Automatic grabbing device

Abstract

The utility model relates to an automatic grabbing device which comprises a support, a moving mechanism arranged on the support and a grabbing mechanism connected with the moving mechanism, and the moving mechanism comprises an X-axis driving mechanism driven by a first motor (309) to move in the X-axis direction. The Y-axis driving mechanism is arranged at the driving end of the X-axis driving mechanism and driven by a second motor (3018) to move in the Y-axis direction, and the Y-axis driving mechanism comprises a second sliding plate (3014); the grabbing mechanism comprises a double-head air cylinder (2013), and the double-head air cylinder drives a clamping plate (2014) to achieve clamping. By means of the device, automatic grabbing and carrying of forging part type parts can be achieved.

Description

Technical Field

[0001] This utility model relates to an automated device, specifically an automated grasping device. Background Technology

[0002] Square steel forgings are widely used as intermediate materials in machining. The forging process typically includes the following steps: raw material preparation, preheating, forging, cooling, and post-processing. First, a suitable metal material needs to be selected for forging; commonly used forging materials include steel, aluminum, and copper. Then, the metal billet is heated at a high temperature to improve its plasticity, facilitating subsequent forging. The heated metal billet is placed in a forging machine for forging, where pressure is applied to deform it and obtain the desired rough-machined shape.

[0003] However, the limited range of motion of existing handling devices restricts their application in larger workspaces. This is especially true when dealing with large or heavy parts, where even greater workspace is required. Since existing handling devices typically operate only within a small area or on a single plane, they are ill-suited for large-scale handling in three-dimensional space. After forging, the parts require finishing. This process necessitates transferring the square steel forgings, which are then at high temperatures. Manual handling not only poses safety hazards but also disrupts processing continuity and ties up additional human resources.

[0004] To improve production efficiency and safety, automated handling equipment can be considered for handling forgings produced at high temperatures. Automated handling equipment can reduce manual operation, lower labor intensity, increase production efficiency, and reduce safety risks associated with manual operation. Furthermore, automated handling equipment can seamlessly integrate with forging machines and other processing equipment, enabling continuous processing, reducing production interruptions, and improving overall processing efficiency. Utility Model Content

[0005] To solve the above-mentioned technical problems, the purpose of this utility model is to provide a device that can automatically grasp forgings.

[0006] The technical solution of this utility model is as follows:

[0007] An automated gripping device includes a support, a moving mechanism disposed on the support, and a gripping mechanism connected to the moving mechanism. The moving mechanism includes an X-axis driving mechanism that moves along the X-axis direction via a first motor (309), and a Y-axis driving mechanism that moves along the Y-axis direction via a second motor (3018) disposed at the driving end of the X-axis driving mechanism. The Y-axis driving mechanism includes a second sliding plate (3014).

[0008] The gripping mechanism includes multiple sliding columns (202) disposed on the second sliding plate (3014). The top of the sliding column (202) is connected to an upper mounting plate (203), and the bottom of the sliding column (202) is connected to a lower pressure plate (201). A rotary motor (204) is disposed on the upper mounting plate (203), and a lead screw (205) is connected to the drive end of the rotary motor (204). The second sliding plate (3014) is provided with a lead screw sleeve, and the lead screw (205) is connected to the lead screw sleeve and its bottom is rotatably connected to the lower pressure plate (201).

[0009] The bottom of the lower pressure plate (201) is connected to the lower connecting plate (207) through multiple connecting columns (206). A double-headed cylinder (2013) is provided in the middle of the lower connecting plate (207). A third guide rail (2010) is provided on both sides of the double-headed cylinder (2013) on the lower connecting plate (207). Two third driving blocks (2011) are slidably arranged on the third guide rail (2010). The two ends of the side shift plate (2012) are respectively connected to the two third driving blocks (2011) on the same side of the two third guide rails (2010). The two ends of the side shift plate (2012) are respectively connected to the clamping plates (2014).

[0010] Furthermore, the support includes four square-shaped columns (301) and a pair of opposing first crossbeams (302) arranged parallel to the columns (301).

[0011] Furthermore, the X-axis drive mechanism includes a first guide rail (303) disposed on the first crossbeam (302), a first drive block (304) slidably disposed on each of the first guide rails (303), a first slide plate (305) connected to the first drive block (304), and a second crossbeam (3011) connected between the two first slide plates (305); a first crossbeam mounting plate (306) is also connected to the side of the first crossbeam (302), a first linear gear (307) is disposed on the first crossbeam mounting plate (306), a first motor (309) is mounted on the first slide plate (305) through a first motor mounting plate (308), a first drive gear (3010) is disposed at the drive end of the first motor (309), and the first linear gear (307) meshes with the first drive gear (3010).

[0012] Furthermore, the Y-axis drive mechanism includes a second guide rail (3012) disposed on the second crossbeam (3011), and a second drive block (3013) is slidably disposed on the second guide rail (3012), and the second slide plate (3014) is connected to the second drive block (3013);

[0013] The side of the second crossbeam (3011) is also connected to a second crossbeam mounting plate (3015). A second linear gear (3016) is provided on the second crossbeam mounting plate (3015). A second motor (3018) is mounted on the second slide plate (3014) through a second motor mounting plate (3017). A second drive gear (3019) is provided at the drive end of the second motor (3018). The second linear gear (3016) meshes with the second drive gear (3019).

[0014] Furthermore, both ends of the lower connecting plate (207) are connected to adsorption heads (209) via adsorption mounting plates (208).

[0015] Furthermore, a clamping connecting plate (2015) is also connected between the clamping plates (2014) at both ends of the side-shifting plate (2012).

[0016] Furthermore, the lower part of the clamping plate (2014) is provided with a bending part (201401).

[0017] Furthermore, the lower part of the clamping plate (2014) is provided with a hook part (201402).

[0018] By means of the above solution, this utility model has at least the following advantages:

[0019] This device can automatically grasp and transport forged parts.

[0020] The above description is only an overview of the technical solution of this utility model. In order to better understand the technical means of this utility model and to implement it in accordance with the contents of the specification, the preferred embodiments of this utility model are described in detail below with reference to the accompanying drawings. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the structure of this utility model. Figure 1 ;

[0022] Figure 2 This is a schematic diagram of the structure of this utility model. Figure 2 ;

[0023] Figure 3 This is a schematic diagram of the gripping mechanism of this utility model;

[0024] In the picture:

[0025] 2-Grabbing mechanism:

[0026] 201-Lower pressure plate; 202-Sliding column; 203-Upper mounting plate; 204-Rotary motor; 205-Lead screw; 206-Connecting column; 207-Lower connecting plate; 208-Adsorption mounting plate; 209-Adsorption head; 2010-Third guide rail; 2011-Third drive block; 2012-Side shift plate; 2013-Double-head cylinder; 2014-Clamping plate; 201401-Bending part; 201402-Hook part; 2015-Clamping connecting plate moving mechanism:

[0027] 301-Column; 302-First crossbeam; 303-First guide rail; 304-First drive block; 305-First slide plate; 306-First crossbeam mounting plate; 307-First linear gear; 308-First motor mounting plate; 309-First motor; 3010-First drive gear; 3011-Second crossbeam; 3012-Second guide rail; 3013-Second drive block; 3014-Second slide plate; 3015-Second crossbeam mounting plate; 3016-Second linear gear; 3017-Second motor mounting plate; 3018-Second motor; 3019-Second drive gear. Detailed Implementation

[0028] The specific embodiments of this utility model will be described in further detail below with reference to the accompanying drawings and examples. The following examples are used to illustrate this utility model, but are not intended to limit its scope.

[0029] See Figures 1-3 An automated gripping device according to a preferred embodiment of the present invention includes a support frame, which includes four square columns 301 and a pair of opposing first crossbeams 302 arranged parallel to each other on the columns 301.

[0030] A movable mechanism mounted on a support, and a gripping mechanism 2 connected to the movable mechanism.

[0031] The moving mechanism includes an X-axis drive mechanism that moves along the X-axis direction via a first motor 309, and a Y-axis drive mechanism that moves along the Y-axis direction via a second motor 3018 at the drive end of the X-axis drive mechanism. The Y-axis drive mechanism includes a second slide plate 3014. Specifically, the X-axis drive mechanism includes first guide rails 303 evenly arranged on two first crossbeams 302. First drive blocks 304 are slidably arranged on each of the first guide rails 303. First slide plates 305 are connected to the first drive blocks 304, and the first slide plates 305 can slide on the first guide rails 303 through the first drive blocks 304. A second crossbeam 3011 connects the two first slide plates 305. In this utility model, there are two first crossbeams 3011, which are spaced apart. The side of the first crossbeam 302 is also connected to the first crossbeam mounting plate 306. The first crossbeam mounting plate 306 is provided with the first linear gear 307. The first slide plate 305 is mounted with the first motor mounting plate 308. The drive end of the first motor 309 is provided with the first drive gear 3010. The first linear gear 307 meshes with the first drive gear 3010.

[0032] The Y-axis drive mechanism includes a second guide rail 3012 mounted on a second crossbeam 3011, with a second drive block 3013 slidably mounted on each of the second guide rails 3012, and a second slide plate 3014 connected to the second drive block 3013; a second crossbeam mounting plate 3015 is also connected to the side of the second crossbeam 3011, with a second linear gear 3016 mounted on the second crossbeam mounting plate 3015; a second motor 3018 is mounted on the second slide plate 3014 via a second motor mounting plate 3017, with a second drive gear 3019 mounted at the drive end of the second motor 3018, and the second linear gear 3016 meshing with the second drive gear 3019.

[0033] In the moving mechanism, the first slide plate 305 can be moved in the X-axis direction by the first motor 309, and the second slide plate 3014 can be moved by the second motor 3018. The second slide plate 3014 follows the first slide plate 305. The movement of the two motors realizes the movement of the second slide plate 3014 in the entire support plane.

[0034] The gripping mechanism includes multiple sliding columns 202 mounted on the second slide plate 3014. Generally, there are four sliding columns 202 arranged in a square. The top of the sliding column 202 is connected to an upper mounting plate 203, and the bottom of the sliding column 202 is connected to a lower pressure plate 201. A rotary motor 204 is mounted on the upper mounting plate 203. The drive end of the rotary motor 204 is connected to a lead screw 205. The second slide plate 3014 is provided with a lead screw sleeve. The lead screw 205 is connected to the lead screw sleeve and its bottom is rotatably connected to the lower pressure plate 201. Driven by the rotary motor 204, the lead screw 205 can be rotated, so that the lead screw and the lead screw sleeve can rotate relative to each other, thereby driving the lower pressure plate 201 to move.

[0035] The bottom of the lower pressure plate 201 is connected to the lower connecting plate 207 via multiple connecting pillars 206. A double-headed cylinder 2013 is installed in the middle of the lower connecting plate 207. Third guide rails 2010 are installed on both sides of the double-headed cylinder 2013 on the lower connecting plate 207. Two third driving blocks 2011 are slidably mounted on the third guide rails 2010. The two ends of the side-shifting plate 2012 are respectively connected to the two third driving blocks 2011 on the same side of the two third guide rails 2010. Clamping plates 2014 are connected to the two ends of the side-shifting plate 2012. Driven by the double-headed cylinder 2013, the two side-shifting plates 2012 can move closer or further apart, thus gripping the forging below.

[0036] Both ends of the lower connecting plate 207 are connected to adsorption heads 209 via adsorption mounting plates 208. When gripping a larger and heavier cooled forging, the adsorption heads 209 can adsorb the surface of the forging, thus enabling better gripping.

[0037] A clamping connecting plate 2015 is also connected between the clamping plates 2014 at both ends of the side shift plate 2012. The connection of the two clamping plates 2014 is made more secure through the connection of the clamping connecting plate 2015. A bending part 201401 is provided at the lower part of the clamping plate 2014. The bending part 201401 includes multiple bending parts with angles of 155-175°. The bending part can better clamp and press the parts. A hook part 201402 is provided at the lower part of the clamping plate 2014. The function of the hook part 201402 is to hang directly on the bottom of the parts.

[0038] The working principle of this utility model is as follows:

[0039] The moving mechanism of this device enables the gripping mechanism to move within the support range, while the gripping mechanism itself can move up and down in the Z-axis direction. The double-headed cylinder can drive the clamping plate to clamp the parts.

[0040] This device has the following advantages:

[0041] This device can automatically grasp and transport forged parts. The moving mechanism can drive the device to move in the XY axis plane, the grasping mechanism can drive the device to move in the Z axis, the double-headed cylinder can drive the clamping plate to clamp the parts, and the suction head can further tighten the parts.

[0042] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present utility model, and these improvements and modifications should also be considered within the protection scope of the present utility model.

Claims

1. An automated gripping device, comprising a support, a moving mechanism mounted on the support, and a gripping mechanism connected to the moving mechanism, characterized in that: The moving mechanism includes an X-axis driving mechanism that moves along the X-axis direction via a first motor (309), and a Y-axis driving mechanism that moves along the Y-axis direction via a second motor (3018) at the driving end of the X-axis driving mechanism. The Y-axis driving mechanism includes a second slide plate (3014). The gripping mechanism includes multiple sliding columns (202) disposed on the second sliding plate (3014). The top of the sliding column (202) is connected to an upper mounting plate (203), and the bottom of the sliding column (202) is connected to a lower pressure plate (201). A rotary motor (204) is disposed on the upper mounting plate (203), and a lead screw (205) is connected to the drive end of the rotary motor (204). The second sliding plate (3014) is provided with a lead screw sleeve, and the lead screw (205) is connected to the lead screw sleeve and its bottom is rotatably connected to the lower pressure plate (201). The bottom of the lower pressure plate (201) is connected to the lower connecting plate (207) through multiple connecting columns (206). A double-headed cylinder (2013) is provided in the middle of the lower connecting plate (207). A third guide rail (2010) is provided on both sides of the double-headed cylinder (2013) on the lower connecting plate (207). Two third driving blocks (2011) are slidably arranged on the third guide rail (2010). The two ends of the side shift plate (2012) are respectively connected to the two third driving blocks (2011) on the same side of the two third guide rails (2010). The two ends of the side shift plate (2012) are respectively connected to the clamping plates (2014).

2. The automated grasping device according to claim 1, characterized in that: The support includes four square columns (301) and a pair of opposing first crossbeams (302) arranged parallel to each other on the columns (301).

3. The automated grasping device according to claim 2, characterized in that: The X-axis drive mechanism includes a first guide rail (303) disposed on the first crossbeam (302), a first drive block (304) slidably disposed on the first guide rail (303), a first slide plate (305) connected to the first drive block (304), and a second crossbeam (3011) connected between the two first slide plates (305); a first crossbeam mounting plate (306) is also connected to the side of the first crossbeam (302), a first linear gear (307) is disposed on the first crossbeam mounting plate (306), a first motor (309) is mounted on the first slide plate (305) through a first motor mounting plate (308), a first drive gear (3010) is disposed at the drive end of the first motor (309), and the first linear gear (307) meshes with the first drive gear (3010).

4. The automated grasping device according to claim 3, characterized in that: The Y-axis drive mechanism includes a second guide rail (3012) disposed on the second crossbeam (3011), and a second drive block (3013) is slidably disposed on the second guide rail (3012), and the second slide plate (3014) is connected to the second drive block (3013); The side of the second crossbeam (3011) is also connected to a second crossbeam mounting plate (3015). A second linear gear (3016) is provided on the second crossbeam mounting plate (3015). A second motor (3018) is mounted on the second slide plate (3014) through a second motor mounting plate (3017). A second drive gear (3019) is provided at the drive end of the second motor (3018). The second linear gear (3016) meshes with the second drive gear (3019).

5. An automated grasping device according to claim 1, characterized in that: Both ends of the lower connecting plate (207) are connected to adsorption heads (209) via adsorption mounting plates (208).

6. The automated grasping device according to claim 1, characterized in that: A clamping connecting plate (2015) is also connected between the clamping plates (2014) at both ends of the side-shifting plate (2012).

7. An automated grasping device according to claim 6, characterized in that: The lower part of the clamping plate (2014) is provided with a bending part (201401).

8. An automated grasping device according to claim 6, characterized in that: The lower part of the clamping plate (2014) is provided with a hook part (201402).

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