Flexible stamping part clamping jaw mechanism

Abstract

The utility model discloses a flexible stamping part clamping jaw mechanism, and belongs to the technical field of automatic equipment. The technical problem of how to flexibly clamp a stamping part is solved. According to the technical scheme, the clamping device is characterized by comprising a mounting base, a first air cylinder, a first connecting rod, a swing arm, a second air cylinder, a second connecting rod, a third connecting rod, a movable clamping jaw, a first fixed clamping jaw and a second fixed clamping jaw, the first fixed clamping jaw and the second fixed clamping jaw are both fixed to the mounting base, supporting ends are formed at the ends of the first fixed clamping jaw and the second fixed clamping jaw respectively, and the swing arm is rotationally assembled on the side face of the mounting base; the first cylinder is assembled on the mounting seat, rotationally connected with the swing arm through a first connecting rod and used for driving the swing arm to swing up and down; a connecting seat is arranged on the swing arm, a second air cylinder is assembled on the connecting seat, the second air cylinder drives the movable clamping jaw to rotate through a second connecting rod and a third connecting rod, the movable clamping jaw penetrates through the swing arm, the lower end of the movable clamping jaw is located between the two supporting ends, and the flexible clamping device has the effects of flexibly clamping workpieces, being rapid and agile in action and being capable of conducting adaptive adjustment.

Description

Technical Field

[0001] This invention relates to the technical field of automated equipment, and in particular to a flexible stamping gripper mechanism. Background Technology

[0002] Currently, relying on manual processing for some stamping parts is extremely inefficient. The development philosophy for automated equipment is to replace human labor with machines.

[0003] In the stamping process, the workpiece needs to be clamped and then fed into the die on the stamping table. The stamping table punches the workpiece, applying a downward punching force. During this process, the robotic arm holding the workpiece cannot release it, otherwise the workpiece will tilt or fly away. However, ordinary robotic arms are easily damaged when gripping this workpiece, significantly reducing their lifespan. Ordinary fixed robotic arms provide rigid gripping, meaning they position and hold the workpiece. The stamping force is transmitted through the workpiece to the robotic arm, causing it to also experience impact and greatly reducing its lifespan.

[0004] For example, in the processing of a wrench as a workpiece, the wrench needs to be clamped, and the end of the wrench needs to be stamped. After being clamped by a regular robotic arm, it is placed on a stamping table. The vibration of the stamping is transmitted to the robotic arm, causing damage to it. Utility Model Content

[0005] To address the aforementioned technical problems and shortcomings—specifically, how to achieve flexible clamping of stamped parts—this invention provides a flexible stamped part clamping mechanism that offers reliable clamping and flexible holding.

[0006] To achieve the above and other related objectives, the present invention adopts the following technical solution:

[0007] A flexible stamping part gripper mechanism includes a mounting base, a first cylinder, a first connecting rod, a swing arm, a second cylinder, a second connecting rod, a third connecting rod, a movable gripper, a first fixed gripper, and a second fixed gripper. The first fixed gripper and the second fixed gripper are both fixed on the mounting base and form support ends at their respective ends. The swing arm is rotatably mounted on the side of the mounting base. The first cylinder is mounted on the mounting base and rotatably connected to the swing arm through the first connecting rod. The first cylinder is used to drive the swing arm to swing up and down.

[0008] The swing arm is provided with a connecting seat, and a second cylinder is mounted on the connecting seat. The second cylinder drives the moving jaw to rotate through the second connecting rod and the third connecting rod. The moving jaw is "L" shaped and passes through the swing arm. The lower end of the moving jaw is located between the two support ends.

[0009] Preferably, the tail of the first cylinder is axially mounted on the mounting seat, the cylinder rod of the first cylinder is fixedly connected with the end of the first connecting rod, and the other end of the first connecting rod is axially connected with the upper end of the swing arm.

[0010] Preferably, the first fixed jaw is fixed at the front end of the mounting seat, and the second fixed jaw is fixed at the lower side of the mounting seat, and the support end of the first fixed jaw and the support end of the second fixed jaw are at the same height.

[0011] Preferably, a limiting block is fixed on the mounting seat, the other end of the limiting block passes through the gap between the first cylinder and the swing arm, the limiting block limits the swing arm, and the end of the adapter seat is axially connected with the second cylinder, the cylinder rod of the second cylinder is fixed with the second connecting rod, the other end of the second connecting rod is fixedly connected with the end of the third connecting rod, and the other end of the third connecting rod is fixedly connected with the movable jaw.

[0012] Preferably, a shaft sleeve is arranged between the movable jaw and the swing arm, and the fixed position of the movable jaw on the swing arm is adjustable.

[0013] Preferably, long waist grooves are arranged on the first fixed jaw and the second fixed jaw.

[0014] In summary, the present application has at least one of the following beneficial technical effects:

[0015] 1. After the first fixed jaw and the second fixed jaw are assembled on the mounting seat, two support points are formed, and the workpiece is taken as an example, at this time, the two support points can support the wrench upward, the swing arm is driven by the first cylinder to realize up-down swing, the second cylinder and other connecting rods are arranged on the swing arm to realize the rotation of the movable jaw, since the movable jaw is in the shape of 'L', when the lower end keeps outward, it is in the open state, if the lower end faces between the two support ends, the workpiece can be three-point limited, then the swing arm acts to hook the workpiece with the movable jaw, so as to realize reliable clamping, and the clamping is not enough, when the workpiece is placed on the stamping table for stamping work, the stamping force will press down one end of the wrench, at this time, the swing arm can continue to swing down by the action of the first connecting rod and the first cylinder, so as to offset the vibration and realize flexible clamping of the workpiece.

[0016] 2. The first cylinder is not only used for driving the clamping of the movable jaw, but also can resist impact and flexibly rebound, the action is rapid and agile, and the automation efficiency is very high.

[0017] 3. The fixed position of the movable jaw can be adjusted, so that workpieces of different thicknesses can be clamped, and the fixed positions of the first fixed jaw and the second fixed jaw can be adjusted, so that the positions of the support ends can be adjusted, and different machining workpieces can be adaptively adjusted. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 is a schematic view of a workpiece in the embodiment;

[0019] Figure 2 is a schematic diagram of the processing state of the embodiment;

[0020] Figure 3 is a schematic diagram of the structure of the embodiment in the clamped state;

[0021] Figure 4 is a schematic diagram of the structure of the embodiment in the open state of the movable clamping jaw;

[0022] Figure 5 is a schematic diagram of the embodiment in the open state of the movable clamping jaw from the rear.

[0023] Explanation of the reference numerals of the main components:

[0024] 1 mounting base; 2 first cylinder; 3 first connecting rod; 4 swing arm; 401 engagement seat; 5 second cylinder; 6 second connecting rod; 7 third connecting rod; 8 movable clamping jaw; 9 first fixed clamping jaw; 10 second fixed clamping jaw; 101 support end; 12 stop block; 13 shaft sleeve; 14 long waist slot; 15 workpiece; 16 punching table; 17 broach. DETAILED DESCRIPTION

[0025] The embodiments of the present application are described below by way of specific examples. Those skilled in the art can easily understand other advantages and effects of the present application from the content disclosed in the specification. The present application can also be implemented or applied by means of other different embodiments, and the details in the specification can be modified or changed in various ways without departing from the spirit of the present application. It should be noted that the following embodiments and features in the embodiments can be combined with each other without conflict.

[0026] It should be noted that the diagrams provided in the following embodiments only illustrate the basic concept of the present application in a schematic manner, and the diagrams only show the components related to the present application, not the number, shape and size of the components when actually implemented. The shape, number and ratio of each component can be changed arbitrarily when actually implemented, and the layout pattern of the components can also be more complex.

[0027] The specific embodiments of the present application are further described below with reference to the accompanying drawings.

[0028] For the workpiece 15 to be processed, it can be in the shape of a long strip. For specific description, the processing of a wrench is taken as an example in the following embodiments.

[0029] Embodiment:

[0030] Reference Figure 1As shown, the processing of the wrench requires accurate processing of the opening and the spline of the wrench, and the processing equipment such as Figure 2 As shown, the workpiece 15 needs to be clamped and placed on the stamping table 16 by the clamping jaw mechanism, and the broach 17 on the stamping table 16 can stamp the workpiece 15 to process the opening. During the processing, the opening end of the wrench will be subjected to a downward force, although the wrench is preliminarily limited and supported on the stamping table 16, but it is still easy to cause vibration.

[0031] The embodiment of the present application discloses a flexible stamping part clamping jaw mechanism, as shown in Figure 3 , Figure 4 and Figure 5 , comprising a mounting seat 1, a first cylinder 2, a first connecting rod 3, a swing arm 4, a second cylinder 5, a second connecting rod 6, a third connecting rod 7, a movable clamping jaw 8, a first fixed clamping jaw 9 and a second fixed clamping jaw 10. The first fixed clamping jaw 9 and the second fixed clamping jaw 10 are both fixed on the mounting seat 1 and form support ends 101 at the respective ends. The first fixed clamping jaw 9 and the second fixed clamping jaw 10 are approximately "L" shaped and can be fixedly installed by bolts.

[0032] The swing arm 4 is rotatably assembled on the side surface of the mounting seat 1, and the middle part of the swing arm 4 is the rotation shaft position. The first cylinder 2 is assembled on the mounting seat 1 and rotatably connected with the swing arm 4 through the first connecting rod 3, and the first cylinder 2 is used for driving the swing arm 4 to swing up and down. Specifically, the tail of the first cylinder 2 is shaft-connected with the mounting seat 1, the cylinder rod of the first cylinder 2 is fixedly connected with the end of the first connecting rod 3, and the other end of the first connecting rod 3 is shaft-connected with the upper end of the swing arm 4. Shaft connection refers to rotatable connection through a rotating shaft. This connection mode is relatively simple and easy to implement.

[0033] The swing arm 4 is provided with an adapter seat 401, the end of the adapter seat 401 is shaft-connected with the second cylinder 5, and the second cylinder 5 drives the movable clamping jaw 8 to rotate through the second connecting rod 6 and the third connecting rod 7. The cylinder rod of the second cylinder 5 fixes the second connecting rod 6, the second connecting rod 6 is shaft-connected with the end of the third connecting rod 7, and the other end of the third connecting rod 7 is fixedly connected with the movable clamping jaw 8. The movable clamping jaw 8 is "L" shaped, the movable clamping jaw 8 vertically penetrates through the swing arm 4, and the lower end of the movable clamping jaw 8 is between the two support ends 101. A shaft sleeve 13 is assembled between the movable clamping jaw 8 and the swing arm 4, and the fixed position of the movable clamping jaw 8 on the swing arm 4 is adjustable.

[0034] A limiting block 12 is fixed on the mounting seat 1, and the other end of the limiting block 12 penetrates through the gap between the first cylinder 2 and the swing arm 4. The limiting block 12 limits the swing arm 4.

[0035] The first fixed jaw 9 is fixed at the front end of the mounting base 1, and the second fixed jaw 10 is fixed at the lower side of the mounting base 1. In an example, the support end 101 of the first fixed jaw 9 and the support end 101 of the second fixed jaw 10 are at the same height. In order to facilitate the adjustment of the mounting position of the first fixed jaw 9 and the second fixed jaw 10, a long waist groove 14 is arranged on the first fixed jaw 9 and the second fixed jaw 10. Therefore, the height or spacing of the first fixed jaw 9 and the second fixed jaw 10 to the support end 101 can be adjusted. In combination with the movable jaw 8, the fixed position can be adjusted up and down, so that workpieces 15 of different thicknesses can be clamped. The fixed position of the movable jaw 8 can be adjusted, so that workpieces 15 of different thicknesses can be clamped, and the fixed position of the first fixed jaw 9 and the second fixed jaw 10 can be adjusted, so that the position of the support end 101 can be adjusted to adapt to different machining workpieces 15.

[0036] The movable jaw 8 hooks the workpiece 15 upwards to clamp the workpiece 15, and the upper part of the workpiece 15 is supported by the first fixed jaw 9 and the second fixed jaw 10. If the opening end of the workpiece 15 is pressed downward, the workpiece 15 is kept stable by the movable jaw 8 and the second fixed jaw 10, and at the same time the support end 101 of the first fixed jaw 9 is separated from the workpiece 15, which is the effect of flexible clamping. If the workpiece 15 cannot be flexibly clamped, Figure 2 The broach 17 is pressed down, which is easy to damage the knife and the jaw mechanism. The first air cylinder 2 can have a flexible rebound effect when the broach 17 is machining the workpiece 15.

[0037] The mounting base 1 can be freely mounted on a moving mechanism to realize free movement.

[0038] The first fixed jaw 9 and the second fixed jaw 10 are assembled in the mounting base 1, forming two support points. Taking a wrench as an example, the two support points can support the wrench. The first air cylinder 2 drives the swing arm 4 to swing up and down, and the second air cylinder 5 and other connecting rods are arranged on the swing arm 4 to realize the rotation of the movable jaw 8. Since the movable jaw 8 is "L" shaped, when the lower end is kept outward, it is in an open state. If the lower end is directed between the two support ends 101, the workpiece 15 can be three-point limited. Then the swing arm 4 acts to hook the movable jaw 8 to the workpiece 15, thereby realizing reliable clamping. When the workpiece 15 is placed on the stamping table 16 for stamping work, the stamping force will press down one end of the wrench. At this time, the swing arm 4 can continue to swing down by relying on the first connecting rod 3 and the first air cylinder 2, thereby offsetting the vibration and realizing the flexible clamping of the workpiece 15.

[0039] The above embodiments are only illustrative of the principles and effects of the present application, and are not intended to limit the present application. Any person skilled in the art can modify or change the above embodiments without departing from the spirit and scope of the present application. Therefore, equivalent changes made to the structure, shape, principle of the present application should be covered by the scope of protection of the present application.

Claims

1. A flexible stamping gripper mechanism comprising a mounting base (1), a first cylinder (2), a first connecting rod (3), a swing arm (4), a second cylinder (5), a second connecting rod (6), a third connecting rod (7), a movable gripper (8), a first fixed gripper (9) and a second fixed gripper (10), characterized in that, The first fixed jaw (9) and the second fixed jaw (10) are fixed on the mounting base (1) and form support ends (101) at the respective ends, the swing arm (4) is rotatably assembled on the side of the mounting base (1), the first cylinder (2) is assembled on the mounting base (1) and rotatably connects the swing arm (4) through the first connecting rod (3), and the first cylinder (2) is used for driving the swing arm (4) to swing up and down. The swing arm (4) is provided with a connecting seat (401), the second cylinder (5) is assembled on the connecting seat (401), the second cylinder (5) drives the movable jaw (8) to rotate through the second connecting rod (6) and the third connecting rod (7), the movable jaw (8) is "L" shaped, the movable jaw (8) penetrates through the swing arm (4), and the lower end of the movable jaw (8) is between the two support ends (101).

2. A flexible blank gripper mechanism according to claim 1, wherein, The tail of the first cylinder (2) is rotatably connected to the mounting base (1), the cylinder rod of the first cylinder (2) is fixedly connected to the end of the first connecting rod (3), and the other end of the first connecting rod (3) is rotatably connected to the upper end of the swing arm (4).

3. A flexible blank gripper mechanism according to claim 1, wherein, The first fixed jaw (9) is fixed on the front end of the mounting base (1), the second fixed jaw (10) is fixed on the lower side of the mounting base (1), and the support ends (101) of the first fixed jaw (9) and the second fixed jaw (10) are at the same height.

4. A flexible blank gripper mechanism according to claim 1, wherein, The mounting base (1) is fixed with a limiting block (12), the other end of the limiting block (12) penetrates through the gap between the first cylinder (2) and the swing arm (4), the limiting block (12) limits the swing arm (4), the end of the connecting seat (401) is rotatably connected to the second cylinder (5), the cylinder rod of the second cylinder (5) is fixed to the second connecting rod (6), the second connecting rod (6) is rotatably connected to the end of the third connecting rod (7), and the other end of the third connecting rod (7) is fixedly connected to the movable jaw (8).

5. A flexible blank gripper mechanism according to claim 4, wherein, A shaft sleeve (13) is assembled between the movable jaw (8) and the swing arm (4), and the fixed position of the movable jaw (8) on the swing arm (4) is adjustable.

6. A flexible blank gripper mechanism according to claim 1 wherein, Long waist grooves (14) are arranged on the first fixed jaw (9) and the second fixed jaw (10).

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