CN114506665A - Multi-claw opening and closing mechanism and method - Google Patents

Abstract

The invention provides a multi-claw opening and closing mechanism and method, comprising a main body, a plurality of picking mechanisms and at least one opening and closing mechanism; the picking mechanisms are evenly spaced along the circumference of the main body, and the picking up mechanism The mechanism can be changed between a first radial position that is close to each other and a second radial position that is far apart along the radial direction of the main body; Each of the driving parts is linked with at least two picking mechanisms through a connecting part to drive the multiple picking mechanisms to change between the first radial position and the second radial position synchronously. Applying this technical solution, the multi-claw tensioning mechanism can be changed between the first radial position and the second radial position to make the pick-up mechanism work, and the pick-up mechanism can change the workpiece in the first radial position and the second radial position. From the position to the position, the position change can be realized conveniently and quickly, and the synchronous opening and closing of more than two picking mechanisms can be realized through a single opening and closing mechanism.

Description

A multi-claw opening and closing mechanism and method

technical field

The present invention relates to a multi-claw opening and closing mechanism and method.

Background technique

In the current field of workpiece manufacturing (workpieces such as CNC inserts, etc.), CNC inserts are a general term for indexable turning inserts, and are the mainstream products in modern metal cutting applications. Mainly used in metal turning, milling, cutting and grooving, thread turning and other fields. At present, the conventional CNC blade processing method is powder pressing. Powder pressing is also called powder molding, or pressing for short. It is the earliest forming method used in powder metallurgy production. In the production process of CNC blades, it is necessary to remove the CNC blades from the mold and place them on the corresponding tray. Therefore, it is difficult to realize the corresponding automatic placement control.

SUMMARY OF THE INVENTION

The purpose of the present invention is to overcome the above-mentioned deficiencies in the prior art, and to provide a multi-claw opening and closing mechanism.

In order to solve the above technical problems, the present invention provides a multi-claw opening and closing mechanism, which includes a main body, a plurality of picking mechanisms and at least one opening and closing mechanism; the picking mechanisms are evenly spaced along the circumference of the main body, The pick-up mechanism can change between a first radial position that is close to each other and a second radial position that is far away along the radial direction of the main body; At least two close driving parts, each driving part is linked with at least two picking mechanisms through a connecting part, so as to drive a plurality of picking mechanisms to change between the first radial position and the second radial position synchronously.

In a more preferred embodiment, the connecting part includes two driving surfaces, and the driving part drives the driving surfaces to move along the radial direction of the main body; The driving surface is in contact with each other to drive at least one picking mechanism to move; the driving surface can synchronously convert the movement of the driving part approaching or moving away from the main body into the bearing of the picking mechanism along the main body. radial approaching or moving away.

In a more preferred embodiment, the included angle between the tangent of the driving surface and the moving direction of the driving portion is an acute angle.

In a more preferred embodiment, the pick-up mechanism includes a gripper cylinder or a suction cup.

In a more preferred embodiment, it also includes a plurality of guide mechanisms, the guide mechanisms guide and connect the main body and the pick-up mechanism so that the pick-up mechanism can move along the radial direction of the main body.

In a better embodiment, the guide mechanism includes a first guide part, a second guide part, a first auxiliary guide part and a second auxiliary guide part; the first guide part and the second guide part are connected to the Pickup mechanism, the first auxiliary guide part and the second auxiliary guide part are located on the main body, and the first guide part and the second guide part slide on the first auxiliary guide part and the second auxiliary guide part respectively The above can drive the retrieval mechanism to slide along the radial direction of the main body;

The guide part further comprises a limit block adjustably connected to the first guide part and an elastic piece sleeved on the second guide part, the elastic piece abuts between the picking mechanism and the main body to be able to When the picking mechanism is located at the first radial position, elastic force is accumulated, and the position of the limiting block on the first guide portion can be adjusted to change the first radial position and/or the second radial position.

In a better embodiment, the first guide portion and the first auxiliary guide portion are connected through a guide post guide hole structure or through a slide rail; the second guide portion and the second auxiliary guide portion are connected through a guide post guide hole Structural connection or connection via slide rails.

In a better embodiment, when the multi-jaw tensioning mechanism is changed from the second radial position to the first radial position, the pick-up mechanism grips the workpiece at the second radial position and communicates with the first radial position. The radial position releases the workpieces to change the separation distance of the workpieces.

The present invention also provides a multi-claw opening and closing method using the multi-claw opening and closing mechanism; the multi-claw opening and closing method comprises the following steps:

S1: make the main body move to the first platform corresponding to a workpiece, and make a plurality of picking mechanisms in the second radial position on the main body;

S2: make the main body move and make multiple pick-up mechanisms acquire multiple workpieces placed on the first platform;

S3: make a plurality of retrieval mechanisms be in the first radial position on the main body;

S4: Move the main body to a corresponding second platform, so that the plurality of pick-up mechanisms release the plurality of workpieces to place the workpieces on the second platform and change the distance between the workpieces.

Compared with the prior art, the technical solution of the present invention has the following beneficial effects:

1. A multi-claw opening and closing mechanism, comprising a main body, a plurality of picking mechanisms and at least one opening and closing mechanism; the picking mechanisms are evenly spaced along the circumference of the main body, and the picking mechanisms can be along the main body. The radial direction of the main body changes between a first radial position that is close and a second radial position that is far away; the opening and closing mechanism includes at least two driving parts that can move away or approach synchronously along the radial direction of the main body, each driving The part links at least two picking mechanisms through a connecting part to drive a plurality of picking mechanisms to change between the first radial position and the second radial position synchronously. The multi-claw tensioning and closing mechanism can be changed between the first radial position and the second radial position to make the pick-up mechanism work, and the pick-up mechanism can change the position of the workpiece at the first radial position and the second radial position, It is convenient and quick to realize the position change, and realize the synchronous opening and closing of more than two picking mechanisms through a single opening and closing mechanism.

2. The connecting part includes at least two driving surfaces, and the driving part drives the driving surfaces to move along the radial direction of the main body; The driving surfaces are respectively abutted to drive at least one picking mechanism to move; the driving surfaces can synchronously convert the motion of the driving part approaching or moving away from the main body into the bearing of the picking mechanism approaching or moving away from the radial direction of the main body The combination of the driving surface and the bearing can convert the movement of the driving part toward the center of the main body into the movement of the retrieval mechanism toward the center of the main body, and the resistance of the retrieval mechanism is the rolling friction between the bearing and the driving surface. Running smoothly.

Description of drawings

Fig. 1 is the three-dimensional schematic diagram of the multi-claw opening and closing mechanism in the preferred embodiment of the present invention;

2 is a schematic plan view of the multi-jaw tensioning mechanism in the preferred embodiment of the present invention, showing the connection between the driving surface and the bearing;

FIG. 3 is a three-dimensional schematic diagram of a multi-claw opening and closing mechanism in a preferred embodiment of the present invention;

Among them: 1. Main body; 11. Peripheral peripheral wall; 12. Upper cover plate; 13. Lower cover plate; 14. Installation space; 2. Pick-up mechanism; 21. Bearing; 31, driving part; 32, connecting part; 321, driving surface; 4, guiding mechanism; 41, first guiding part; 42, second guiding part; 43, first auxiliary guiding part; 44, second auxiliary guiding part; 45, limit block; 46, elastic piece; 5, connecting arm.

Detailed ways

The present invention will be further described below with reference to the accompanying drawings and specific embodiments.

Referring to FIGS. 1-3 , a multi-claw opening and closing mechanism includes a main body 1 , a plurality of picking mechanisms 2 and at least one opening and closing mechanism 3 ; the picking mechanisms 2 are evenly spaced along the circumference of the main body 1 . Arrangement, the pick-up mechanism 2 can change between a first radial position that is close to each other and a second radial position that is far away along the radial direction of the main body 1; the opening and closing mechanism 3 includes a At least two driving parts 31 that are synchronously away from or approaching in the radial direction, each driving part 31 is linked with at least two picking mechanisms 2 through a connecting part 32 to drive a plurality of picking mechanisms 2 to synchronize at the first radial position and the second picking mechanism 2. Transformation between two radial positions. The multi-jaw tensioning and closing mechanism can be changed between the first radial position and the second radial position to make the pick-up mechanism 2 work, and the pick-up mechanism 2 can change the workpiece at the first radial position and the second radial position. position, the position change can be realized conveniently and quickly, and the synchronous opening and closing of more than two picking mechanisms 2 can be realized through a single opening and closing mechanism 3 .

The connecting portion 32 includes at least two driving surfaces 321, and the driving portion 31 drives the driving surfaces 321 to move along the radial direction of the main body 1; The driving surface 321 is connected and rolled on the driving surface 321; the driving surfaces 321 are respectively abutted to drive at least one picking mechanism 2 to move; The bearing 21 of the object mechanism 2 moves toward or away from the radial direction of the main body 1 . The cooperation of the driving surface 321 and the bearing 21 can convert the movement of the driving part 31 towards the center of the main body 1 into the movement of the retrieval mechanism 2 towards the center of the main body 1. The resistance of the retrieval mechanism 2 is the difference between the bearing 21 and the driving surface 321. The rolling friction between the two, the value of the rolling friction is small, and the operation is smooth. In this embodiment, the driving surface 321 is a flat surface, and in some simple alternatives, the driving surface 321 may also be a curved surface with a smooth transition, as long as the tangent of the driving surface 321 and the moving direction of the driving part 31 are the same The included angle is an acute angle.

In this embodiment, the connecting portion 32 includes two driving surfaces 321, but in a simple alternative, it can also include three or more driving surfaces 321, as long as the angle and shape of the driving surfaces 321 are set to enable It is sufficient that the picking mechanism 2 moved thereon can move along the radial direction of the main body 1 .

The picking mechanism 2 includes a gripper cylinder 22 or a suction cup. In this embodiment, the fetching mechanism 2 includes a gripper cylinder 22, and the gripper cylinder 22 is a cylinder that opens and closes in parallel. The fetching structure can also use a suction cup, and the suction cup can be sucked and Release the suction. In this embodiment, the opening and closing of the plurality of picking mechanisms 2 may be controlled by one air flow, or the multiple air flows may be controlled separately to realize the independent control of a single gripper cylinder 22 .

The multi-claw opening and closing mechanism further includes a plurality of guide mechanisms 4 , the guide mechanisms 4 guide and connect the main body 1 and the picking mechanism 2 so that the picking mechanism 2 can move along the radial direction of the main body 1 . In this embodiment, the main body 1 includes a peripheral wall 11 , an upper cover 12 and a lower cover 13 . The peripheral wall 11 surrounds and defines an installation space 14 of the main body 1 , and the upper cover 12 is connected to On the upper side of the peripheral wall 11 , the lower cover plate 13 is connected to the lower side of the peripheral peripheral wall 11 , and the multi-claw tensioning mechanism further includes a connecting arm 5 connecting the upper cover plate 12 . The arm 5 is used for connecting to a robot arm to realize multi-directional and multi-angle displacement control. The opening and closing mechanism 3 is a conventional parallel opening and closing cylinder or an opening and closing device driven by a motor, which will not be repeated here. The opening and closing mechanism 3 is arranged in the installation space 14 and is fixedly connected to the upper cover plate. 12. A plurality of pick-up mechanisms 2 move on the working space, and the jaws of the gripper cylinders 22 of the pick-up mechanisms 2 are located outside the lower cover plate 13 to be able to correspondingly grip the workpiece. In this embodiment, the guide mechanism 4 guides and connects the outer peripheral wall 11 and the pick-up mechanism 2 .

The guide mechanism 4 includes a first guide part 41, a second guide part 42, a first auxiliary guide part 43 and a second auxiliary guide part 44; the first guide part 41 and the second guide part 42 are connected to the pick-up part Mechanism 2, the first auxiliary guide part 43 and the second auxiliary guide part 44 are located on the main body 1, and the first guide part 41 and the second guide part 42 slide on the first auxiliary guide part 43 and the second guide part 42 respectively. The second auxiliary guide portion 44 can drive the picking mechanism 2 to slide along the radial direction of the main body 1 . In this embodiment, the first guide portion 41 and the first auxiliary guide portion 43 are connected by a guide post guide hole structure or by a slide rail; the second guide portion 42 and the second auxiliary guide portion 44 are guided by a guide post. Connection by hole structure or by means of slide rails.

The guide part also includes a limit block 45 which is adjustably connected to the first guide part 41 and an elastic piece 46 that is sleeved on the second guide part 42, the elastic piece 46 abuts against the retrieval mechanism 2 and the second guide part 42. The elastic force can be accumulated between the main bodies 1 when the picking mechanism 2 is located at the first radial position, and the position of the limiting block 45 on the first guide portion 41 can be adjusted to change the first radial position and/or a second radial position. In this embodiment, the limiting block 45 is located at the outer end of the first guide portion 41 , and the limiting block 45 can be connected to the first guide portion 41 by screw connection or any other method, as long as the limiting block 45 is The axial position of the block 45 on the first guide part 41 can be changed, and in some simple replacements, the limit block 45 can also be connected to the inner end of the first guide part 41, and the outer The first radial position can be changed on the end, and the second radial position can be changed on the inner end, and in some simple replacements, the inner and outer ends of the first guide portion 41 have a limit block at the same time At 45, the first radial position and the second radial position can be changed simultaneously.

The present invention also includes a multi-claw opening and closing method, using the multi-claw opening and closing mechanism; the multi-claw opening and closing method comprises the following steps: S1: move the main body 1 to a first platform corresponding to a workpiece placed thereon, and make the A plurality of picking mechanisms 2 are in the second radial position on the main body 1; S2: make the main body 1 move and make a plurality of picking mechanisms 2 obtain a plurality of workpieces placed on the first platform; S3: make a plurality of picking up objects The mechanism 2 is at the first radial position on the main body 1; S4: the main body 1 is moved to a corresponding second platform, and a plurality of pick-up mechanisms 2 are loosened to release the plurality of workpieces so that the workpieces are placed on the second platform and the workpieces are changed interval distance.

During use, when the multi-jaw tensioning mechanism is changed from the second radial position to the first radial position, the pick-up mechanism 2 clamps the workpiece at the second radial position and aligns with the second radial position. Release the workpieces to change the separation distance of the workpieces. Specifically, the multi-claw opening and closing mechanism is driven by the robot arm to correspond to a first platform on which the workpiece is placed. When the multi-claw opening and closing mechanism is in the second radial position, the clamping claw cylinder 22 of the picking mechanism 2 moves from The open position is changed to the gripping position to grip the workpiece. The multi-claw opening and closing mechanism is driven by the robot arm and corresponds to the second platform. The multi-claw opening and closing mechanism is driven by the opening and closing mechanism 3 and is in the first radial position. At this time, the picking mechanism 2 is controlled and is in the first radial position. In the open position, the workpieces are placed on the second platform and the separation distance between the workpieces is reduced. In this embodiment, the workpiece is a CNC blade, and the CNC blade is formed in the mold of the powder forming press and needs to be transported and swung to the corresponding material tray. Therefore, the first platform is the mold of the powder forming press, and the second platform is the mold of the powder forming press. for the tray.

The above is only a preferred embodiment of the present invention, but the design concept of the present invention is not limited to this. Insubstantial changes are acts that infringe the protection scope of the present invention.

Claims (9)

1. A multi-claw opening and closing mechanism is characterized in that, comprising a main body, a plurality of fetching mechanisms and at least one opening and closing mechanism; the fetching mechanism is evenly spaced along the circumference of the main body, and the fetching mechanism is evenly spaced. The mechanism can change between a first radial position that is close to each other and a second radial position that is far away along the radial direction of the main body; Each of the driving parts is linked with at least two pick-up mechanisms through a connecting part to drive the plurality of pick-up mechanisms to change between the first radial position and the second radial position synchronously. 2 . The multi-claw opening and closing mechanism according to claim 1 , wherein the connecting portion comprises at least two driving surfaces, and the driving portion drives the driving surfaces to move along the radial direction of the main body; The pick-up mechanism further comprises a bearing, which abuts and rolls on the driving surface; the driving surfaces are respectively abutted to drive at least one pick-up mechanism to move; the driving surface can move the driving part along the main body to approach or The moving away movement is synchronously converted into a movement of the bearing of the retrieval mechanism approaching or moving away in the radial direction of the body. 3 . The multi-claw opening and closing mechanism according to claim 2 , wherein the included angle between the tangent of the driving surface and the moving direction of the driving part is an acute angle. 4 . 4 . The multi-claw opening and closing mechanism according to claim 1 , wherein the picking mechanism comprises a clamping jaw cylinder or a suction cup. 5 . 5. The multi-claw opening and closing mechanism according to claim 1, characterized in that: it further comprises a plurality of guiding mechanisms, the guiding mechanisms guide and connect the main body and the picking mechanism so that the picking mechanism can follow the direction of the main body. radial movement. 6 . The multi-claw opening and closing mechanism according to claim 5 , wherein the guide mechanism comprises a first guide part, a second guide part, a first auxiliary guide part and a second auxiliary guide part; the The first guide part and the second guide part are connected to the picking mechanism, the first auxiliary guide part and the second auxiliary guide part are located on the main body, and the first guide part and the second guide part slide on the The first auxiliary guide part and the second auxiliary guide part can drive the picking mechanism to slide along the radial direction of the main body; The guide part further comprises a limit block adjustably connected to the first guide part and an elastic piece sleeved on the second guide part, the elastic piece abuts between the picking mechanism and the main body to be able to When the picking mechanism is located at the first radial position, elastic force is accumulated, and the position of the limiting block on the first guide portion can be adjusted to change the first radial position and/or the second radial position. 7 . The multi-claw opening and closing mechanism according to claim 6 , wherein: the first guide part and the first auxiliary guide part are connected by a guide post guide hole structure or by a slide rail; the second guide part The guide part and the second auxiliary guide part are connected by the guide post and guide hole structure or connected by the slide rail. 8 . The multi-jaw tensioning mechanism according to claim 1 , wherein when the multi-jaw tensioning mechanism is changed from the second radial position to the first radial position, the picking mechanism is located at the first radial position. 9 . The second radial position grips the workpiece and releases the workpiece from the first radial position to vary the separation distance of the workpieces. 9. A multi-claw opening and closing method, characterized in that a multi-claw opening and closing mechanism as claimed in any one of claims 1-8 is used; the multi-claw opening and closing method comprises the following steps: S1: make the main body move to the first platform corresponding to a workpiece, and make a plurality of picking mechanisms in the second radial position on the main body; S2: make the main body move and make multiple pick-up mechanisms acquire multiple workpieces placed on the first platform; S3: make a plurality of retrieval mechanisms be in the first radial position on the main body; S4: Move the main body to a corresponding second platform, so that the plurality of pick-up mechanisms release the plurality of workpieces to place the workpieces on the second platform and change the distance between the workpieces.

Images