CN107891385B - The spherical fixed device of materials and parts - Google Patents
The spherical fixed device of materials and parts Download PDFInfo
- Publication number
- CN107891385B CN107891385B CN201711091355.6A CN201711091355A CN107891385B CN 107891385 B CN107891385 B CN 107891385B CN 201711091355 A CN201711091355 A CN 201711091355A CN 107891385 B CN107891385 B CN 107891385B
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- materials
- spherical
- movement
- parts
- support frame
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
- B25B11/00—Work holders not covered by any preceding group in the subclass, e.g. magnetic work holders, vacuum work holders
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
- B23Q3/02—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine for mounting on a work-table, tool-slide, or analogous part
- B23Q3/06—Work-clamping means
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L1/00—Measuring force or stress, in general
- G01L1/20—Measuring force or stress, in general by measuring variations in ohmic resistance of solid materials or of electrically-conductive fluids; by making use of electrokinetic cells, i.e. liquid-containing cells wherein an electrical potential is produced or varied upon the application of stress
- G01L1/22—Measuring force or stress, in general by measuring variations in ohmic resistance of solid materials or of electrically-conductive fluids; by making use of electrokinetic cells, i.e. liquid-containing cells wherein an electrical potential is produced or varied upon the application of stress using resistance strain gauges
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Manipulator (AREA)
- Toys (AREA)
- Manufacturing Of Electrical Connectors (AREA)
Abstract
This case is related to a kind of spherical fixed device of materials and parts, comprising: four sides body support frame；Four groups of telescopic arms, it is separately positioned on four angles on the four sides body support frame towards the center of the four sides body support frame, the telescopic arm includes press head, the press head includes visiting to refer to, it is the cylindrical structure being arranged along the z-axis of a rectangular coordinate system, the first end referred to of visiting is equipped with bullet, the bullet and spy are provided with the first spring between referring to, the press head further includes first movement arm, it which is provided with the first movement block mobile in the x-axis direction of the rectangular coordinate system, the second end visited and referred to is fixed on the first movement block, the first movement cantilever crane is located on a plate, the side of the first movement arm is equipped with the first frequency converter of the first commutator for controlling the first movement block moving direction and control movement speed；And spherical outrigger.The fixture clamping angle adjustment to materials and parts high-freedom degree is realized in this case.
Description
Technical field
The present invention relates to non-standard automatic field, in particular to a kind of spherical fixed device of materials and parts.
Background technique
Automation (Automation) refer to machinery equipment, system or process (production, management process) nobody or compared with
Under directly the participating in of few people, according to the requirement of people, by detecting automatically, information processing, analytical judgment, manipulation and control, realize in advance
The process of the target of phase.Automatic technology be widely used in industry, agricultural, military affairs, scientific research, communications and transportation, business, medical treatment,
Service and family etc..Using automatic technology not only can people from heavy manual labor, part mental labour and
Badly, it is freed in dangerous working environment, and the organ dysfunction of people can be extended, greatly improve labor productivity, increased
The ability that strong man's class is understood the world and changed it.
Materials and parts are processed by multiple tracks, and general processing program requires that materials and parts are fixed, irregular for shape
Materials and parts especially semi-worked piece generally requires the clamping angle of adjustment fixture, not shadow again while just can guarantee clamping stability
Ring the activity of processing assembly.
Summary of the invention
It is an object of the invention to solve at least the above problems or defect, and provide the advantages of at least will be described later.
It is a still further object of the present invention to provide a kind of spherical fixed device of materials and parts, materials and parts are arranged spherical outer the present apparatus
The sphere center position of frame is fixed materials and parts by the telescopic arm of the quadrangle on the body support frame of four sides, more firm, can bear more
The manufacturing procedure of big intensity；Telescopic arm is driven by oil pump, after optical detector detects shaped piece, controller adjusts the position of press head
The geometric center of the two dimensional image of alignment special-shaped workpiece is set, spy refers to pressing behind shaped piece surface, and bullet is being touched wait grab
It is squeezed after part, squeezes the resistance variations for leading to bending resistance piece, after controller obtains resistance variations information, adjust two groups of changes
Frequency device and commutator, which to visit, to be referred to and constantly moves in the plane of xy, until the power of all directions suffered by the bullet is equal；Pass through
Stress sensor feeds back to oil cylinder, controls the stroke of telescopic arm, and according to different shaped piece surface rigidities, maximum weighted is arranged
Value；The most stable of press points in special-shaped workpiece surface can be found by being referred to by movable spy, and be completed by four groups of telescopic arms to different
The complete positioning of shape part；By the cooperation of spherical outrigger and four sides body support frame, sliding hemisphere can be on the inner wall of spherical outrigger
Sliding, so that the present apparatus is provided with higher freedom degree, also allows for the materials and parts that the present apparatus is adapted to more Multiple Shape, together
When can guarantee that four groups of telescopic arms are appointed again and be so directed toward the materials and parts at spherical outrigger center, without adjusting.
For this purpose, technical solution provided by the invention are as follows:
A kind of spherical fixed device of materials and parts, comprising:
Four sides body support frame, be positive tetrahedral structure, is respectively equipped with sliding hemisphere on four angles of the four sides body support frame；
Four groups of telescopic arms are separately positioned on four on the four sides body support frame towards the center of the four sides body support frame
On angle, the telescopic arm includes press head, and the press head includes visiting to refer to, for the circle being arranged along the z-axis of a rectangular coordinate system
Column structure, the first end that refers to visited equipped with bullet, the bullet and spy refer between be provided with the first spring, the press head
Further include first movement arm, which is provided with the first movement block mobile in the x-axis direction of the rectangular coordinate system, described first moves
The second end visited and referred to is fixed on motion block, the first movement cantilever crane is located on a plate, and the one of the first movement arm
Side is equipped with the first frequency converter of the first commutator for controlling the first movement block moving direction and control movement speed, described to press
Pressure head further includes the second moving arm, which is provided with second movable block mobile in the y-axis direction of the rectangular coordinate system, and described the
The plate is fixed on two movable blocks, the side of second moving arm, which is equipped with, controls the second movable block moving direction
Second frequency converter of the second commutator and control movement speed；And
Spherical outrigger, package be arranged except the four sides body support frame, the spherical outrigger be equipped with materials and parts entrance with
Materials and parts outlet.
Preferably, the bullet is made of elastic material, is symmetrically arranged on the bullet around the z-axis several curved
Bent resistor disc, the bending resistance piece are arranged in a resistance measurement circuit, the resistance measurement circuit also with a controller
Electrical connection.
Preferably, the press head further includes an optical detector detected from the second end that the spy refers to first end,
The first end referred to of visiting is additionally provided with the stress sensor being arranged along the z-axis.
Preferably, the controller and first commutator, the first frequency converter, the second commutator and second become
The electrical connection of frequency device.
Preferably, the first movement arm, the second moving arm are screw structure.
Preferably, the inside radius of the spherical outrigger is 9mm-15mm bigger than the outer radius of the four sides body support frame.
Preferably, the press head is fixedly connected with the telescopic end of an oil cylinder.
Preferably, the materials and parts entrance and materials and parts exit are equipped with limit stop ring.
Preferably, the optical detector is electrically connected with the controller, in the stress sensor and the oil cylinder
Motor electrical connection.
The present invention includes at least following the utility model has the advantages that the sphere center position of spherical outrigger is arranged in materials and parts by the present apparatus, passes through
Materials and parts are fixed in the telescopic arm of quadrangle on the body support frame of four sides, more firm, can bear the manufacturing procedure of greater strength；
Telescopic arm is driven by oil pump, after optical detector detects shaped piece, controller adjusts the position alignment special-shaped workpiece of press head
The geometric center of two dimensional image, spy refer to pressing behind shaped piece surface, and bullet is squeezed touching after grippers, is squeezed
After causing the resistance variations of bending resistance piece, controller to obtain resistance variations information, two groups of frequency converters of adjustment make with commutator
Spy refers to and constantly moves in the plane of xy, until the power of all directions suffered by the bullet is equal；It is fed back to by stress sensor
Oil cylinder controls the stroke of telescopic arm, and according to different shaped piece surface rigidities, maximum weighted value is arranged；Referred to by movable spy
The most stable of press points in special-shaped workpiece surface can be found, and complete the complete positioning to shaped piece by four groups of telescopic arms；It is logical
The cooperation of spherical outrigger Yu four sides body support frame is crossed, sliding hemisphere can slide on the inner wall of spherical outrigger, so that this dress
It sets and is provided with higher freedom degree, also allow for the materials and parts that the present apparatus is adapted to more Multiple Shape, while can guarantee that four groups are stretched again
Contracting arm appoints the materials and parts for being so directed toward spherical outrigger center, without adjusting.
Detailed description of the invention
Fig. 1 is the schematic three dimensional views of the spherical fixed device of materials and parts；
Fig. 2 is the schematic three dimensional views of the spherical fixed device of materials and parts when removing spherical outrigger；
Fig. 3 is the schematic three dimensional views of press head；
Fig. 4 is the enlarged diagram in Fig. 3 at A.
Specific embodiment
Below by embodiment, the present invention is described in further detail, to enable those skilled in the art referring to specification
Text can be implemented accordingly.
Such as " have " it should be appreciated that used herein, "comprising" and " comprising " term are not precluded one or more
The presence or addition of a other elements or combinations thereof.
In conjunction with shown in Fig. 1-4, there are following examples:
A kind of spherical fixed device of materials and parts, comprising:
Four sides body support frame 100, be positive tetrahedral structure, is respectively equipped with cunning on four angles of the four sides body support frame 100
Dynamic hemisphere 110；
Four groups of telescopic arms 200 are separately positioned on the four sides body support frame towards the center of the four sides body support frame 100
On four angles on 100, the telescopic arm 200 includes press head 600, and the press head 600 includes visiting to refer to 610, for along one
The cylindrical structure of the z-axis setting of rectangular coordinate system, the first end 613 referred to of visiting equipped with bullet 611, adopt by the bullet 611
It is made of elastic material, is symmetrically arranged with several bending resistance pieces 612, the bending resistance around the z-axis on the bullet 611
Piece 612 is arranged in a resistance measurement circuit, and the resistance measurement circuit is also electrically connected with a controller, the bullet 611
Refer to spy and be provided with the first spring between 610, the press head 600 further includes first movement arm 620, be which is provided with described straight
The x-axis direction of angular coordinate system mobile first movement block 622 is fixed on the first movement block 622 and described visits second referred to
End 614, the first movement arm 620 is erected on a plate, and the side of the first movement arm 620 is equipped with control described first
First commutator of 622 moving direction of movable block and the first frequency converter 621 of control movement speed, the press head 600 also wrap
The second moving arm 630 is included, which is provided with second movable block 632 mobile in the y-axis direction of the rectangular coordinate system, described second
The plate is fixed on movable block 632, the side of second moving arm 630, which is equipped with, controls the shifting of the second movable block 632
Second commutator in dynamic direction and the second frequency converter 631 of control movement speed；And
Spherical outrigger 500, package are arranged except the four sides body support frame 100, and the spherical outrigger 500 is equipped with material
Part entrance 510 and materials and parts outlet 520.
The press head 600 further includes one from the optical detector visiting the second end 614 referred to and detecting to first end, described
It visits the first end 613 referred to and is additionally provided with the stress sensor being arranged along the z-axis.
The controller and first commutator, the first frequency converter 621, the second commutator and the second frequency converter 631
Electrical connection.
The first movement arm 620, the second moving arm 630 are screw structure.
The inside radius of the spherical outrigger 500 is 9mm-15mm bigger than the outer radius of the four sides body support frame 100.
The press head 600 is fixedly connected with the telescopic end of an oil cylinder 300.
Limit stop ring 530 is equipped at the materials and parts entrance 510 and materials and parts outlet 520.
The optical detector is electrically connected with the controller, the motor electricity in the stress sensor and the oil cylinder 300
Connection.
From the above mentioned, the sphere center position of spherical outrigger is arranged in materials and parts by the present apparatus, passes through the quadrangle on the body support frame of four sides
Telescopic arm materials and parts are fixed, it is more firm, the manufacturing procedure of greater strength can be born；It is flexible by oil pump driving
Arm, after optical detector detects shaped piece, controller is adjusted in the geometry of the two dimensional image of the position alignment special-shaped workpiece of press head
The heart, spy refer to pressing behind shaped piece surface, and bullet is squeezed touching after grippers, and extruding leads to bending resistance piece
Resistance variations after controller obtains resistance variations information, adjust two groups of frequency converters and commutator refer to spy constantly in the flat of xy
It is moved in face, until the power of all directions suffered by the bullet is equal；Oil cylinder is fed back to by stress sensor, controls telescopic arm
Maximum weighted value is arranged according to different shaped piece surface rigidities in stroke；Special-shaped workpiece table can be found by being referred to by movable spy
The most stable of press points in face, and the complete positioning to shaped piece is completed by four groups of telescopic arms；Pass through spherical outrigger and tetrahedron
The cooperation of bracket, sliding hemisphere can slide on the inner wall of spherical outrigger, so that the present apparatus is provided with higher freedom
Degree, also allows for the materials and parts that the present apparatus is adapted to more Multiple Shape, while can guarantee that four groups of telescopic arms are appointed again and being so directed toward outside spherical
The materials and parts at frame center, without adjusting.
Although the embodiments of the present invention have been disclosed as above, but its is not only in the description and the implementation listed
With.It can be applied to various suitable the field of the invention completely.It for those skilled in the art, can be easily
Realize other modification.Therefore without departing from the general concept defined in the claims and the equivalent scope, the present invention is simultaneously unlimited
In specific details and legend shown and described herein.
Claims (8)
1. a kind of spherical fixed device of materials and parts characterized by comprising
Four sides body support frame, be positive tetrahedral structure, is respectively equipped with sliding hemisphere on four angles of the four sides body support frame；
Four groups of telescopic arms are separately positioned on four angles on the four sides body support frame towards the center of the four sides body support frame
On, the telescopic arm includes press head, and the press head includes visiting to refer to, for the cylinder being arranged along the z-axis of a rectangular coordinate system
Body structure, the first end that refers to visited equipped with bullet, the bullet and spy refer between be provided with the first spring, the press head is also
Including first movement arm, the first movement block mobile in the x-axis direction of the rectangular coordinate system, the first movement which is provided with
The second end visited and referred to is fixed on block, the first movement cantilever crane is located on a plate, the side of the first movement arm
The first frequency converter equipped with the first commutator and control movement speed that control the first movement block moving direction, the pressing
Head further includes the second moving arm, which is provided with second movable block mobile in the y-axis direction of the rectangular coordinate system, and described second
It is fixed with the plate on movable block, the side of second moving arm, which is equipped with, controls the of the second movable block moving direction
Second frequency converter of two commutators and control movement speed；And
Spherical outrigger, package are arranged except the four sides body support frame, and the spherical outrigger is equipped with materials and parts entrance and materials and parts
Outlet；
Several bending resistance pieces are symmetrically arranged with around the z-axis on the bullet, the bending resistance piece is arranged at a resistance
It measures in circuit, the resistance measurement circuit is also electrically connected with a controller.
2. the spherical fixed device of materials and parts according to claim 1, which is characterized in that the press head further includes one described in
Visit the optical detector that the second end that refers to detect to first end, it is described visit the first end referred to be additionally provided with along the z-axis be arranged by
Power inductor.
3. the spherical fixed device of materials and parts according to claim 2, which is characterized in that the controller and first commutation
Device, the first frequency converter, the second commutator and the electrical connection of the second frequency converter.
4. the spherical fixed device of materials and parts according to claim 3, which is characterized in that the first movement arm, the second movement
Arm is screw structure.
5. the spherical fixed device of materials and parts according to claim 4, which is characterized in that the inside radius of the spherical outrigger compares institute
State the big 9mm-15mm of outer radius of four sides body support frame.
6. the spherical fixed device of materials and parts according to claim 5, which is characterized in that the press head and an oil cylinder it is flexible
End is fixedly connected.
7. the spherical fixed device of materials and parts according to claim 6, which is characterized in that the materials and parts entrance and materials and parts exit
It is equipped with limit stop ring.
8. the spherical fixed device of materials and parts according to claim 7, which is characterized in that the optical detector and the controller
Electrical connection, the stress sensor are electrically connected with the motor in the oil cylinder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711091355.6A CN107891385B (en) | 2017-11-08 | 2017-11-08 | The spherical fixed device of materials and parts |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711091355.6A CN107891385B (en) | 2017-11-08 | 2017-11-08 | The spherical fixed device of materials and parts |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107891385A CN107891385A (en) | 2018-04-10 |
| CN107891385B true CN107891385B (en) | 2019-08-30 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711091355.6A Active CN107891385B (en) | 2017-11-08 | 2017-11-08 | The spherical fixed device of materials and parts |
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| Country | Link |
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| CN (1) | CN107891385B (en) |
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|---|---|---|---|---|
| US4766465A (en) * | 1983-01-08 | 1988-08-23 | Canon Kabushiki Kaisha | Carry device for fine movement |
| JP3377168B2 (en) * | 1997-10-13 | 2003-02-17 | ヒーハイスト精工株式会社 | Multi-degree of freedom positioning stage |
| CN1491775A (en) * | 2002-10-23 | 2004-04-28 | 陈政雄 | Parallel mechanism device of multiple shaft type machine tool |
| CN201471319U (en) * | 2009-07-16 | 2010-05-19 | 天津重钢机械装备股份有限公司 | Control device for adjusting tube butt seam |
| CN202624433U (en) * | 2012-05-30 | 2012-12-26 | 袁吉鹏 | Tetrahedral rolling device |
| CN204382143U (en) * | 2015-01-08 | 2015-06-10 | 昆山铭广精密模具有限公司 | Circular product Set and Positioning tool |
| CN105458914A (en) * | 2015-11-10 | 2016-04-06 | 佛山市新恒萃材料科技有限公司 | Omni-directional flexible self-adaptive operation mechanism |
| CN105501322A (en) * | 2016-01-20 | 2016-04-20 | 同济大学 | Spatial tetrahedral rolling mechanism with large extending and retracting ratio |
| CN107127599A (en) * | 2017-06-02 | 2017-09-05 | 四川利丰航空科技有限公司 | A kind of simple centralized positioning clamp |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN205817365U (en) * | 2016-07-15 | 2016-12-21 | 昆明台鼎精密机械有限公司 | A kind of irregular part positioning and clamping device |
| CN106670857B (en) * | 2017-03-02 | 2018-10-23 | 芜湖泰庆电子科技有限公司 | A kind of machine components processing unit (plant) easy to use |
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2017
- 2017-11-08 CN CN201711091355.6A patent/CN107891385B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4766465A (en) * | 1983-01-08 | 1988-08-23 | Canon Kabushiki Kaisha | Carry device for fine movement |
| JP3377168B2 (en) * | 1997-10-13 | 2003-02-17 | ヒーハイスト精工株式会社 | Multi-degree of freedom positioning stage |
| CN1491775A (en) * | 2002-10-23 | 2004-04-28 | 陈政雄 | Parallel mechanism device of multiple shaft type machine tool |
| CN201471319U (en) * | 2009-07-16 | 2010-05-19 | 天津重钢机械装备股份有限公司 | Control device for adjusting tube butt seam |
| CN202624433U (en) * | 2012-05-30 | 2012-12-26 | 袁吉鹏 | Tetrahedral rolling device |
| CN204382143U (en) * | 2015-01-08 | 2015-06-10 | 昆山铭广精密模具有限公司 | Circular product Set and Positioning tool |
| CN105458914A (en) * | 2015-11-10 | 2016-04-06 | 佛山市新恒萃材料科技有限公司 | Omni-directional flexible self-adaptive operation mechanism |
| CN105501322A (en) * | 2016-01-20 | 2016-04-20 | 同济大学 | Spatial tetrahedral rolling mechanism with large extending and retracting ratio |
| CN107127599A (en) * | 2017-06-02 | 2017-09-05 | 四川利丰航空科技有限公司 | A kind of simple centralized positioning clamp |
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| Publication number | Publication date |
|---|---|
| CN107891385A (en) | 2018-04-10 |
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