CN103922137A - Material clamping device - Google Patents
Material clamping device Download PDFInfo
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- CN103922137A CN103922137A CN201410167438.9A CN201410167438A CN103922137A CN 103922137 A CN103922137 A CN 103922137A CN 201410167438 A CN201410167438 A CN 201410167438A CN 103922137 A CN103922137 A CN 103922137A
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- connecting rod
- wallboard
- rotating shaft
- right wallboard
- rotationally connected
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Abstract
The invention discloses a material clamping device which comprises an installation board, a left wall board and a right wall board. The left wall board is fixedly installed at one end of the installation board. The right wall board is installed at the other end of the installation board in a sliding connecting mode. The left wall board and the right wall board are provided with a first sponge body and a second sponge body which are opposite to each other. A material holding space is formed between the first sponge body and the second sponge body. A drive mechanism is arranged between the left wall board and the right wall board and comprises an air cylinder and a connecting rod drive piece. The air cylinder is fixed to the left wall board. A piston rod of the air cylinder is rotationally connected with one end of the connecting rod drive piece and the other end of the connecting rod drive piece is rotationally connected with the right wall board. Extension and retraction of the piston rod of the air cylinder can drive the right wall board to slide in the direction perpendicular to the wall face of the left wall board along the installation board. A structure and motion of clamping bodies on a clamp are changed, so that when materials are clamped, clamping force is distributed evenly on the surface of the materials, and the condition that the materials are not clamped tightly or are damaged is avoided.
Description
Technical field
The present invention relates to the take out device technical field in financial product production facilities, particularly a kind of gripping power well-distributed material clamp device.
Background technology
In financial product production process, fixture is one of widely used device in packaging process, and the structural relation of fixture precision and the speed of the flow work.To the grippings simultaneously of multiple materials, or effects on surface material in irregular shape is while carrying out gripping, easily occurs that indivedual materials are not clamping, or causes the impaired phenomenon of material because clamp force distribution is inhomogeneous.If actv. overcomes these shortcomings, very large realistic meaning will be produced in packaging and flow production line.
Summary of the invention
The technical problem to be solved in the present invention is: the structure and the action that on fixture, accommodate body by changing coordinate, make fixture carry out material gripping, while particularly out-of-shape material being carried out to gripping, the gripping power of fixture is tending towards even in the distribution on material surface, avoid not clamping, or material is caused to the situation of damage.
The technical scheme that the present invention takes is specially: a kind of material clamp device, comprise adapter plate, left wallboard and right wallboard, and left wallboard is fixedly installed in one end of adapter plate, and right wallboard sliding block joint is installed on the other end of adapter plate; Left wallboard and right wallboard have and are parallel to each other and relative metope;
On left wallboard, the metope relative with right wallboard is provided with the first cavernous body;
On right wallboard, the metope relative with above-mentioned the first cavernous body is provided with the second cavernous body; Between the first cavernous body and the second cavernous body, form material and accommodate space;
Between left wallboard and right wallboard, be provided with driver train, driver train comprises cylinder and connecting rod actuator; Cylinder is fixed on left wallboard, and the piston rod of cylinder is rotationally connected one end of connecting rod actuator, and the other end of connecting rod actuator is rotationally connected left wallboard; Cylinder piston rod flexible can drive left wallboard along adapter plate at the square upward sliding perpendicular to left wallboard metope.
The present invention is in the time of application, operation by control cylinder gets final product drivening rod, and then drive right wallboard to do clamping action, material clamp is taken between two cavernous bodies, is rotationally connected because connecting rod actuator and cylinder piston rod and right wallboard are all, therefore it can allow to do small size swing in horizontal plane, reach the object of the right wallboard operation of buffering, during particularly for out-of-shape material, can realize in clamping material, can not cause to material the effect of damage.
In driver train of the present invention, connecting rod actuator is made up of the first rotating shaft, one-level connecting rod and cantilever pin; The piston rod of cylinder is rotationally connected the first rotating shaft by oscillating bearing, and the two ends of one-level connecting rod are rotationally connected respectively the first rotating shaft and cantilever pin, and cantilever pin is axially fixed on right wallboard.In the time of cylinder piston rod fore and aft motion, connecting rod actuator can drive the right body of wall of corresponding connection to slide along adapter plate, realizes material gripping action.When available buffer gripping action is set starts of oscillating bearing, the first rotating shaft, the second rotating shaft, cantilever pin and connecting rod, the action of right wallboard, avoids the impact of wallboard to material.
As the concrete form of implementation of one, the quantity of the right wallboard of the present invention is more than 2, and each right wallboard is installed on adapter plate side by side; Between each right wallboard and left wallboard, be all connected with driver train.Each right wallboard can a corresponding material, and different parts that also can corresponding material, only needs exerting oneself of reasonable control cylinder, can realize the synchronous gripping to material, and the different parts of each material or material is stressed evenly.
As a kind of preferred implementing form, the quantity of the right wallboard of the present invention is more than 2, and each right wallboard is installed on adapter plate side by side; In each driver train, connecting rod actuator is made up of the first rotating shaft, one-level connecting rod, secondary connecting rod, the second rotating shaft and cantilever pin, and the quantity of secondary connecting rod and cantilever pin is all two; The piston rod of cylinder is rotationally connected the first rotating shaft by oscillating bearing, and the two ends of one-level connecting rod are rotationally connected respectively the first rotating shaft and the second rotating shaft, and one end of each secondary connecting rod is rotationally connected respectively the second rotating shaft, and the other end is rotationally connected respectively one of them cantilever pin; Two cantilever pins are axially fixed at respectively on two adjacent right wallboards.Each driver train can drive the gripping action of two right wallboards simultaneously, different parts to same material or two materials carry out gripping, because two right wallboards order about action by same cylinder, can ensure that in gripping process, the gripping power to material is even, reliable clamping, and material is more difficult for sustaining damage.
Preferably, in the present invention, right wallboard is installed on adapter plate by line slideway sliding block joint.In the gripping course of action of right wallboard, line slideway plays the effect of guiding, and makes the motion process of right wallboard more level and smooth, and gripping process is steady.
Preferably, right wallboard of the present invention is L shaped, and an one side arm is parallel to adapter plate, the above-mentioned line slideway of sliding block joint; And cantilever pin is perpendicular to this side arm, and be axially fixed on this side arm; Another side arm of right wallboard and left wallboard plane parallel, and the second cavernous body is set.The cantilever pin of axial restraint can be on right wallboard rotates in a circumferential direction along himself axle, adapts to connecting rod actuator flexible in gripping process, the angle variation between the second connecting rod bringing and right wallboard.
In addition, the present invention also provides another kind of material clamp device, and it comprises adapter plate, left wallboard and right wallboard, and left wallboard is fixedly installed in one end of adapter plate, and right wallboard sliding block joint is installed on the other end of adapter plate; Left wallboard and right wallboard have and are parallel to each other and relative metope;
On left wallboard, the metope relative with right wallboard is provided with the first cavernous body;
On right wallboard, the metope relative with above-mentioned the first cavernous body is provided with the second cavernous body; Between the first cavernous body and the second cavernous body, form material and accommodate space;
Right wallboard quantity is more than 3, and each right wallboard is installed on adapter plate side by side; Between left wallboard and right wallboard, be connected by propulsive effort two sub-agencies or direct drive mechanism:
Above-mentioned propulsive effort two sub-agencies comprise cylinder and connecting rod actuator; Connecting rod actuator is made up of the first rotating shaft, one-level connecting rod, secondary connecting rod, the second rotating shaft and cantilever pin, and the quantity of secondary connecting rod and cantilever pin is all two; Cylinder is fixed on left wallboard, the piston rod of cylinder is rotationally connected the first rotating shaft by oscillating bearing, the two ends of one-level connecting rod are rotationally connected respectively the first rotating shaft and the second rotating shaft, one end of each secondary connecting rod is rotationally connected respectively the second rotating shaft, the other end is rotationally connected one of them cantilever pin, and two cantilever pins are axially fixed at respectively on two adjacent right wallboards;
Direct drive mechanism comprises cylinder and connecting rod actuator; Connecting rod actuator is made up of the first rotating shaft, one-level connecting rod and cantilever pin; The piston rod of cylinder is rotationally connected the first rotating shaft by oscillating bearing, and the two ends of one-level connecting rod are rotationally connected respectively the first rotating shaft and cantilever pin, and cantilever pin is axially fixed on one of them right wallboard.
Above-mentioned this material clamp device, in the time of application, can arrange the quantity of propulsive effort two sub-agencies and direct drive mechanism, the position of distribution, and the quantity of corresponding right wallboard as required; Propulsive effort two sub-agencies, in gripping process, can be averagely allocated to its propulsive effort two adjacent right wallboards, and the gripping power while making each right wallboard work is in the same size, more adapt to gripping power and want average demand.Direct drive mechanism can be used for the situation that clamped material number is odd number, or be used for drive fall a single right wallboard.
In the present invention no matter be propulsive effort two sub-agencies or direct drive mechanism, connecting rod actuator wherein all can do small size swing in the horizontal direction, automatically to regulate the position of each right wallboard along clamping direction, make unrelated position between each group of right wallboard but propulsive effort size is identical, make to clamp more closely between cavernous body and material, feeding is more reliable.
Beneficial effect of the present invention is:
(1) the connecting rod actuator in driver train is divided into two kinds, a kind of for can drive two right wallboards to move simultaneously simultaneously, a kind of for only driving a right wallboard action.In the time of application, can adopt the array configuration of the right wallboard of many groups and two kinds of driver trains to carry out material gripping, each right wallboard clamps for a material, and each material can be clamped simultaneously; Due to unrelated position between each right wallboard, make between cavernous body and material to clamp more closely, feeding is more reliable;
(2) in clamping process, the connecting rod drive form that utilization comprises two second connecting rods and cantilever pin, the propulsive effort that drives cylinder can be averagely allocated to two adjacent right wallboards, the gripping power while making each right wallboard work is in the same size, can ensure that the suffered gripping power of each material is identical;
(3) in clamping process, connecting rod in the middle of connecting rod mechanism of the present invention can do the small size swing of level, can ensure that two right wallboards do separately small size adjustment and not interrelated to the position clamping in the process clamping, and can adjust the error of right wallboard clamping direction and cylinder moving direction;
(4) coordinate the application of cavernous body, the present invention has that material clamped position can oneself be adjusted, gripping power well-distributed feature, and can ignore the wearing and tearing of cavernous body and distortion and normally work.
Brief description of the drawings
Figure 1 shows that a kind of specific embodiment structural representation of the present invention;
Figure 2 shows that the first example structure schematic diagram of driver train of the present invention;
Figure 3 shows that the second example structure schematic diagram of driver train of the present invention.
Detailed description of the invention
Further illustrate below in conjunction with the drawings and specific embodiments.
Shown in figure 1, material clamp device provided by the invention, comprises adapter plate 1, left wallboard 2 and right wallboard 3, and left wallboard 2 is fixedly installed in one end of adapter plate 1, and right wallboard 3 sliding block joints are installed on the other end of adapter plate 1; Left wallboard 2 and right wallboard 3 have and are parallel to each other and relative metope; On left wallboard 2, the metope relative with right wallboard 3 is provided with the first cavernous body 6; On right wallboard 3, the metope relative with above-mentioned the first cavernous body 6 is provided with the second cavernous body 5; Between the first cavernous body 6 and the second cavernous body 5, form material and accommodate space, between left wallboard and right wallboard, be connected by driver train 4.
Embodiment mono-:
The quantity of right wallboard 3 is even number, and driver train 4 comprises cylinder 41 and connecting rod actuator; Connecting rod actuator is made up of the first rotating shaft 43, one-level connecting rod 44, secondary connecting rod 46, the second rotating shaft 45 and cantilever pin 47, and the quantity of two cascade 46 bars and cantilever pin 47 is all two; Cylinder 41 is fixed on left wallboard 2, the piston rod of cylinder 41 is rotationally connected the first rotating shaft 43 by oscillating bearing 42, the two ends of one-level connecting rod 44 are rotationally connected respectively the first rotating shaft 43 and the second rotating shaft 45, one end of each secondary connecting rod 46 is rotationally connected respectively the second rotating shaft 46, the other end is rotationally connected 47, two cantilever pins 47 of one of them cantilever pin and is axially fixed at respectively on two adjacent right wallboards 3.
In the right wallboard of even number, right wallboard is ordered about and carries out gripping action by same driver train between two, driver train can be divided the propulsive effort of cylinder equally to two right wallboards, gripping power is comparatively even, for the different parts gripping of same material, not only clamping degree is better, and can avoid the damage to material.
Embodiment bis-:
The quantity of right wallboard 3 is not limit, and each right wallboard 3 is all ordered about and done gripping action by a driver train 4.Driver train 4 comprises cylinder 41 and connecting rod actuator; Connecting rod actuator is made up of the first rotating shaft 43, one-level connecting rod 44 and cantilever pin 47; The piston rod of cylinder 41 is rotationally connected the first rotating shaft 43 by oscillating bearing 42, and the two ends of one-level connecting rod 44 are rotationally connected respectively the first rotating shaft 43 and cantilever pin 47, and cantilever pin 47 is axially fixed on a right wallboard 3.
In the present embodiment, each right wallboard 3 is unrelated, only need in the time of application, rationally adjust exerting oneself of each cylinder 41, can ensure same material different parts, or the gripping power of multiple materials is comparatively average.
Embodiment tri-:
As a kind of preferred embodiment, as shown in Figure 1, right wallboard 3 quantity are 7, each right wallboard 3 is installed on adapter plate 1 side by side, between left wallboard 2 and right wallboard 3, be connected by propulsive effort two sub-agencies or direct drive mechanism, as shown in Figure 1, wherein 6 right wallboards are driven by 3 propulsive effort two sub-agencies, and a right wallboard 3 that falls single is driven by direct drive mechanism.
Propulsive effort two sub-agencies comprise cylinder 41 and connecting rod actuator; Connecting rod actuator is made up of the first rotating shaft 43, one-level connecting rod 44, secondary connecting rod 46, the second rotating shaft 45 and cantilever pin 47, and the quantity of secondary connecting rod 46 and cantilever pin 47 is all two; Cylinder 41 is fixed on left wallboard 2, the piston rod of cylinder 41 is rotationally connected the first rotating shaft 43 by oscillating bearing 42, the two ends of one-level connecting rod 44 are rotationally connected respectively the first rotating shaft 43 and the second rotating shaft 45, one end of each secondary connecting rod 46 is rotationally connected respectively the second rotating shaft 45, the other end is rotationally connected 47, two cantilever pins 47 of one of them cantilever pin and is axially fixed at respectively on two adjacent right wallboards 3;
Direct drive mechanism comprises cylinder 41 and connecting rod actuator; Connecting rod actuator is made up of the first rotating shaft 43, one-level connecting rod 44 and cantilever pin 47; The piston rod of cylinder 41 is rotationally connected the first rotating shaft 43 by oscillating bearing 42, and the two ends of one-level connecting rod 44 are rotationally connected respectively the first rotating shaft 43 and cantilever pin 47, and cantilever pin 47 is axially fixed at one and falls on single right wallboard.
In the present embodiment, quantity and the distributing position of propulsive effort two sub-agencies and direct drive mechanism can be adjusted as required.
In the present invention, the first rotating shaft and the second rotating shaft all adopt the existing axle with circlip, and cantilever pin all adopts the existing cantilever pin with clasp, can ensure that the action of connecting rod actuator is level and smooth.Connecting rod actuator all can do small size swing in the horizontal direction, automatically to regulate the position of each right wallboard along clamping direction, make unrelated position between each group of right wallboard but propulsive effort size is identical, make to clamp more closely between cavernous body and material, feeding is more reliable.
Claims (7)
1. a material clamp device, is characterized in that, comprises adapter plate, left wallboard and right wallboard, and left wallboard is fixedly installed in one end of adapter plate, and right wallboard sliding block joint is installed on the other end of adapter plate; Left wallboard and right wallboard have and are parallel to each other and relative metope;
On left wallboard, the metope relative with right wallboard is provided with the first cavernous body;
On right wallboard, the metope relative with above-mentioned the first cavernous body is provided with the second cavernous body; Between the first cavernous body and the second cavernous body, form material and accommodate space;
Between left wallboard and right wallboard, be provided with driver train, driver train comprises cylinder and connecting rod actuator; Cylinder is fixed on left wallboard, and the piston rod of cylinder is rotationally connected one end of connecting rod actuator, and the other end of connecting rod actuator is rotationally connected right wallboard; Cylinder piston rod flexible can drive right wallboard along adapter plate at the square upward sliding perpendicular to left wallboard metope.
2. material clamp device according to claim 1, is characterized in that, in described driver train, connecting rod actuator is made up of the first rotating shaft, one-level connecting rod and cantilever pin; The piston rod of cylinder is rotationally connected the first rotating shaft by oscillating bearing, and the two ends of one-level connecting rod are rotationally connected respectively the first rotating shaft and cantilever pin, and cantilever pin is axially fixed on right wallboard.
3. material clamp device according to claim 2, is characterized in that, the quantity of described right wallboard is more than 2, and each right wallboard is installed on adapter plate side by side; Between each right wallboard and left wallboard, be all connected with driver train.
4. material clamp device according to claim 1, is characterized in that, the quantity of described right wallboard is more than 2, and each right wallboard is installed on adapter plate side by side;
In each driver train, connecting rod actuator is made up of the first rotating shaft, one-level connecting rod, secondary connecting rod, the second rotating shaft and cantilever pin, and the quantity of secondary connecting rod and cantilever pin is all two; The piston rod of cylinder is rotationally connected the first rotating shaft by oscillating bearing, and the two ends of one-level connecting rod are rotationally connected respectively the first rotating shaft and the second rotating shaft, and one end of each secondary connecting rod is rotationally connected respectively the second rotating shaft, and the other end is rotationally connected respectively one of them cantilever pin; Two cantilever pins are axially fixed at respectively on two adjacent right wallboards.
5. according to the material clamp device described in claim 1 to 4 any one, it is characterized in that, right wallboard is installed on adapter plate by line slideway sliding block joint.
6. material clamp device according to claim 5, is characterized in that, right wallboard is L shaped, and an one side arm is parallel to adapter plate, sliding block joint line slideway; And cantilever pin is perpendicular to this side arm, and be axially fixed on this side arm; Another side arm of right wallboard and left wallboard plane parallel, and the second cavernous body is set.
7. a material clamp device, is characterized in that, comprises adapter plate, left wallboard and right wallboard, and left wallboard is fixedly installed in one end of adapter plate, and right wallboard sliding block joint is installed on the other end of adapter plate; Left wallboard and right wallboard have and are parallel to each other and relative metope;
On left wallboard, the metope relative with right wallboard is provided with the first cavernous body;
On right wallboard, the metope relative with above-mentioned the first cavernous body is provided with the second cavernous body; Between the first cavernous body and the second cavernous body, form material and accommodate space;
Right wallboard quantity is more than 3, and each right wallboard is installed on adapter plate side by side; Between left wallboard and right wallboard, be connected by propulsive effort two sub-agencies or direct drive mechanism:
Above-mentioned propulsive effort two sub-agencies comprise cylinder and connecting rod actuator; Connecting rod actuator is made up of the first rotating shaft, one-level connecting rod, secondary connecting rod, the second rotating shaft and cantilever pin, and the quantity of secondary connecting rod and cantilever pin is all two; Cylinder is fixed on left wallboard, the piston rod of cylinder is rotationally connected the first rotating shaft by oscillating bearing, the two ends of one-level connecting rod are rotationally connected respectively the first rotating shaft and the second rotating shaft, one end of each secondary connecting rod is rotationally connected respectively the second rotating shaft, the other end is rotationally connected one of them cantilever pin, and two cantilever pins are axially fixed at respectively on two adjacent right wallboards;
Direct drive mechanism comprises cylinder and connecting rod actuator; Connecting rod actuator is made up of the first rotating shaft, one-level connecting rod and cantilever pin; The piston rod of cylinder is rotationally connected the first rotating shaft by oscillating bearing, and the two ends of one-level connecting rod are rotationally connected respectively the first rotating shaft and cantilever pin, and cantilever pin is axially fixed on one of them right wallboard.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410167438.9A CN103922137B (en) | 2014-04-24 | 2014-04-24 | A kind of material clamp device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410167438.9A CN103922137B (en) | 2014-04-24 | 2014-04-24 | A kind of material clamp device |
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| Publication Number | Publication Date |
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| CN103922137A true CN103922137A (en) | 2014-07-16 |
| CN103922137B CN103922137B (en) | 2015-11-04 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410167438.9A Active CN103922137B (en) | 2014-04-24 | 2014-04-24 | A kind of material clamp device |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115159088A (en) * | 2022-06-22 | 2022-10-11 | 国网江苏省电力有限公司营销服务中心 | Clamping device and method |
| CN116330335A (en) * | 2023-04-07 | 2023-06-27 | 湖北深铁智鑫机器人有限公司 | Robot hand device |
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| US20060263270A1 (en) * | 2005-05-18 | 2006-11-23 | Beckman Coulter, Inc. | Robotic grip and twist assembly |
| CN2866405Y (en) * | 2005-03-11 | 2007-02-07 | 阿巴科机器(大洋州)有限公司 | Holding device for lifting and transporting sheet material |
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| US20090039665A1 (en) * | 2007-08-10 | 2009-02-12 | Visy R & D Pty Ltd | Gripper |
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| CN202379474U (en) * | 2011-12-31 | 2012-08-15 | 常州市常衡精工自动化设备有限公司 | Gripper for stacking robot |
| CN203833231U (en) * | 2014-04-24 | 2014-09-17 | 南京中钞长城金融设备有限公司 | Material clamping device |
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2014
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| JPS60202035A (en) * | 1984-03-26 | 1985-10-12 | Toyoda Mach Works Ltd | Takeout device for cloth and the like |
| CN2866405Y (en) * | 2005-03-11 | 2007-02-07 | 阿巴科机器(大洋州)有限公司 | Holding device for lifting and transporting sheet material |
| US20060263270A1 (en) * | 2005-05-18 | 2006-11-23 | Beckman Coulter, Inc. | Robotic grip and twist assembly |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115159088A (en) * | 2022-06-22 | 2022-10-11 | 国网江苏省电力有限公司营销服务中心 | Clamping device and method |
| CN116330335A (en) * | 2023-04-07 | 2023-06-27 | 湖北深铁智鑫机器人有限公司 | Robot hand device |
| CN116330335B (en) * | 2023-04-07 | 2023-11-03 | 湖北深铁智鑫机器人有限公司 | Robot hand device |
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| CN103922137B (en) | 2015-11-04 |
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Owner name: ZHONGCHAO GREATWALL FINANCIAL EQUIPMENT HOLDING CO Effective date: 20150216 |
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Effective date of registration: 20150216 Address after: Jiangning District of Nanjing City, Jiangsu province Rhine Road No. 699 211100 Applicant after: Nanjing CBPM-Great Wall Financial Equipment Co., Ltd. Applicant after: Zhongchao Greatwall Financial Equipment Holding Co., Ltd. Address before: Jiangning District of Nanjing City, Jiangsu province Rhine Road No. 699 211100 Applicant before: Nanjing CBPM-Great Wall Financial Equipment Co., Ltd. |
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