阅读说明：本技术 一种内撑治具及取放料模组 (Internal stay tool and get and put material module ) 是由 侯庚旺 吴丰礼 于 2021-06-08 设计创作，主要内容包括：本发明公开一种内撑治具及取放料模组,旨在通过内撑结构夹取产品。包括：机壳,形成有限位孔；和夹持装置,所述夹持装置包括：内撑件,所述内撑件包括按压板和与所述按压板相连的内撑拉伸壳,所述内撑拉伸壳上设有沿拉伸方向设置分隔缝,所述分隔缝延伸至远离按压板一侧的内撑拉伸壳的端部,所述分隔缝将内撑拉伸壳分为多片内撑片,所述内撑片始终具有向外弹性扩张的趋势,所述内撑拉伸壳穿过所述限位孔；及驱动内撑件的驱动组件。本发明技术方案通过控制内撑件的内撑片在张开和聚合状态进行切换以实现对产品内槽或内孔进行夹持,能够保证抓取产品时不会对产品外表面产生刮痕。(The invention discloses an internal support jig and a material taking and placing module, and aims to clamp a product through an internal support structure. The method comprises the following steps: a housing formed with a limiting hole; and a clamping device, the clamping device comprising: the inner supporting piece comprises a pressing plate and an inner supporting stretching shell connected with the pressing plate, a separation seam is arranged on the inner supporting stretching shell along the stretching direction, the separation seam extends to the end part of the inner supporting stretching shell far away from one side of the pressing plate, the separation seam divides the inner supporting stretching shell into a plurality of inner supporting pieces, the inner supporting pieces always have the tendency of outward elastic expansion, and the inner supporting stretching shell penetrates through the limiting hole; and a driving assembly for driving the inner support member. According to the technical scheme, the inner supporting pieces of the inner supporting pieces are controlled to be switched between the opening state and the polymerization state so as to clamp the inner groove or the inner hole of the product, and the outer surface of the product can not be scratched when the product is grabbed.)

1. The utility model provides an internal stay tool which characterized in that includes:

a housing formed with a limiting hole; and

a clamping device, the clamping device comprising:

the inner supporting piece comprises a pressing plate and an inner supporting stretching shell connected with the pressing plate, a separation seam is arranged on the inner supporting stretching shell along the stretching direction, the separation seam extends to the end part of the inner supporting stretching shell far away from one side of the pressing plate, the separation seam divides the inner supporting stretching shell into a plurality of inner supporting pieces, the inner supporting pieces always have the tendency of outward elastic expansion, and the inner supporting stretching shell penetrates through the limiting hole; and

the driving assembly is arranged on the shell and connected with the pressing plate, and is used for driving the inner supporting pieces to extend out of the limiting hole to enable the inner supporting pieces to form an open state and driving the inner supporting pieces to retract towards the limiting hole to enable the inner supporting pieces to form a polymerization state.

2. The internal stay fixture of claim 1, wherein the driving assembly comprises an air cylinder and an elastic assembly, the air cylinder is mounted on the housing and an output end of the air cylinder is connected to the pressing plate, the elastic assembly provides an elastic force to cooperate with the air cylinder to drive the plurality of internal stay pieces to switch between the aggregation state and the expansion state.

3. The internal support jig according to claim 2, wherein the casing comprises a bracket and a chuck which are detachably connected, the chuck is provided with the limiting hole, the bracket and the chuck are matched to form an installation cavity communicated with the limiting hole, the pressing plate is located in the installation cavity, and the outer diameter of the pressing plate is larger than the inner diameter of the limiting hole;

the driving assembly further comprises a lever, the middle of the lever is rotatably connected with the support, one end of the lever is connected with the output end of the air cylinder, and the other end of the lever extends into the mounting cavity and is abutted against the pressing plate;

the elastic assembly comprises a first elastic piece and a second elastic piece, the pressing plate is abutted to the chuck through the first elastic piece, the second elastic piece is provided with a movable end, the movable end is indirectly abutted to the pressing plate through the lever, the cylinder is not abutted to the second elastic piece through the lever during force application, the second elastic piece is abutted to the pressing part, and the inner supporting piece is in an opening state.

4. The internal support jig according to claim 3, wherein the collet is provided with a limiting groove for accommodating the pressing plate, the limiting hole is provided in the limiting groove, and the first elastic member is provided on the collet in the limiting groove.

5. The inner supporting jig according to claim 1, wherein an outer wall surface of one end of the inner supporting piece away from the pressing plate is formed with an inwardly-contracted guide surface.

6. The internal stay fixture according to claim 1, wherein a limiting post is disposed inside the internal stay stretching shell, and the limiting post is adapted to the internal diameter of the internal stay stretching shell and is fixedly connected to the pressing plate.

7. A pick and place module, comprising: the lifting mechanism, the translation mechanism and the inner supporting fixture as claimed in any one of claims 1 to 6,

the clamping device is installed on the lifting mechanism through the casing, the lifting mechanism drives the internal support jig to do lifting motion, the lifting mechanism is arranged on the output end of the translation mechanism, the translation mechanism is fixed on the rack, and the translation mechanism drives the lifting mechanism to do translation motion.

8. The feeding and discharging module according to claim 7, wherein the output end of the translation mechanism is further provided with a rotation mechanism, the rotation mechanism drives the inner supporting fixture to rotate, the housing of the inner supporting fixture comprises a base portion and a plurality of extending ends extending outward from the base portion, and each extending end is provided with the clamping device.

9. The material taking and placing module according to claim 8, wherein a spline shaft is mounted on the base body, a synchronizing wheel is arranged on the spline shaft, and the synchronizing wheel is in transmission connection with the output end of the rotating mechanism.

10. The module according to claim 9, wherein the base portion has a connecting member, one end of the connecting member is fixedly connected to the output end of the lifting mechanism, the other end of the connecting member is sleeved on the spline shaft, and a clamp is fixed on the spline shaft, and the clamp and the base portion cooperate to limit and stop at two sides of the connecting member.

Technical Field

The invention relates to the technical field of operation processing equipment, in particular to an internal support jig and a material taking and placing module.

Background

To the product that has inside groove or hole in CNC processing equipment, the surface needs to have the smoothness requirement, can't adopt general current anchor clamps, and current anchor clamps all let the product surface produce the scratch when snatching the product easily, consequently need one kind can avoid the product to produce the internal stay anchor clamps of scratch.

Disclosure of Invention

The invention mainly aims to provide an internal supporting jig, aiming at realizing that the structure of a product is not damaged in the product grabbing process.

In order to achieve the above object, the present invention provides an internal supporting jig, including:

a housing formed with a limiting hole; and

a clamping device, the clamping device comprising:

the inner supporting piece comprises a pressing plate and an inner supporting stretching shell connected with the pressing plate, a separation seam is arranged on the inner supporting stretching shell along the stretching direction, the separation seam extends to the end part of the inner supporting stretching shell far away from one side of the pressing plate, the separation seam divides the inner supporting stretching shell into a plurality of inner supporting pieces, the inner supporting pieces always have the tendency of outward elastic expansion, and the inner supporting stretching shell penetrates through the limiting hole; and

the driving assembly is arranged on the shell and connected with the pressing plate, and is used for driving the inner supporting pieces to extend out of the limiting hole to enable the inner supporting pieces to form an open state and driving the inner supporting pieces to retract towards the limiting hole to enable the inner supporting pieces to form a polymerization state.

Optionally, the driving assembly includes an air cylinder and an elastic assembly, the air cylinder is mounted on the housing and an output end of the air cylinder is connected to the pressing plate, and the elastic assembly provides an elastic force to cooperate with the air cylinder to drive the plurality of inner supporting pieces to switch between the aggregation state and the expansion state.

Optionally, the casing includes a bracket and a chuck that are detachably connected, the chuck is provided with the limiting hole, the bracket and the chuck are matched to form an installation cavity communicated with the limiting hole, the pressing plate is located in the installation cavity, and an outer diameter of the pressing plate is larger than an inner diameter of the limiting hole;

the driving assembly further comprises a lever, the middle of the lever is rotatably connected with the support, one end of the lever is connected with the output end of the air cylinder, and the other end of the lever extends into the mounting cavity and is abutted against the pressing plate;

the elastic assembly comprises a first elastic piece and a second elastic piece, the pressing plate is abutted to the chuck through the first elastic piece, the second elastic piece is provided with a movable end, the movable end is indirectly abutted to the pressing plate through the lever, the cylinder is not abutted to the second elastic piece through the lever during force application, the second elastic piece is abutted to the pressing part, and the inner supporting piece is in an opening state.

Optionally, a limiting groove for accommodating the pressing plate is formed in the chuck, the limiting hole is formed in the limiting groove, and the first elastic member is arranged on the chuck in the limiting groove.

Optionally, an outer wall surface of one end of the inner supporting sheet away from the pressing plate is formed with an inwardly-contracted guide surface.

Optionally, the stretching shell of internal stay is inside to be equipped with spacing post, spacing post with the stretching shell internal diameter of internal stay suits and with press platen fixed connection.

A pick and place module comprising: the lifting mechanism, the translation mechanism and the inner supporting fixture as claimed in any one of claims 1 to 6,

the clamping device is installed on the lifting mechanism through the casing, the lifting mechanism drives the internal support jig to do lifting motion, the lifting mechanism is arranged on the output end of the translation mechanism, the translation mechanism is fixed on the rack, and the translation mechanism drives the lifting mechanism to do translation motion.

Optionally, a rotating mechanism is further disposed at the output end of the translation mechanism, the rotating mechanism drives the inner support fixture to rotate, a housing of the inner support fixture includes a base portion and a plurality of extending ends extending outward from the base portion, and each extending end is provided with the clamping device.

Optionally, a spline shaft is mounted on the base body, a synchronizing wheel is slidably disposed on the spline shaft, and the synchronizing wheel is in transmission connection with the output end of the rotating mechanism.

Optionally, a connecting piece is arranged on the base body, one end of the connecting piece is fixedly connected with the output end of the lifting mechanism, the other end of the connecting piece is sleeved with the spline shaft, a hoop is fixed on the spline shaft, and the hoop and the base body are matched to limit and stop at two sides of the connecting piece.

According to the technical scheme, the inner supporting pieces of the inner supporting pieces are controlled to be switched between the opening state and the polymerization state so as to clamp the inner groove or the inner hole of the product, and the outer surface of the product can not be scratched when the product is grabbed.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.

FIG. 1 is a schematic structural view of a material taking and placing module according to the present invention;

FIG. 2 is a schematic view of the housing of FIG. 1 with the housing removed;

FIG. 3 is a schematic structural view of the inner supporting jig of the present invention;

FIG. 4 is a cross-sectional view of the feeding module along the section of the extending end;

fig. 5 is a cross-sectional view of the internal stay fixture along the section of the extension end.

The reference numbers illustrate:

the implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "disposed," "connected," and the like are to be construed broadly, such as "connected," which may be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

It should be noted that all the directional indicators (such as up, down, left, right, front, and rear … …) in the embodiment of the present invention are only used to explain the relative position relationship between the components, the movement situation, etc. in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indicator is changed accordingly.

In addition, the descriptions related to "first", "second", etc. in the present invention are for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, "and/or" in the whole text includes three schemes, taking a and/or B as an example, including a technical scheme, and a technical scheme that a and B meet simultaneously; in addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.

The invention provides an internal support jig.

In an embodiment of the present invention, as shown in fig. 3 and 5, the inner supporting fixture includes:

a case 100 formed with a limiting hole 110; and

clamping device 200, clamping device 200 is used for realizing the interior clamp to the product, clamping device 200 includes:

the inner supporting piece 210 is a core component of an inner supporting jig and is used for abutting against an inner groove or an inner hole of a product to realize product grabbing, the inner supporting piece 210 comprises a pressing plate 211 and an inner supporting stretching shell 212 connected with the pressing plate 211, a separation seam 213 is arranged on the inner supporting stretching shell 212 along the stretching direction, the separation seam 213 extends from the middle of the inner supporting stretching shell 212, the separation seam 213 extends to the end part of the inner supporting stretching shell 212 far away from the pressing plate 211, the inner supporting stretching shell 212 is divided into a plurality of inner supporting pieces 214 by the separation seam 213, the inner supporting pieces 214 always have the tendency of outward elastic expansion, and the inner supporting stretching shell 212 penetrates through the limiting hole 110; it will be appreciated that the material of the inner supporting member 214 is elastic and always has a tendency to elastically expand outwardly, i.e. the inner supporting member 214 can still recover to elastically expand outwardly after the external force disappears after the inner supporting member 214 deforms cohesively by the external force, and

the driving assembly 300 is configured to drive the inner supporting member 210 to move, is mounted on the housing and is connected to the pressing plate 211, and the driving assembly 300 is configured to drive the inner supporting member 210 to extend out toward the position-limiting hole 110 so as to enable the plurality of inner supporting sheets 214 to form an expanded state, and is configured to drive the inner supporting member 210 to retract toward the position-limiting hole 110 so as to enable the plurality of inner supporting sheets to form a polymerized state. The limiting hole 110 limits the degree of outward elastic expansion of the inner supporting pieces 214, so that the plurality of inner supporting pieces 214 can be formed into an expanded state and a polymerized state. It is understood that the limiting hole 110 is adapted to the inner stretching shell 212, or the inner stretching shell 212 can be slightly smaller than the limiting hole 110, so that the inner stretching shell 212 can realize the opening state and the aggregation state of the inner supporting pieces 214 when moving in the limiting hole 110.

According to the technical scheme, the inner supporting piece 214 of the inner supporting piece 210 is controlled to be switched between the opening state and the polymerization state so as to clamp the inner groove or the inner hole of the product, and the outer surface of the product can not be scratched when the product is grabbed.

Specifically, the driving assembly 300 may drive the inner supporting member 210 in various ways, and the driver of the driving assembly 300 directly acts on the pressing plate 211 of the inner supporting member 210, so that the inner supporting member 210 is in an open state and a closed state.

Optionally, in an embodiment of the present invention, the driving assembly 300 includes an air cylinder 310 and an elastic assembly 320, the air cylinder 310 is mounted on the housing 100, and an output end of the air cylinder 310 is connected to the pressing plate, the elastic assembly 320 provides an elastic force to cooperate with the air cylinder 310 to drive the plurality of inner supporting pieces 214 to switch between the converging state and the diverging state. Because the elastic component can provide the change power and drive interior support piece 210, drive interior spacer 214 through introducing the elastic component and switch between the polymerization state with open the state, after interior spacer 214 outwards elasticity expansion supported the product, the elastic force of elastic component can be offset to the frictional force between interior spacer 214 and the product, can guarantee interior spacer 214 no longer produces the slip with product inside groove or hole after interior spacer 214 grips the product, is favorable to promoting product quality.

In some field working conditions, in order to facilitate installation of the clamping device 200, optionally, the casing 100 includes a bracket 120 and a chuck 130 that are detachably connected, the chuck 130 is provided with the limiting hole 110, the bracket 120 and the chuck 130 are cooperatively formed with an installation cavity communicating with the limiting hole 110, specifically, the bracket 120 and the chuck 130 are detachably and fixedly connected, the pressing plate 211 is located in the installation cavity, and in order to limit the pressing plate 211 in the installation cavity to enable the multiple internal supporting pieces 214 to form an open state and a converged state, an outer diameter of the pressing plate 211 is greater than an inner diameter of the limiting hole 110; through adopting chuck 130 and support 120 to form the installation cavity to chuck 130 can dismantle with support 120 and be connected, be convenient for install spare part in the installation cavity, can dismantle with support 120 through setting up chuck 130 and be connected, when equipment needs the different products of centre gripping, only need to dismantle chuck 130 and support 120 and can realize changing interior support piece 210, realize trading with interior support piece 210.

The driving assembly 300 further includes a lever 330, a middle portion of the lever 330 is rotatably connected to the bracket 120, one end of the lever 330 is connected to an output end of the cylinder 310, and the other end of the lever 330 extends into the mounting cavity and abuts against the pressing plate;

the elastic assembly 320 includes a first elastic member 321 and a second elastic member 322, the pressing plate 211 abuts against the chuck 130 through the first elastic member 321, the second elastic member 322 has a movable end, the movable end indirectly presses the pressing plate 211 through the lever 330, when the cylinder 310 does not apply a force to the lever 330, the second elastic member 322 abuts against the pressing through the lever 330, and the inner supporting member 210 is in an open state.

Because cylinder 310 structure size is great, can lead to the internal stay tool too long with the coaxial setting of internal stay piece 210, and it is limited to get blowing module activity space in some place, can't adapt to the too long internal stay tool under the circumstances of place restriction, in this embodiment cylinder 310 uses lever 330 to indirectly drive press the clamp plate butt, cylinder 310 installs outside the installation cavity, also promptly cylinder 310 with internal stay piece 210 dislocation set, guaranteed that the internal stay tool can not be too long, more reasonable utilized horizontal space for the internal stay tool structure is the platykurtic, the effectual activity space that has adapted to the place.

Optionally, the first elastic member 321 is a compression spring, and the second elastic member 322 is also a compression spring.

The first elastic member 321 is used to lift the pressing plate so that the pressing plate is in a polymerized state, in some embodiments, the first elastic member 321 is disposed on the chuck 130 at the bottom of the pressing plate 211, one end of the first elastic member 321 abuts on the chuck 130, and the other end of the first elastic member 321 abuts on the upper surface of the pressing plate 211.

In some embodiments, the fixed end of the second elastic element 322 is abutted against the bracket 120 of the installation cavity, and the movable end of the second elastic element 322 is used for abutting against the lever 330 to apply force to the lever 330. In order to fix the second elastic element 322, optionally, a receiving groove is disposed on the bracket 120, the fixed end of the second elastic element 322 extends into the receiving groove to abut against the bracket 120, and the receiving groove is used to limit the position of the second elastic element 322, so as to prevent the second elastic element 322 from deviating. In other embodiments, the support 120 is provided with a containing hole at a position opposite to the inner pulling-up casing, the support 120 outside the containing hole is provided with a mounting seat, the fixed end of the second elastic element 322 is fixedly mounted in the mounting seat, the movable end of the second elastic element 322 extends into the containing hole and is indirectly pressed against the pressing plate 211 through the lever 330, the mounting seat is additionally arranged in the technical scheme, so that the second elastic element 322 can be conveniently mounted, when the second elastic element 322 needs to be replaced, the mounting seat connected with the second elastic element 322 only needs to be replaced, and the mounting of the second elastic element 322 can be realized without removing the chuck 130.

There are two mounting manners for the cylinder 310, in some embodiments, the cylinder 310 is disposed downward to be connected to one end of the lever 330, and in other embodiments, the cylinder 310 may be disposed upward to be connected to one end of the cylinder 310.

Taking the example that the cylinder 310 is disposed downward at one end of the connecting lever 330, please refer to fig. 5 again, when the cylinder 310 is disposed downward, the cylinder 310 extends out and then generates pressure on the first elastic member 321 under the action of the lever 330, the elastic force of the first elastic member 321 is smaller than the elastic force of the second elastic member 322, taking the stress of the cylinder 310 as an initial state, when the cylinder 310 extends out and presses the second elastic member 322 through the lever 330, the pressing plate 211 rises under the influence of the restoring force of the first elastic member 321, the inner supporting pieces 214 are greatly influenced by the limiting hole 110, the plurality of inner supporting pieces 214 are aggregated, and the inner supporting stretching shell 212 is in an aggregated state. When the inner supporting piece 214 of the inner supporting jig is stretched into an inner groove of a product to swing the inner hole in advance, the air cylinder 310 is contracted, the air cylinder 310 releases the force application on the lever 330, the second elastic piece 322 presses the pressing plate 211 downwards, the first elastic piece 321 is compressed under the force, the inner supporting piece 214 has small effect on the limiting hole 110, the inner supporting pieces 214 are expanded, the inner supporting stretching shell 212 is in an expanded state, the inner supporting jig clamps the product and transports the product, the air cylinder 310 is contracted after the inner supporting jig reaches a preset position, the air cylinder 310 stretches out to apply force to the lever 330 again, the second elastic piece 322 is compressed under the force, the first elastic piece 321 lifts the pressing plate 211, the inner supporting piece 214 is polymerized by the inner supporting pieces 214 under the effect of the limiting hole 110, the inner supporting jig is separated from the product, and the product is transported. According to the scheme, the air cylinder 310 only acts on the second elastic piece 322, no force is applied to the inner supporting piece 210, and the part applying force to the inner supporting piece 210 is the second elastic piece 322, so that the second elastic piece 322 applies variable force to the inner supporting piece 210 in the clamping process, the friction force is increased when the inner supporting piece 214 of the inner supporting piece 210 abuts against the inner groove wall or the inner hole wall of the product, the elastic force of the second elastic piece 322 is increased and decreased due to the increased distance, the second elastic piece 322 stops pressing by the pressing plate 211 after the inner supporting piece 214 abuts against the product, the phenomenon that the inner supporting piece 214 is still pressed downwards to generate obvious scratches on the inner groove wall of the product when the inner supporting piece 214 abuts against the inner groove wall of the product is avoided, and the reliability of the product is improved. In addition, the elastic force of the second elastic member 322 is adjustable, so that grabbing of products with different weights can be met.

In other embodiments, the cylinder 310 is disposed upward to abut against the lever 330, when the cylinder 310 is disposed upward, the cylinder 310 extends out and then generates pressure on the pressing plate 211 under the action of the lever 330, the elastic force of the first elastic member 321 is greater than the elastic force of the second elastic member 322, taking the cylinder 310 not stressed as an initial state, when the initial state is reached, the first elastic member 321 lifts the pressing plate 211, the second elastic member 322 is stressed and compressed, the inner supporting pieces 214 are greatly affected by the limiting holes 110, the plurality of inner supporting pieces 214 are aggregated, and the inner supporting stretching shell 212 is in an aggregated state. During operation, the inner supporting pieces 214 extend into an inner groove or an inner hole of a product, then the air cylinder 310 extends out to press the pressing plate 211 through the lever 330, the inner supporting pieces 214 are less affected by the limiting holes 110, the plurality of inner supporting pieces 214 are opened, the inner supporting stretching shell 212 is in an opening state, the inner supporting jig is transported, the air cylinder 310 is contracted after reaching a preset position, the air cylinder 310 releases force applied to the lever 330, and the first elastic piece 321 lifts the pressing plate 211 due to the fact that the elastic force of the first elastic piece 321 is greater than that of the second elastic piece 322, the inner supporting pieces 214 are aggregated by the plurality of inner supporting pieces 214 affected by the limiting holes 110, the inner supporting jig is separated from the product, and the product is transported. The second elastic element 322 of this embodiment is used to counteract the elastic force of a portion of the first elastic element 321, so as to avoid the situation that the first elastic element 321 lifts the pressing plate 211 too high and the inner supporting sheet 214 is too polymerized to cause the elastic restoring force of the inner supporting sheet 214 to fail. This scheme adopts cylinder 310 direct action on interior strutting piece 210, can effective control press plate 211 degree of depth of pushing down, and the open degree of interior strutting piece 214 that also can effective control, and it is convenient to control.

In the present invention, the mounting mode in which the cylinder 310 is disposed downward is preferably adopted.

Optionally, the clamping head 130 is provided with a limiting groove 131 for accommodating the pressing plate 211, the limiting hole 110 is disposed in the limiting groove 131, and the first elastic member 321 is disposed on the clamping head 130 in the limiting groove 131. Through set up spacing groove 131 on chuck 130, spacing groove 131 can play the guide effect to pressing the clamp plate 211, can accurately push down when guaranteeing interior support piece 210 pushes down to the space of installation cavity can also be promoted in the setting of spacing groove 131.

Alternatively, an outer wall surface of one end of the inner supporting piece 214 remote from the pressing plate is formed with an inwardly-contracted guide surface 215. The guiding surface 215 is used to guide the inner supporting piece 214 into the inner groove or inner hole of the product, which improves the reliability of the product.

Optionally, a limiting column 216 is disposed inside the inner support stretching shell 212, and the limiting column 216 is adapted to the inner diameter of the inner support stretching shell 212 and is fixedly connected to the pressing plate 211. The restraining posts 216 are used to restrain the inner supporting sheet 214 from being too polymerized, which affects the elastic restoring force of the inner supporting sheet 214.

Referring to fig. 1 to 5, the present invention further provides a material taking and placing module, which includes a lifting mechanism 400, a translation mechanism 500, and an inner supporting fixture,

the internal stay tool includes:

a case 100 formed with a limiting hole 110; and

a holding device 200, said holding device 200 comprising:

the inner supporting piece 210 comprises a pressing plate 211 and an inner supporting stretching shell 212 connected with the pressing plate 211, a separation seam 213 is arranged on the inner supporting stretching shell 212 along the stretching direction, the separation seam 213 extends to the end part of the inner supporting stretching shell 212 far away from one side of the pressing plate 211, the separation seam 213 divides the inner supporting stretching shell 212 into a plurality of inner supporting pieces 214, the inner supporting pieces 214 always have the tendency of outward elastic expansion, and the inner supporting stretching shell 212 penetrates through the limiting hole 110; and

a driving assembly 300, installed on the housing 120 and connected to the pressing plate 211, wherein the driving assembly 300 is configured to drive the inner supporting member 210 to extend out toward the position-limiting hole 110 so as to enable the plurality of inner supporting pieces 214 to form an expanded state, and to drive the inner supporting member 210 to retract toward the position-limiting hole 110 so as to enable the plurality of inner supporting pieces to form a converged state;

the clamping device 200 is installed on the lifting mechanism 400 through the casing 100, the lifting mechanism 400 drives the internal supporting jig to perform lifting motion, the lifting mechanism 400 is arranged at the output end of the translation mechanism 500, the translation mechanism 500 is fixed on the rack, and the translation mechanism 500 drives the lifting mechanism 400 to perform translation motion. The transfer of the product can be achieved by the lifting mechanism 400 translating the mechanism 500.

The translation mechanism 500 is one of a translation cylinder, a translation linear motor, a translation hydraulic cylinder, a translation lead screw transmission mechanism and a translation gear-rack transmission mechanism. Preferably, the translation mechanism 500 is a translation screw transmission mechanism, and the translation screw transmission mechanism includes: translation driving motor 510, drive screw (not shown in the figure), translation rail 530 and translation platform 540, drive screw (not shown in the figure) is arranged in translation rail 530 inscribe with translation rail 530 parallel arrangement, driving motor with drive screw (not shown in the figure) transmission is connected, translation platform 540 slide on translation rail 530 and with drive screw threaded connection, translation driving motor 510 drive screw rotates, and then drive translation platform 540 slides along translation rail 530. The lift mechanism 400 is mounted on the translation stage 540.

The lifting mechanism 400 is one of a lifting cylinder 310, a lifting linear motor, a lifting hydraulic cylinder, a lifting screw rod transmission mechanism and a lifting gear-rack transmission mechanism. Preferably, the lifting mechanism 400 is a lifting gear-rack transmission mechanism, and the lifting gear-rack transmission mechanism includes: rack 410, gear 420, lift rail 430, lift driving motor 440, lift motor fixed mounting is on translation platform 540, gear 420 installs at lift driving motor 440 output, lift rail 430 along upper and lower direction fixed mounting on translation platform 540, rack 410 with lift rail 430 sliding connection, rack 410 lower extreme is connected casing 100, gear 420 with rack 410 meshes, and lift driving motor 440 drives rack 410 through gear 420 and reciprocates, and then drives casing 100 and be the elevating movement.

In some embodiments, in order to increase the grabbing speed of the material taking and placing assembly, the output end of the translation mechanism 500 is further provided with a rotation mechanism 600, the rotation mechanism 600 drives the inner supporting fixture to rotate, specifically, the housing 100 of the inner supporting fixture includes a base portion 140 and a plurality of extension ends 150 extending outward from the base portion 140, each extension end 150 has the assembling structure of the bracket 120 and the collet 130, and each extension end 150 is provided with the clamping device 200. Every extension end 150 all is equipped with clamping device 200, and through rotating rotary mechanism 600 after the last clamping device 200 of casing 100 gripped the product, the clamping device 200 of the product of will not gripping next rotated product and carries out the centre gripping to the product centre gripping department for once transport can the centre gripping a plurality of products, has promoted the speed of getting the blowing, has reached the purpose of getting the blowing fast.

Referring to fig. 3, in some embodiments, the housing 100 has three extending ends 150, and each extending end 150 is provided with a clamping device 200, also called a three-jaw plate, when the three-jaw plate is used as the housing 100, a working position of one of the clamping devices 200 is used as a buffer working position without clamping, so as to reduce the C/T difference between the working positions and increase the efficiency of the cache discharging module.

Referring to fig. 4, optionally, a spline shaft 700 is mounted on the base 140, a synchronizing wheel 730 is slidably disposed on the spline shaft 700, the synchronizing wheel 730 is slidably connected to the spline shaft 700, and the synchronizing wheel 730 is drivingly connected to the output end of the rotating mechanism 600. The spline shaft 700 is provided with a groove extending along the axial direction for the periphery of the shaft, in some embodiments, a spline nut 710 is sleeved on the spline shaft 700, the synchronizing wheel 730 is fixedly connected with the spline nut 710, and the spline nut 710 is driven by the synchronizing wheel 730 to further drive the spline shaft 700 to rotate. In order to improve the stability of the spline shaft 700, a shell 720 is arranged outside the spline nut 710, a bearing is arranged between the spline nut 710 and the shell 720, the shell 720 is fixedly connected with the translation platform 540, and the stability of the spline shaft 700 during up-and-down movement can be improved by arranging the shell 720.

In other embodiments, a protrusion corresponding to the groove may be further disposed on the inner hole of the synchronizing wheel 730, and the synchronizing wheel 730 drives the spline shaft 700 to rotate through the cooperation of the protrusion and the groove. The spline shaft 700 is a female rotary ball spline, and the female rotary ball spline is manufactured by reprocessing the spline shaft 700 and adding a bearing, so that the spline shaft 700 has the advantage of low cost, and the spline shaft 700 is in transmission connection with the output end of the rotating mechanism 600.

The rotating mechanism 600 is a rotating motor 610, the rotating motor 610 is fixedly mounted on the translation platform 540, and the rotating motor 610 is in transmission connection with the synchronizing wheel 730 through a belt 620. Because the synchronizing wheel 730 can slide on the spline shaft 700, the spline shaft 700 does not lift the synchronizing wheel 730, so that the synchronizing wheel 730 is fixed relative to the rotating motor 610, the rotating mechanism 600 drives the synchronizing wheel 730 to rotate, and the casing 100 also rotates. In order to prevent the belt 620 from being separated from the timing wheel 730, the timing wheel 730 is optionally provided with a skirt at its periphery for restricting the separation of the belt 620. Optionally, a belt 620 wheel is installed on a rotating shaft of the rotating motor 610, and the belt 620 sleeve is in transmission connection with the rotating motor 610 by being sleeved on the belt 620 wheel. Similarly, the pulley of the belt 620 is also provided with a skirt for limiting the belt 620 to be separated. The belt 620 can be prevented from being dislocated when the spline shaft 700 slides. The reliability of getting the blowing module has been promoted.

Optionally, the rotating motor 610, the lifting driving motor 440, and the translation driving motor 510 are all absolute servo motors, and an origin sensor on each shaft is eliminated, so that the number of lines is reduced, and the overall appearance is improved.

In order to satisfy the requirement that the rotation of the spline shaft 700 is not affected when the lifting assembly drives the machine shell 100 to lift, please refer to fig. 2, optionally, the lifting mechanism 400 is connected to the machine shell 100 through an auxiliary positioning structure 450. The auxiliary positioning structure 450 includes a limiting sleeve 451 and a limiting member 452 for limiting the movement of the limiting sleeve 451, and the limiting member 452 is fixedly mounted on the spline shaft 700. The retaining member 452 may be a clip or a latch. The limiting sleeve 451 is sleeved on the spline shaft 700 between the limiting piece 452 and the casing 100 and is fixedly connected with the lifting mechanism 400. When the lifting mechanism 400 drives the limiting sleeve 451 to move upwards, the limiting sleeve 451 abuts against the limiting part 452, and then the integral casing 100 and the internal support jig move upwards by driving the limiting part 452, and when the rotating mechanism 600 drives the spline shaft 700 to rotate, the spline shaft 700 rotates in the limiting sleeve 451, so that the operation of the lifting mechanism 400 is not affected.

In other embodiments, optionally, the auxiliary positioning fixture is a limiting sleeve 451, the limiting sleeve 451 is sleeved on the spline shaft 700, the limiting sleeve 451 is fixedly connected to the lifting assembly, a sliding groove adapted to the limiting sleeve 451 is formed in the casing 100, the limiting sleeve 451 is matched with the sliding groove and performs self-rotation motion in the sliding groove, when the lifting mechanism 400 drives the limiting sleeve 451 to lift, the limiting sleeve 451 drives the casing 100 and the internal supporting fixture to perform lifting motion through the sliding groove, and when the rotating mechanism 600 drives the spline shaft 700 to rotate, the casing 100 performs rotation relative to the limiting sleeve 451 through the sliding groove, without affecting the operation of the lifting mechanism 400.

In order to make the structure of the rotating mechanism 600 and the lifting mechanism 400 on the translation platform 540 more compact, the positional relationship between the rotating mechanism 600 and the lifting mechanism 400 is also optimized in some technical solutions. Optionally, two limiting plates are vertically arranged on the translation platform 540, the lifting driving motor 440 is fixedly connected with the two limiting plates, the lifting rail 430 is installed on the translation platform 540 along the vertical direction, the rack 410 is slidably connected with the lifting rail, and the rotating motor 610 is fixedly installed on the limiting plates. The housing 720 is fixedly connected with the limiting plate. In addition, in order to avoid entering foreign matters at the joint of the rack 410 and the gear 420 to affect the engagement between the gear 420 and the rack 410, optionally, a cover is provided on the translation platform 540 to cover the engagement between the rack 410 and the gear 420.

Taking a product with an inner groove as an example, the grabbing working process is as follows:

the translation mechanism 500 drives the clamping device 200 to move to the upper part of the material tray station, the rotation mechanism 600 drives the clamping device 200 to rotate, so that the inner supporting piece 210 of the first clamping device 200 rotates to the upper part of the inner groove of the product, the lifting mechanism 400 drives the clamping device 200 to descend to extend the inner supporting piece 214 into the inner groove of the product, the air cylinder 310 contracts, the air cylinder 310 releases the force applied to the lever 330, the second elastic piece 322 presses the pressing plate 211 downwards, the first elastic piece 321 is compressed under the force, the inner supporting piece 214 is less under the action of the limiting hole 110, the inner supporting pieces 214 are opened, the inner supporting stretching shell 212 is in an opened state, the inner supporting jig clamps the product, the lifting mechanism 400 drives the first clamping device 200 to ascend, the rotation mechanism 600 drives the clamping device 200 to rotate, so that the inner supporting piece 210 of the second unclamped clamping device 200 rotates to the upper part of the inner supporting piece of the product, the lifting mechanism 400 drives the second clamping device 200 to descend to extend the inner supporting piece 214 into the inner groove of the product, the second clamping device 200 repeats the clamping process of the first clamping device 200, and the second clamping device 200 completes the clamping of the product. After clamping is completed, the shell 100 is driven to be positioned above the station of the blanking disc by the translation mechanism 500 and the rotation mechanism 600, the rotation mechanism 600 drives the clamping device 200 to rotate, so that the inner supporting piece 210 of the first clamping device 200 rotates to be positioned above the blanking groove of the blanking disc, the lifting mechanism 400 drives the first clamping device 200 to descend, a product clamped by the first clamping device 200 is placed in the blanking groove, the air cylinder 310 contracts, the air cylinder 310 extends out to apply force to the lever 330 again, the second elastic piece 322 is compressed under force, the first elastic piece 321 lifts the pressing plate 211, the inner supporting piece 214 is polymerized by the inner supporting piece 214 under the action of the positioning hole 110, the inner supporting piece is separated from the product, the lifting mechanism 400 lifts the shell 100 to complete placement of the product, the rotation mechanism 600 drives the clamping device 200 to rotate, so that the inner supporting piece 210 of the second unclamped clamping device 200 rotates to be positioned above another blanking groove, the lifting mechanism 400 drives the second clamping device 200 to descend to stretch the inner supporting piece 214 into the blanking groove, the second clamping device 200 repeats the blanking process of the first clamping device 200, and the blanking of the second clamping device 200 is completed.

It is envisioned that the material taking and placing module can simultaneously clamp and transfer all the clamping devices 200 on the casing 100; in order to improve the clamping efficiency, only the part of the clamping devices 200 on the machine shell 100 can be clamped and the product can be transferred. The actual selection can be carried out according to the requirements of the working conditions.

According to the invention, the lifting mechanism 400, the translation mechanism 500 and the rotating mechanism 600 are matched to realize the material taking and placing of the inner support fixture, so that the automatic grabbing and automatic transferring of products can be realized, the inner support fixture is used for feeding and discharging in the fields of CNC and the like, the labor cost is saved, the production efficiency is improved, and the processing quality is improved. In addition, the product appearance can be scratched by the clamping of the inner support 210 to the product. Through set up a plurality of extension ends 150 on casing 100, can realize going on unloading to a plurality of stations simultaneously, further promoted the efficiency of getting the material of putting.

The above description is only an alternative embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications and equivalents of the present invention, which are made by the contents of the present specification and the accompanying drawings, or directly/indirectly applied to other related technical fields, are included in the scope of the present invention.