Parallel flexible feeding precise spider hand adsorption clamping equipment

Abstract

The utility model discloses a parallel flexible feeding precision spider hand adsorption clamping device, which relates to the field of automatic feeding, and comprises a driving assembly, the bottom of the driving assembly is connected with a mounting table, the bottom of the mounting table is provided with a fixing assembly, eccentric blocks are symmetrically fixed on the side surface of a large gear, and the eccentric blocks are connected with the driving assembly. And the side face of the eccentric block is rotationally connected with a rotating block, the side face of the external connecting plate is symmetrically and rotationally connected with L-shaped blocks, the upper surfaces of the L-shaped blocks are connected with rubber pads, and connecting blocks are fixed to the side faces of the L-shaped blocks. According to the parallel flexible feeding precise spider hand adsorption clamping equipment, after an extrusion block slides out of an extrusion groove, a fixing block can slide through a mounting table, after the fixing block slides out of the mounting table, a fixing assembly can be driven to be disassembled, and after the fixing assembly is disassembled, different types of fixing assemblies can be replaced; the rotating L-shaped block can rotate to the bottom from the top of the fixing assembly, and then the L-shaped block can rotate to the bottom of the machined part, so that the workpiece is prevented from falling on the ground and being damaged.

Description

Technical Field

[0001] This utility model relates to the field of automated feeding technology, specifically a parallel flexible feeding precision spider hand adsorption and clamping device. Background Technology

[0002] Automated feeding refers to the process of automatically conveying and positioning the raw materials, parts or semi-finished products required for production to a designated location according to the set process requirements through automated equipment and systems. Parallel flexible feeding is a mechanical structure that uses multiple independent motion chains (such as connecting rods, guide rails, motors) to jointly drive an end effector (such as a gripper or suction cup). It has small motion errors and is suitable for precision operation. Spider hand is a figurative name for it. The end of the spider hand is connected to an adsorption and clamping device, which completes the adsorption and clamping of the workpiece through the drive device.

[0003] Currently, adsorption and clamping equipment still has some shortcomings, such as difficulty in handling materials of different sizes.

[0004] To overcome the problem of equipment being unable to handle materials of different sizes, a prior art Chinese patent (publication number: CN218395648U) discloses a tooling mechanism that combines adsorption and clamping, wherein the first direction is perpendicular to the second direction; the clamping unit includes a first clamping member and a second clamping member, which can clamp the material after abutting with the first clamping member and the second clamping member, and forms a relief cavity that can accommodate the bent portion of the material. This utility model has at least the following advantages: integrating adsorption and clamping into one workstation, thus requiring only one power source, effectively reducing interference and design complexity.

[0005] However, the currently used adsorption clamping equipment still has certain shortcomings. The adsorption clamping equipment mentioned above can ensure the efficiency of material processing by adjusting the direction of the drive unit and the adsorption unit. However, this adjustment method is relatively rigid and is not as effective as directly replacing the wrong adsorption clamping equipment according to different models. Moreover, it is easy to quickly replace the equipment after it is damaged. Therefore, the existing structure needs to be improved. Utility Model Content

[0006] The purpose of this invention is to provide a parallel flexible feeding precision spider gripper adsorption and clamping device to solve the problem mentioned in the background art that the spider gripper is inconvenient to change the model of the fixing component, which affects the processing efficiency.

[0007] To achieve the above objectives, this utility model provides the following technical solution: a parallel flexible feeding precision spider hand adsorption and clamping device, including a driving assembly, a mounting platform connected to the bottom of the driving assembly, and a fixing assembly mounted on the bottom of the mounting platform.

[0008] The bottom of the fixing component is connected to a suction cup, the side of the fixing component is connected to a clamping block, and the top of the fixing component is fixed to a fixing block. The fixing block is slidably connected to the mounting platform. The top of the mounting platform is fixed to a threaded cylinder, and the side of the threaded cylinder is threadedly connected to a threaded ring. The top of the fixing component is provided with a pressing mechanism that is easy to disassemble and assemble.

[0009] Furthermore, the extrusion mechanism includes a tapered groove formed on the inner side of the threaded ring, an extrusion block is slidably connected to the top of the threaded cylinder, an extrusion groove is formed on the side of the fixed block, and four extrusion blocks and four extrusion grooves are connected to each other.

[0010] Furthermore, the side of the fixing component is provided with an anti-fall mechanism to prevent the workpiece from falling. The anti-fall mechanism includes an outer plate symmetrically fixed to the side of the fixing component, and a large gear is rotatably connected to the side of the outer plate away from the fixing component.

[0011] Furthermore, an eccentric block is symmetrically fixed to the side of the large gear, a rotating block is rotatably connected to the side of the eccentric block, an L-shaped block is symmetrically rotatably connected to the side of the outer plate, and a rubber pad is connected to the upper surface of the L-shaped block.

[0012] Furthermore, a connecting block is fixed to the side of the L-shaped block, and the connecting block rotates on the side of the rotating block away from the large gear.

[0013] Furthermore, a vision sensor is mounted on the side of the external plate away from the rotating block, and a motor is mounted on the side of the external plate close to the vision sensor. The output end of the motor passes through the external plate and is fixed to the side of the pinion.

[0014] Compared with the prior art, the beneficial effects of this utility model are:

[0015] 1. This parallel flexible feeding precision spider hand adsorption and clamping device allows the fixed block to slide through the mounting table after the extrusion block slides out of the extrusion groove. After the fixed block slides out of the mounting table, it can drive the fixed component to be disassembled. After the fixed component is disassembled, different models can be replaced. The rotating L-shaped block can rotate from the top to the bottom of the fixed component, and the L-shaped block can rotate to the bottom of the workpiece, thereby preventing the workpiece from falling to the ground and causing damage.

[0016] 2. It is equipped with a threaded cylinder and a threaded ring. The extrusion block can be extruded by the sliding of the threads of the threaded ring and the threaded cylinder, thereby realizing the installation of the mounting platform and the fixing components. It is efficient and the fixing components are also highly stable.

[0017] 3. It is equipped with an extrusion block, which slides through the threaded cylinder. The sliding distance is short and the extrusion block extrudes the extrusion groove with high efficiency, which can improve the installation efficiency of the mounting platform and fixed components.

[0018] 4. An eccentric block is provided, which can drive the L-shaped block to rotate from the top to the bottom of the fixed component through the rotating block, so as to rotate to the bottom of the workpiece to prevent it from falling, thus improving the protection of the workpiece by the device. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the overall frontal three-dimensional structure of this utility model;

[0020] Figure 2 This is an enlarged three-dimensional structural diagram of the fixing component of this utility model;

[0021] Figure 3 This is an enlarged three-dimensional structural diagram of the L-shaped block of this utility model;

[0022] Figure 4 This is an enlarged three-dimensional structural diagram of the fixing block of this utility model;

[0023] Figure 5 This is an enlarged three-dimensional structural diagram of the extrusion block of this utility model;

[0024] Figure 6 This is an enlarged three-dimensional structural diagram of the large gear of this utility model;

[0025] Figure 7 This is an enlarged three-dimensional structural diagram of the connecting block of this utility model;

[0026] Figure 8 This is a magnified three-dimensional structural diagram of the visual sensor of this utility model.

[0027] In the diagram: 1. Drive assembly; 2. Mounting platform; 3. Fixing assembly; 101. Fixing block; 103. Threaded cylinder; 104. Threaded ring; 105. Tapered groove; 106. Extrusion block; 107. Extrusion groove; 201. External plate; 202. Large gear; 203. Eccentric block; 204. Rotating block; 205. L-shaped block; 206. Connecting block; 207. Small gear; 208. Vision sensor; 209. Motor. Detailed Implementation

[0028] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0029] Example 1, such as Figure 1 , Figure 2 , Figure 3 , Figure 4 and Figure 5 The present invention provides the following technical solution to address the problem that the spider arm is inconvenient to change the model of the fixing component 3, which affects processing efficiency: a pressing mechanism is disclosed, including a drive component 1, a mounting platform 2 connected to the bottom of the drive component 1, a fixing component 3 installed at the bottom of the mounting platform 2, a suction cup connected to the bottom of the fixing component 3, a clamping block connected to the side of the fixing component 3, and a fixing block 101 fixed to the top of the fixing component 3. The fixing block 101 is slidably connected to the mounting platform 2. A threaded cylinder 103 is fixed to the top of the mounting platform 2. A threaded ring 104 is threadedly connected to the side of the threaded cylinder 103. A pressing mechanism that is easy to disassemble and assemble is provided on the top of the fixing component 3. The pressing mechanism includes a conical groove 105 opened inside the threaded ring 104. A pressing block 106 is slidably connected to the top of the threaded cylinder 103. A pressing groove 107 is opened on the side of the fixing block 101. Four pressing blocks 106 and four pressing grooves 107 are connected to each other.

[0030] The entire operation of the spider arm is controlled by a controller. Before use, the drive assembly 1 moves the fixing assembly 3 to adapt to the position and angle of the workpiece. The fixing assembly 3 then loads the workpiece using the suction cup at the bottom and the clamping blocks on the side. Since workpieces may vary in type and size, different fixing assemblies 3 must be selected based on the workpiece shape. To improve processing efficiency, the threaded ring 104 can be rotated to slide along the threaded cylinder 103. When the threaded ring 104 slides along the thread, the inclined inner wall of the conical groove 105 no longer presses against the extrusion block 106. When the conical groove 105 moves to a certain position, the fixing assembly 3 can be pulled down. When the 3 is pulled down, it can drive the fixed block 101 to move. When the fixed block 101 moves, it can drive the extrusion groove 107 to move down. When the extrusion groove 107 moves down, the inner wall can extrude the inclined surface of the extrusion block 106. After being extruded, the extrusion block 106 can slide towards the wall of the conical groove 105 through the threaded cylinder 103. When the extrusion block 106 slides out of the extrusion groove 107, the fixed block 101 can slide through the mounting platform 2. After the fixed block 101 slides out of the mounting platform 2, it can drive the fixed component 3 to be disassembled. After the fixed component 3 is disassembled, different models can be replaced. The spider arm has high loading stability and can also improve the replacement efficiency of the fixed component 3.

[0031] Example 2, as follows Figure 2 , Figure 3 , Figure 6 , Figure 7 and Figure 8The present invention provides the following technical solution to address the problem of workpieces potentially falling and being damaged during the loading of materials by the spider arm. Based on Embodiment 1, an anti-fall mechanism is disclosed: The side of the fixing component 3 is provided with an anti-fall mechanism to prevent workpieces from falling. The anti-fall mechanism includes an outer plate 201 symmetrically fixed to the side of the fixing component 3. A large gear 202 is rotatably connected to the side of the outer plate 201 away from the fixing component 3. An eccentric block 203 is symmetrically fixed to the side of the large gear 202, and a rotating block is rotatably connected to the side of the eccentric block 203. 204. An L-shaped block 205 is symmetrically rotatably connected to the side of the external plate 201. A rubber pad is connected to the upper surface of the L-shaped block 205. A connecting block 206 is fixed to the side of the L-shaped block 205. The connecting block 206 rotates on the side of the rotating block 204 away from the large gear 202. A vision sensor 208 is installed on the side of the external plate 201 away from the rotating block 204. A motor 209 is installed on the side of the external plate 201 close to the vision sensor 208. The output end of the motor 209 passes through the external plate 201 and is fixed to the side of the small gear 207.

[0032] When using the feeding device, the suction cups at the bottom of the fixing component 3 may leak air after prolonged use, or the workpiece surface may be uneven, causing the workpiece to become unstable and eventually fall. Since there are three suction cups, the probability of them failing to hold the workpiece simultaneously is relatively low. While the suction cups are picking up the workpiece, the vision sensor 208 monitors the workpiece's stability. When the vision sensor 208 detects workpiece vibration or when one of the suction cups detaches from the workpiece, it generates a signal that is transmitted to the controller. The controller then sends a command to the motor 209, which starts and drives the pinion 207 to rotate. The rotation of the pinion 207 drives the large gear 202 to mesh and rotate, which in turn drives the eccentric block 203 to rotate. When the eccentric block 203 rotates, it can pull the rotating block 204 to move. When the rotating block 204 moves, it can pull the connecting block 206 to rotate. When the connecting block 206 rotates, it can rotate through the L-shaped block 205. The L-shaped block 205 can rotate through the external plate 201. At the same time, the rotating block 204 can rotate through the eccentric block 203 and the connecting block 206. The rotating L-shaped block 205 can rotate from the top to the bottom of the fixed component 3. The L-shaped block 205 can rotate to the bottom of the workpiece, thereby preventing the workpiece from falling to the ground and causing damage. In addition, the controller will send the signal data monitored by the vision sensor 208 to the operator, so that the operator can handle and maintain it in time, which improves the ease of use of the spider arm.

[0033] Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A parallel flexible feeding precision spider hand adsorption and clamping device, comprising a driving component (1), wherein a mounting platform (2) is connected to the bottom of the driving component (1), and a fixing component (3) is mounted on the bottom of the mounting platform (2), characterized in that: The bottom of the fixing component (3) is connected to a suction cup, the side of the fixing component (3) is connected to a clamping block, and the top of the fixing component (3) is fixed with a fixing block (101). The fixing block (101) is slidably connected to the mounting platform (2). The top of the mounting platform (2) is fixed with a threaded cylinder (103). The side of the threaded cylinder (103) is threadedly connected with a threaded ring (104). The top of the fixing component (3) is provided with a pressing mechanism that is easy to disassemble and assemble.

2. The parallel flexible feeding precision spider hand adsorption and clamping device according to claim 1, characterized in that: The extrusion mechanism includes a tapered groove (105) opened inside the threaded ring (104), an extrusion block (106) is slidably connected to the top of the threaded cylinder (103), and an extrusion groove (107) is opened on the side of the fixed block (101). There are four extrusion blocks (106) and four extrusion grooves (107).

3. The parallel flexible feeding precision spider hand adsorption and clamping device according to claim 1, characterized in that: The fixed component (3) is provided with a falling prevention mechanism on its side to prevent the workpiece from falling. The falling prevention mechanism includes an outer plate (201) symmetrically fixed on the side of the fixed component (3). A large gear (202) is rotatably connected to the side of the outer plate (201) away from the fixed component (3).

4. The parallel flexible feeding precision spider hand adsorption and clamping device according to claim 3, characterized in that: The large gear (202) has an eccentric block (203) symmetrically fixed on its side. The eccentric block (203) is rotatably connected to a rotating block (204) on its side. The outer plate (201) has an L-shaped block (205) symmetrically rotatably connected to its side. The upper surface of the L-shaped block (205) is connected to a rubber pad.

5. The parallel flexible feeding precision spider hand adsorption and clamping device according to claim 4, characterized in that: A connecting block (206) is fixed to the side of the L-shaped block (205), and the connecting block (206) rotates on the side of the rotating block (204) away from the large gear (202).

6. The parallel flexible feeding precision spider hand adsorption and clamping device according to claim 3, characterized in that: A vision sensor (208) is mounted on the side of the outer plate (201) away from the rotating block (204), and a motor (209) is mounted on the side of the outer plate (201) close to the vision sensor (208). The output end of the motor (209) passes through the outer plate (201) and is fixed to the side of the pinion (207).

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