieces to be processed, through the base claw 2 and the sub claw 3; the base claw 2 is a pitch structure, the sub claw 3 is adjusted in position on the base claw 2, can be adjusted for workpieces with different diameters, and has wide compatibility; the floating pushing mechanism 4 can make the hand claw feed to the machine tool, when feeding, the floating pushing mechanism 4 can resist the workpiece after the sub claw 3 is loosened, prevents the workpiece from being displaced downward due to gravity, ensures that the machine tool clamp can effectively clamp the workpiece, effectively ensures the clamping position of the workpiece, does not appear the situation of partial clamping, also does not appear the situation of the workpiece flying out in the processing process, and ensures the safety of processing.

[0034] It should be emphasized that: the above is only the preferred embodiment of the present application, and is not used to limit the present application. For those skilled in the art, the present application can have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A three-sided pusher manipulator hand, comprising a finger cylinder (1), characterized in that: The finger cylinder (1) is a three-claw finger cylinder, a base claw (2) is fixedly connected to the claw (11) of the finger cylinder (1), and a sub-claw (3) is fixedly connected to the front surface of the base claw (2); the front surface of the finger cylinder (1) between two adjacent base claws (2) is provided with a mounting plate (41) fixedly connected thereto, the mounting plate (41) is provided with a linear bearing (42) fixedly connected thereto, the linear bearing (42) is provided with a linear guide pin (43) in sliding fit therewith, the front end of the linear guide pin (43) is provided with a pushing plate (45) fixedly connected thereto, and the linear guide pin (43) is externally provided with a spring (44) between the pushing plate (45) and the linear bearing (42), and the pushing plate (45) can elastically move relative to the mounting plate (41) through the linear guide pin (43) and the spring (44).

2. A three-sided pusher gripper according to claim 1, characterized in that: The mounting plate (41) is fixedly installed on the finger cylinder (1) through a raised block (46); the raised block (46) is composed of a fixed block (461) and a connecting column (462) fixedly connected to one side of the front surface of the fixed block (461), is integrally formed, and has an "L" shape structure; the front surface of the finger cylinder (1) between two adjacent claws (11) is provided with a positioning groove (13), and the fixed block (461) is fixedly connected in the positioning groove (13) through a bolt; and the mounting plate (41) is fixedly connected with the connecting column (462) through a bolt.

3. A three-sided pusher gripper according to claim 1, characterized in that: The linear bearing (42) on the mounting plate (41) has two groups, and the two groups of linear bearings (42) are arranged in parallel along the length direction of the mounting plate (41).

4. A three-sided pusher gripper according to claim 1, characterized in that: The mounting plate (41) is provided with an axle connecting hole (411) communicating front and back, the linear bearing (42) is embedded in the axle connecting hole (411) and fixedly connected together through a bolt; the linear bearing (42) has a "T" shape structure, and the front surface thereof has a limiting baffle (421) extending radially outward, and the limiting baffle (421) abuts against the front surface of the mounting plate (41).

5. A three-sided pusher gripper according to claim 1, characterized in that: The back surface of the linear bearing (42) is provided with a gasket baffle (47) fixedly connected to the end of the linear guide pin (43) through a screw.

6. A three-sided pusher gripper according to claim 1, characterized in that: The finger cylinder (1) is provided with a buffer hole (12) corresponding to the linear guide pin (43).

7. A three-sided pusher gripper according to claim 1, characterized in that: The front surface of the base claw (2) and the back surface of the sub-claw (3) are tooth-shaped surfaces, and the tooth-shaped surfaces of the sub-claw (3) and the base claw (2) are tooth-shaped matched.

8. A three-sided pusher gripper according to claim 1, characterized in that: The sub-claw (3) has an "L" shape structure, and a finger (31) is fixedly connected to one side of the center of the finger cylinder (1); and the front surface of the finger (31) is provided with a tooth groove having an anti-skid function.

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