CN108453643A - A kind of pre-determined bit Self adapting fixture - Google Patents
A kind of pre-determined bit Self adapting fixture Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
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Abstract
本发明涉及夹具领域，具体的说是一种预定位自适应夹具，包括固定架、调节机构、自适应机构和载物架。所述的固定架包括一号固定片、二号固定片和控制装置；所述的调节机构安装在一号固定片与二号固定片之间，调节机构的数量为四个，其在固定架的安装位置呈轴对称分布，调节机构包括一号杆、二号杆、调节旋钮和三号杆；所述的自适应机构安装在三号杆上，自适应机构包括支架、固定轴、发条弹簧、牵引绳、角度传感器、一号弹簧、内筒、直杆和外套；本发明设计了一种预定位自适应夹具，通过合理运用发条弹簧和角度传感器，对调节机构进行对称布置，能够根据物件的形状进行自动调节，从而实现对不规则物件夹取和固定。
The invention relates to the field of fixtures, in particular to a pre-position self-adaptive fixture, which includes a fixing frame, an adjusting mechanism, an self-adapting mechanism and a carrier. The fixed frame includes a No. 1 fixed piece, a No. 2 fixed piece and a control device; the described adjusting mechanism is installed between the No. 1 fixed piece and the No. 2 fixed piece, and the number of the adjusting mechanisms is four, and it The installation positions are axisymmetrically distributed, and the adjustment mechanism includes No. 1 rod, No. 2 rod, adjustment knob and No. 3 rod; the self-adaptive mechanism is installed on No. Spring, traction rope, angle sensor, No. 1 spring, inner cylinder, straight rod and outer cover; the present invention designs a kind of pre-positioning self-adaptive fixture, through the reasonable use of clockwork spring and angle sensor, the adjustment mechanism is arranged symmetrically, which can Automatically adjust according to the shape of the object, so as to realize the clamping and fixing of irregular objects.
Description
技术领域technical field
本发明涉及夹具领域，具体的说是一种预定位自适应夹具。The invention relates to the field of clamps, in particular to a pre-positioning self-adaptive clamp.
背景技术Background technique
目前在夹具领域，夹具的类型比较多样，但是在对不规则物件的夹取时难度相对较大。现有技术中已有相关设计，通过伸缩杆对物件进行多方位的固定，来解决上述问题。但这种实现方案过于理想，在实际操作中，多个伸缩杆很难同时与物件接触并将其固定，从而导致先与物件接触的伸缩杆必定会将物件推动，后续的伸缩杆也会改变物件位置，从而导致先接触的伸缩杆与物件的接触又变得不紧密，整个系统难以平衡。At present, in the field of fixtures, there are various types of fixtures, but it is relatively difficult to clamp irregular objects. There are related designs in the prior art, which solve the above problems by multi-directional fixing of objects through telescopic rods. However, this implementation is too ideal. In actual operation, it is difficult for multiple telescopic rods to contact and fix the object at the same time. As a result, the telescopic rod that first contacts the object must push the object, and the subsequent telescopic rods will also change. The position of the object causes the contact between the telescopic rod and the object to become loose again, and the whole system is difficult to balance.
发明内容Contents of the invention
针对现有工作人员在积极解决上述问题，但是尚未取得有效的改善，本发明设计了一种预定位自适应夹具，通过合理运用发条弹簧和角度传感器，对调节机构进行布置，能够根据物件的形状进行自动调节，先进行预定位，然后根据传感器的数据，判断夹具头与物件的接触点，再进行固定，表现出较高的自适应性。Aiming at the existing workers who are actively solving the above problems, but have not yet achieved effective improvement, the present invention designs a pre-positioning self-adaptive fixture. By rationally using spring springs and angle sensors to arrange the adjustment mechanism, it can The shape is automatically adjusted, pre-positioning is performed first, and then according to the data of the sensor, the contact point between the fixture head and the object is judged, and then fixed, showing high adaptability.
本发明解决其技术问题所采用的技术方案是：一种预定位自适应夹具，包括固定架、调节机构、自适应机构和载物架。The technical solution adopted by the present invention to solve the technical problem is: a pre-positioning self-adaptive fixture, including a fixing frame, an adjusting mechanism, an self-adapting mechanism and a carrier.
所述的固定架包括一号固定片、二号固定片和控制装置；The fixed frame includes a No. 1 fixed piece, a No. 2 fixed piece and a control device;
所述的调节机构安装在一号固定片与二号固定片之间，调节机构的数量为若干个，其在固定架上呈中心对称分布，调节机构包括一号杆、二号杆、调节旋钮和三号杆；The adjusting mechanism is installed between the No. 1 fixing piece and the No. 2 fixing piece. There are several adjusting mechanisms, which are symmetrically distributed in the center of the fixing frame. The adjusting mechanism includes No. 1 lever, No. 2 lever, adjustment knob and pole three;
所述的自适应机构安装在三号杆上，自适应机构包括支架、固定轴、发条弹簧、牵引绳、角度传感器、一号弹簧、内筒、直杆和外套；所述的支架安装在三号杆上；所述的固定轴与三号杆旋转连接；所述的发条弹簧绕在固定轴上；所述的内筒呈圆筒形，其一端固定在三号杆上；所述直杆的一端从内筒另一端插入其内腔中，直杆另一端设置有触头；所述的牵引绳位于内筒的内腔中，牵引绳一端与直杆连接，另一端缠绕在固定轴上；所述的角度传感器设在固定轴一侧；所述的外套套装在内筒外，外套表面设有齿条；所述的一号弹簧位于内筒的内腔中，且一号弹簧的两端分别与直杆和三号杆连接；所述的支架上设有驱动系统；驱动系统与齿条相接触；初始时，一号弹簧处于压缩状态，发条弹簧处于拉伸状态，当触头与物件接触时，为了夹取物件，会和物件发生力的作用，此时一号弹簧被进一步压缩，发条弹簧会回缩，通过角度传感器记录这一数值，然后控制装置作用驱动系统带动外套进行前后调节运动，从而抵住触头，实现将物件真正的固定。Described self-adaptive mechanism is installed on No. 3 bar, and self-adaptive mechanism comprises support, fixed shaft, clockwork spring, traction rope, angle sensor, No. 1 spring, inner cylinder, straight rod and outer cover; Described support is installed on On the No. 3 rod; the fixed shaft is rotationally connected with the No. 3 rod; the clockwork spring is wound on the fixed shaft; the inner cylinder is cylindrical, and one end thereof is fixed on the No. 3 rod; One end of the straight rod is inserted into the inner cavity from the other end of the inner cylinder, and the other end of the straight rod is provided with a contact; the traction rope is located in the inner cavity of the inner cylinder, one end of the traction rope is connected with the straight rod, and the other end is wound on the shaft; the angle sensor is arranged on one side of the fixed shaft; the outer sleeve is set outside the inner cylinder, and a rack is provided on the outer surface; the No. 1 spring is located in the inner cavity of the inner cylinder, and the No. 1 spring The two ends of each are respectively connected with the straight bar and the No. 3 bar; the drive system is provided on the support; the drive system is in contact with the rack; initially, the No. 1 spring is in a compressed state, and the clockwork spring is in a stretched state. When the contact is in contact with the object, in order to grip the object, it will exert a force on the object. At this time, the No. 1 spring is further compressed, and the clockwork spring will retract. This value is recorded by the angle sensor, and then the control device acts on the drive system Drive the jacket to adjust forward and backward, so as to resist the contact and realize the real fixing of the object.
所述的载物架包括一号载物台和二号载物台。The carrier includes No. 1 carrier and No. 2 carrier.
优选的，所述的一号杆和二号杆表面均设有螺纹，且二者的螺纹旋向相反；所述的一号杆和二号杆之间通过调节旋钮连接，通过旋转调节旋钮可以改变一号杆和二号杆之间的相对距离；所述的三号杆连接在二号杆与二号固定片之间，其连接方式为铰接。Preferably, the surfaces of the No. 1 rod and the No. 2 rod are provided with threads, and the threads of the two are in opposite directions; the No. 1 rod and the No. 2 rod are connected by an adjustment knob, and the adjustment knob can be rotated. The relative distance between the No. 1 pole and the No. 2 pole is changed; the No. 3 pole is connected between the No. 2 pole and the No. 2 fixed piece, and the connection mode is hinged.
优选的，所述的二号载物台与载物架的连接方式为螺纹连接，可通过旋转二号载物台来调节其高度，由于载物台过大可能会导致运动部分与其干涉，因此可以根据物件的形状体积决定是否要将二号载物台与一号载物台旋转平齐。Preferably, the connection between the No. 2 stage and the carrier is a threaded connection, and its height can be adjusted by rotating the No. 2 stage. Since the stage is too large, the moving part may interfere with it, so Depending on the shape and volume of the object, it can be determined whether to rotate the No. 2 stage to be flush with the No. 1 stage.
优选的，所述齿条上的齿为斜齿，所述驱动系统包括电动机和连接在电动机上的蜗杆，该蜗杆侧面与齿条配合连接，该配合驱动方式具有反向锁紧的作用。Preferably, the teeth on the rack are helical teeth, the drive system includes a motor and a worm connected to the motor, the side of the worm is mated with the rack, and the mating driving mode has a reverse locking effect.
本发明的有益效果是：本发明设计了一种预定位自适应夹具，通过合理运用发条弹簧和角度传感器，对调节机构进行布置，能够根据物件的形状进行自动调节，先进行预定位，然后根据传感器的数据，判断此时夹具头与物件的接触点，再进行真正固定，解决了多个伸缩杆很难同时与物件接触并将其固定的问题，表现出较高的自适应性和稳定性。The beneficial effects of the present invention are: the present invention designs a pre-positioning self-adaptive fixture, by rationally using clockwork springs and angle sensors to arrange the adjustment mechanism, it can automatically adjust according to the shape of the object, pre-positioning is performed first, and then According to the data of the sensor, judge the contact point between the fixture head and the object at this time, and then fix it, which solves the problem that it is difficult for multiple telescopic rods to contact and fix the object at the same time, showing high adaptability and stability sex.
附图说明Description of drawings
下面结合附图和实施例对本发明进一步说明。The present invention will be further described below in conjunction with the accompanying drawings and embodiments.
图1是本发明的正视图；Fig. 1 is the front view of the present invention;
图2是本发明中自适应机构的结构示意图；Fig. 2 is the structural representation of adaptive mechanism among the present invention;
图3是图2中A-A面的剖视图；Fig. 3 is the sectional view of A-A plane among Fig. 2;
图中：固定架(1)、调节机构(2)、自适应机构(3)、载物架(4)、一号固定片(11)、二号固定片(12)、控制装置(13)、一号杆(21)、二号杆(22)、调节旋钮(23)、三号杆(24)、支架(31)、固定轴(32)、发条弹簧(33)、牵引绳(34)、角度传感器(35)、一号弹簧(36)、内筒(37)、直杆(38)、外套(39)、一号载物台(41)、二号载物台(42)、驱动系统(311)、触头(381)、齿条(391)。In the figure: fixed frame (1), adjustment mechanism (2), self-adaptive mechanism (3), loading frame (4), No. 1 fixed piece (11), No. 2 fixed piece (12), control device (13) , No. 1 bar (21), No. 2 bar (22), adjustment knob (23), No. 3 bar (24), bracket (31), fixed shaft (32), clockwork spring (33), traction rope (34 ), Angle Sensor (35), No. 1 Spring (36), Inner Tube (37), Straight Bar (38), Overcoat (39), No. 1 Stage (41), No. 2 Stage (42), Drive system (311), contact (381), rack (391).
具体实施方式Detailed ways
为了使本发明实现的技术手段、创作特征、达成目的与功效易于明白了解，下面结合具体实施方式，进一步阐述本发明。In order to make the technical means, creative features, goals and effects achieved by the present invention easy to understand, the present invention will be further described below in conjunction with specific embodiments.
如图1、图2、图3所示，一种预定位自适应夹具，包括固定架1、调节机构2、自适应机构3和载物架4。As shown in FIG. 1 , FIG. 2 , and FIG. 3 , a pre-positioning self-adaptive fixture includes a fixed frame 1 , an adjustment mechanism 2 , an adaptive mechanism 3 and a carrier 4 .
所述的固定架1包括一号固定片11、二号固定片12和控制装置13。The fixed frame 1 includes a No. 1 fixed piece 11 , a No. 2 fixed piece 12 and a control device 13 .
所述的调节机构2安装在一号固定片11与二号固定片12之间，调节机构2的数量为8个，其在固定架1上呈中心对称分布，调节机构2包括一号杆21、二号杆22、调节旋钮23和三号杆24。The adjusting mechanism 2 is installed between the No. 1 fixing piece 11 and the No. 2 fixing piece 12. There are 8 adjusting mechanisms 2, which are symmetrically distributed on the fixing frame 1. The adjusting mechanism 2 includes a No. 1 rod 21 , No. 2 lever 22, adjusting knob 23 and No. 3 lever 24.
所述的自适应机构3安装在三号杆24上，自适应机构3包括支架31、固定轴32、发条弹簧33、牵引绳34、角度传感器35、一号弹簧36、内筒37、直杆38和外套39；所述的支架31安装在三号杆24上；所述的固定轴32与三号杆24旋转连接；所述的发条弹簧33绕在固定轴32上；所述的内筒37呈圆筒形，其一端固定在三号杆24上；所述直杆38的一端从内筒37另一端插入其内腔中，直杆38另一端设置有触头381；所述的牵引绳34位于内筒37的内腔中，牵引绳34一端与直杆38连接，另一端缠绕在固定轴32上；所述的角度传感器35设在固定轴32一侧；所述的外套39套装在内筒37外，外套39表面设有齿条391；所述的一号弹簧36位于内筒37的内腔中，且一号弹簧36的两端分别与直杆38和三号杆24连接；所述的支架31上设有驱动系统311；驱动系统311与齿条391相接触；初始时，一号弹簧处于压缩状态，发条弹簧处于拉伸状态，当触头与物件接触时，为了夹取物件，会和物件发生力的作用，此时一号弹簧被进一步压缩，发条弹簧会回缩，通过角度传感器记录这一数值，然后控制装置作用驱动系统带动外套进行前后调节运动，从而抵住触头，实现将物件真正的固定。Described self-adaptive mechanism 3 is installed on No. 3 bar 24, and self-adaptive mechanism 3 comprises support 31, fixed shaft 32, clockwork spring 33, traction rope 34, angle sensor 35, No. 1 spring 36, inner tube 37, straight Rod 38 and overcoat 39; Described support 31 is installed on No. 3 bar 24; Described fixed shaft 32 is connected with No. 3 bar 24 rotations; Described clockwork spring 33 is wound on the fixed shaft 32; Described The inner cylinder 37 is cylindrical, one end of which is fixed on the No. 3 rod 24; one end of the straight rod 38 is inserted into the inner cavity from the other end of the inner cylinder 37, and the other end of the straight rod 38 is provided with a contact 381; The traction rope 34 is located in the inner cavity of the inner tube 37, one end of the traction rope 34 is connected with the straight rod 38, and the other end is wound on the fixed shaft 32; the angle sensor 35 is arranged on one side of the fixed shaft 32; 39 is set outside the inner tube 37, and the surface of the outer cover 39 is provided with a rack 391; the No. 1 spring 36 is located in the inner chamber of the inner tube 37, and the two ends of the No. 1 spring 36 are connected with the straight bar 38 and the No. 3 bar respectively. 24 connection; the support 31 is provided with a drive system 311; the drive system 311 is in contact with the rack 391; initially, the No. 1 spring is in a compressed state, and the clockwork spring is in a stretched state. When the contact contacts the object , in order to pick up the object, it will produce a force with the object. At this time, the No. 1 spring is further compressed, and the clockwork spring will retract. This value is recorded by the angle sensor, and then the control device acts on the driving system to drive the jacket to adjust forward and backward. , so as to resist the contact and realize the real fixing of the object.
所述的载物架4包括一号载物台41和二号载物台42。The carrier 4 includes a No. 1 carrier 41 and a No. 2 carrier 42 .
所述的一号杆21和二号杆22表面均设有螺纹，且二者的螺纹旋向相反；所述的一号杆21和二号杆22之间通过调节旋钮23连接，通过旋转调节旋钮23可以改变一号杆21和二号杆22之间的相对距离；所述的三号杆24连接在二号杆22与二号固定片12之间，其连接方式为铰接。The surfaces of the No. 1 rod 21 and the No. 2 rod 22 are all provided with threads, and the screw threads of the two are opposite in direction; the No. 1 rod 21 and the No. 2 rod 22 are connected by an adjustment knob 23, and adjusted by rotation. The knob 23 can change the relative distance between the No. 1 pole 21 and the No. 2 pole 22; the No. 3 pole 24 is connected between the No. 2 pole 22 and the No. 2 fixed plate 12 in a hinged connection mode.
所述的二号载物台42与载物架4的连接方式为螺纹连接，可通过旋转二号载物台42来调节其高度，由于载物台过大可能会导致运动部分与其干涉，因此可以根据物件的形状体积决定是否要将二号载物台42与一号载物台41旋转平齐。The connection mode of the No. 2 object stage 42 and the object rack 4 is threaded connection, and its height can be adjusted by rotating the No. 2 object stage 42. Since the object stage is too large, the moving parts may interfere with it, so Whether to rotate the No. 2 stage 42 and the No. 1 stage 41 can be determined according to the shape and volume of the object.
所述齿条391上的齿为斜齿，所述驱动系统311包括电动机和连接在电动机上的蜗杆，该蜗杆侧面与齿条391配合连接，该配合驱动方式具有反向锁紧的作用。The teeth on the rack 391 are helical teeth. The drive system 311 includes a motor and a worm connected to the motor. The side of the worm is mated with the rack 391 . The mating driving mode has a reverse locking effect.
本实施例的一种预定位自适应夹具在使用时，将物件放入载物台中，根据物件的大小选取不同的载物台，初始时，自适应机构3中的一号弹簧36处于压缩状态，当触头381与物件接触时，为了夹取物件，会和物件发生力的作用，此时一号弹簧36被进一步压缩，周围的直杆38将物件预固定，发条弹簧33会回缩，使得固定轴32会旋转，通过角度传感器35记录这一数值，然后将信号传输到控制装置，控制装置计算出直杆38伸出的长度，并作用驱动系统带动外套39进行移动，直到外套39抵住触头381，实现物体的真正固定。When the pre-positioning self-adaptive fixture of this embodiment is used, the object is put into the object stage, and different object stages are selected according to the size of the object. Initially, the No. 1 spring 36 in the self-adaptive mechanism 3 is in a compressed state , when the contact 381 is in contact with the object, in order to grip the object, it will exert a force on the object. At this time, the No. 1 spring 36 is further compressed, and the surrounding straight rod 38 pre-fixes the object, and the clockwork spring 33 will retract. , so that the fixed shaft 32 can rotate, the value is recorded by the angle sensor 35, and then the signal is transmitted to the control device, and the control device calculates the length of the straight rod 38, and acts on the drive system to drive the overcoat 39 to move until the overcoat 39 Butt against the contact 381 to realize the real fixation of the object.
以上显示和描述了本发明的基本原理、主要特征和优点。本行业的技术人员应该了解，本发明不受上述实施例的限制，上述实施方式和说明书中的描述的只是说明本发明的原理，在不脱离本发明精神和范围的前提下，本发明还会有各种变化和改进，这些变化和改进都落入本发明要求保护的范围内。本发明要求保护范围由所附的权利要求书及其等效物界定。The basic principles, main features and advantages of the present invention have been shown and described above. Those skilled in the industry should understand that the present invention is not limited by the above-mentioned embodiments, and the descriptions in the above-mentioned embodiments and specification only illustrate the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention will also There are various changes and improvements, and these changes and improvements all fall within the scope of protection of the present invention. The protection scope of the present invention is defined by the appended claims and their equivalents.
Claims (4)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810176864.7A CN108453643B (en) | 2018-03-04 | 2018-03-04 | A kind of pre-determined bit Self adapting fixture |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810176864.7A CN108453643B (en) | 2018-03-04 | 2018-03-04 | A kind of pre-determined bit Self adapting fixture |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108453643A true CN108453643A (en) | 2018-08-28 |
| CN108453643B CN108453643B (en) | 2019-11-26 |
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| CN201810176864.7A Active CN108453643B (en) | 2018-03-04 | 2018-03-04 | A kind of pre-determined bit Self adapting fixture |
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| CN110405732A (en) * | 2019-07-27 | 2019-11-05 | 南京昱晟机器人科技有限公司 | A kind of industrial software crawl robot and grasping means |
| CN115365559A (en) * | 2022-10-25 | 2022-11-22 | 烟台环球机床装备股份有限公司 | Automatic adjust numerically controlled fraise machine's anchor clamps |
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| CN115365559A (en) * | 2022-10-25 | 2022-11-22 | 烟台环球机床装备股份有限公司 | Automatic adjust numerically controlled fraise machine's anchor clamps |
| CN115365559B (en) * | 2022-10-25 | 2022-12-30 | 烟台环球机床装备股份有限公司 | Automatic adjust numerically controlled fraise machine's anchor clamps |
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|---|---|
| CN108453643B (en) | 2019-11-26 |
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