CN108544401B - Four-claw positioning mechanism capable of being opened and closed sequentially - Google Patents
Four-claw positioning mechanism capable of being opened and closed sequentially Download PDFInfo
- Publication number
- CN108544401B CN108544401B CN201810644394.2A CN201810644394A CN108544401B CN 108544401 B CN108544401 B CN 108544401B CN 201810644394 A CN201810644394 A CN 201810644394A CN 108544401 B CN108544401 B CN 108544401B
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- Prior art keywords
- righting
- clamping
- clamping jaws
- power
- jaw
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- 230000007246 mechanism Effects 0.000 title claims abstract description 19
- 230000009471 action Effects 0.000 claims description 5
- 238000000034 method Methods 0.000 abstract description 4
- 230000007547 defect Effects 0.000 abstract description 2
- 238000012423 maintenance Methods 0.000 abstract description 2
- 238000004519 manufacturing process Methods 0.000 abstract description 2
- 210000000078 claw Anatomy 0.000 description 2
- 238000010606 normalization Methods 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000008092 positive effect Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 230000001737 promoting effect Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 230000000087 stabilizing effect Effects 0.000 description 1
Classifications
-
- 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
- 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
- B25B11/005—Vacuum work holders
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/50—Manufacturing or production processes characterised by the final manufactured product
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to the field of mechanical positioning mechanisms of equipment such as automatic placement or assembly in the electronic industry, in particular to a four-claw positioning mechanism. The four-jaw positioning mechanism capable of being opened and closed sequentially is characterized in that suction head assistance is not needed, clamping jaws are opened and closed sequentially, the correcting function is achieved by means of the force difference of springs, the defects of the traditional correcting method are eliminated, the maintenance cost of the equipment is further reduced, the product yield of the equipment is improved, and the manufacturing cost is not required to be increased due to the fact that the springs and specific mounting methods are only used, so that the economical efficiency and the market competitiveness of the equipment are improved.
Description
Technical field:
the invention relates to the field of mechanical positioning mechanisms of equipment such as automatic placement or assembly in the electronic industry, in particular to a four-claw positioning mechanism.
The background technology is as follows:
In the prior art, a four-jaw positioning mechanism usually adopts a righting mode that clamping jaws are simultaneously opened and closed, 4 clamping jaws are simultaneously contacted with a righted product in a righting mode, the product is pushed to a righting position once, the risk that the product is subjected to large-angle deviation and then righting fails exists, the product is possibly damaged in serious cases, and the phenomenon that the clamping jaws drive the product is also existed when the clamping jaws are simultaneously opened due to different friction forces of four clamping jaw surfaces.
The invention comprises the following steps:
the invention aims to overcome the defects in the prior art and provide the four-jaw positioning mechanism which does not need suction head assistance, sequentially opens and closes the clamping jaws and realizes the normalization function by the force difference of the springs.
The technical scheme of the invention is as follows:
A four-jaw positioning mechanism capable of opening and closing sequentially comprises a set of correcting platform, a set of auxiliary vacuum device, two positioning clamping jaws, two correcting clamping jaws, four sets of clamping jaw power frames, two large-force springs, a middle-force spring, a small-force spring, a set of rotating power device, a set of in-place sensing device and a set of supporting device.
Further, the auxiliary vacuum device is arranged below the righting platform, so that the righting product table can adsorb the righted product.
Further, the set of righting platforms is mounted on the set of support devices.
Further, the two positioning clamping jaws and the two correcting clamping jaws are respectively arranged on the four sets of clamping jaw power frames, the two positioning clamping jaws are distributed at a right angle of 90 degrees, the distance between the two positioning clamping jaws and the correcting platform is S, the two correcting clamping jaws are respectively arranged on the opposite sides of the positioning clamping jaws, and the distances between the two correcting clamping jaws and the correcting platform are S+δ1 and S+δ1+δ1 respectively; the power frame of the two positioning clamping jaws is tensioned on the supporting device by the two large-force springs, the power frame of the righting clamping jaw close to the righting platform is tensioned on the supporting device by the one small-force spring, and the power frame of the righting clamping jaw far from the righting platform is tensioned on the supporting device by the one medium-force spring, so that after the positioning clamping jaw with the largest clamping force is in place, the righting clamping jaw with the smallest clamping force is in place for the second time, and finally, the righting clamping jaw with the moderate clamping force is in place.
Further, the four sets of clamping claw power frames are attached to the set of rotary power devices by means of the spring traction.
Further, the set of in-place sensing device is arranged on the clamping jaw power frame and is used for feeding back an opening and closing signal.
Further, the set of rotational power means is mounted on the set of support means.
The invention has the beneficial effects that:
the invention has the following advantages and positive effects:
1. the auxiliary operation of the suction head is not needed, the service cycle of the suction head is prolonged, and the maintenance cost of the equipment is reduced.
2. The clamping jaw is sequentially opened and closed, and the product to be recovered is subjected to three times of micro movements, so that large-distance deviation cannot occur, the recovery success rate is improved, and the yield of the equipment is improved.
3. The sequential opening and closing actions of the clamping jaw are realized only by means of the springs and certain specific mounting methods, so that the manufacturing cost is not required to be increased, and the economical efficiency and the market competitiveness of the equipment are improved.
Drawings
The invention is further described below with reference to the accompanying drawings.
FIG. 1 is an isometric view of the present invention;
FIG. 2 is an exploded view of the mechanism of the present invention;
FIG. 3 is a power schematic of the present invention;
FIG. 4 is a schematic view of the present invention;
fig. 5 is a schematic view of the jaw distance of the present invention.
Reference numerals:
201-a restoring platform; 202-auxiliary vacuum device; 203-positioning the clamping jaw; 204-positioning the clamping jaw; 205-restoring the clamping jaw; 206-restoring the clamping jaw; 207-jaw power rack; 208-clamping jaw power rack; 209-a jaw power rack; 210-a jaw power rack; 211-high force springs; 212-a high force spring; 213-neutral force spring; 214-a low force spring; 215-rotating power means; 216-an in-place sensing device; 217-support means.
Detailed Description
For the purposes of promoting an understanding of the invention, reference will now be made in detail to the drawings, in which a preferred embodiment of the invention is illustrated, but which may be embodied in many different forms and should not be construed as limited to the embodiments set forth herein, the relative embodiments being set forth in order to provide a more thorough and complete understanding of the present disclosure;
FIG. 1 is an isometric view of a four-jaw positioning mechanism that is sequentially opened and closed, illustrating only one implementation;
FIG. 2 shows an exploded view of a mechanism of a four-jaw positioning mechanism that is sequentially opened and closed, comprising a set of centering platform 201, a set of auxiliary vacuum devices 202, two positioning jaws 203 and 204, two centering jaws 205 and 206, four sets of jaw power frames 207, 208, 209 and 210, two large force springs 211 and 212, a medium force spring 213, a small force spring 214, a set of rotary power devices 215, a set of in-place sensing devices 216, and a set of support devices 217;
Further, the set of rotary power device 215 is a motor driving a four-curved archimedes cam, and the cam rotates to drive the four sets of clamping claw power frames 207, 208, 209 and 210 above to open and close;
Further, the four sets of jaw power frames 207, 208, 209 and 210 are connecting pieces, and are combined with a sliding rail and a cam bearing, the sliding rail is responsible for stabilizing a power frame running line, the cam bearing is responsible for reducing abrasion by rolling contact with an archimedes cam of a rotary power device 215, and the leaning force is from traction of two large-force springs 211 and 212, one middle-force spring 213 and one small-force spring 214;
Further, the two positioning clamping jaws 203 and 204 and the two righting clamping jaws 205 and 206 are respectively arranged on four sets of clamping jaw power frames 207, 208, 209 and 210, and the positioning clamping jaw 203 is matched with the power frame 207 and is pulled by a high-force spring 211; positioning jaw 204 cooperates with power rack 208 and is pulled by high force spring 212; the positioning clamping jaw 205 is matched with the power frame 209 and is pulled by the middle force spring 213; positioning jaw 206 cooperates with power frame 210 and is pulled by a small force spring 214; the distance between the positioning clamping jaws 203 and 204 and the restoring platform 201 is S, the distance between the restoring clamping jaw 205 and the restoring platform 201 is S+δ1+δ1, and the distance between the restoring clamping jaw 206 and the restoring platform 201 is S+δ1, so when the four sets of clamping jaw power frames 207, 208, 209 and 210 are closed under the drive of the rotary power device 215, the positioning clamping jaws 203 and 204 reach the restoring position first, when the Aminomie cam continues to rotate, the limiting edges of the positioning clamping jaws 203 and 204 are close to the restoring platform 201, the clamping jaw power frames 207 and 208 where the positioning clamping jaws 203 and 204 are located are separated from the cam, and a right-angle edge is restored at the moment; the second restoring clamping jaw 206 reaches the restoring position, the restored product is contacted before the limit edge of the restoring clamping jaw has not reached the restoring platform 201, and the restoring clamping jaw 206 stops advancing because the pulling force of the pulling spring 214 is far smaller than that of the pulling spring 212 of the opposite side positioning clamping jaw 204, so that the third restoring of the restored product is finished, and when the Aminomet cam continues to rotate, the clamping jaw power frame 210 where the restoring clamping jaw 206 is positioned is separated from the cam; similarly, positioning jaw 205 arrives last, and because traction spring 213 of righting jaw 205 is greater than traction spring 214 of righting jaw 206, clamping action on the other side can be achieved when positioning jaw 204 and righting jaw 206 clamp a righted article on one side; after the normalization is completed, the Archimedes cam is reversed, and the clamping jaw is opened reversely according to the principle;
further, a set of in-place sensing device 216 is a photoelectric sensor and a sensing piece, the sensing piece is arranged on the clamping jaw power frame 210, and the device feeds in-place information back to the rotary power device 215 so as to control the opening and closing actions;
Further, the auxiliary vacuum device 202 is composed of an external vacuum system and a pipeline, the pipeline is arranged below the sleeve correcting platform 201, reaches the correcting surface of the sleeve correcting platform 201 through an internal channel, and plays a role in adsorbing the corrected product;
further, a set of supporting devices 217 is a supporting frame composed of a plurality of supporting plates for installing all the devices;
FIG. 3 is a schematic power diagram of a four-jaw positioning mechanism with sequential opening and closing for visually showing the power transmission process;
FIG. 4 is a schematic view of a four-jaw positioning mechanism with sequential opening and closing to assist in understanding the jaw opening and closing sequence;
The working process of the mechanism is as follows: the two positioning clamping jaws 203 and 204 and the two restoring clamping jaws 205 and 206 are respectively arranged on four sets of clamping jaw power frames 207, 208, 209 and 210, the four clamping jaws are driven by a rotating force device 215 to perform closing and opening actions, the four clamping jaws reach the restoring platform 201 in sequence, the position of the clamping jaws is fixed when the pulling force difference of the traction springs is used for realizing each closing, four sides of a restored product are further restored, each restoring position is fixed, and the auxiliary vacuum device 202, the in-place sensing device 216 and the supporting device 217 assist in realizing the functions.
While only one embodiment of the present invention has been shown and described, it is to be understood that the invention is not limited to the details and embodiments, and it should be noted that modifications and improvements can be made by those skilled in the art without departing from the spirit of the invention, which fall within the scope of the invention, which is therefore subject to the appended claims.
Claims (2)
1. A four-claw positioning mechanism capable of opening and closing sequentially is characterized in that: the device comprises a set of correcting platform, a set of auxiliary vacuum device, two positioning clamping jaws, two correcting clamping jaws, four sets of clamping jaw power frames, two large-force springs, a middle-force spring, a small-force spring, a set of rotary power device, a set of in-place sensing device and a set of supporting device, wherein the two positioning clamping jaws and the two correcting clamping jaws are distributed around the correcting platform, the distances between the two positioning clamping jaws and the correcting platform are far and near different, the two positioning clamping jaws and the two correcting clamping jaws are respectively arranged on the four sets of clamping jaw power frames, the four sets of clamping jaw power frames are matched with cams on the rotary power device respectively by means of the two large-force springs, the middle-force spring and the small-force spring, the opening and closing actions of the four sets of clamping jaw power frames are realized under the driving of the cams, the vacuum device is arranged below the set of correcting platform, the in-place sensing device is arranged on the power frame, the two positioning clamping jaws are arranged at 90 degrees, and the two correcting clamping jaws are respectively arranged on opposite sides of the positioning clamping jaws;
The distance between the two positioning clamping jaws and the righting platform is S, the distance between one righting clamping jaw and the righting platform is S+δ1, and the distance between the other righting clamping jaw and the righting platform is S+δ1+δ1;
The power frame where the two positioning clamping jaws are located is tensioned on the supporting device through two large-force springs, the power frame where the righting clamping jaw which is close to the righting platform is tensioned on the supporting device through a small-force spring, and the power frame where the righting clamping jaw which is far away from the righting platform is tensioned on the supporting device through the middle-force spring, so that after the positioning clamping jaw with the largest clamping force is in place, the righting clamping jaw with the smallest clamping force is in place second, and the righting clamping jaw with moderate clamping force is in place last.
2. The four-jaw positioning mechanism of claim 1, wherein: the rotary power device comprises a power motor and a rotary cam.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810644394.2A CN108544401B (en) | 2018-06-21 | 2018-06-21 | Four-claw positioning mechanism capable of being opened and closed sequentially |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810644394.2A CN108544401B (en) | 2018-06-21 | 2018-06-21 | Four-claw positioning mechanism capable of being opened and closed sequentially |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108544401A CN108544401A (en) | 2018-09-18 |
| CN108544401B true CN108544401B (en) | 2024-04-19 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810644394.2A Active CN108544401B (en) | 2018-06-21 | 2018-06-21 | Four-claw positioning mechanism capable of being opened and closed sequentially |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108544401B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111091934B (en) * | 2019-12-30 | 2021-07-20 | 季华实验室 | One-to-many wire bundle clamping method |
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| JPH04115547A (en) * | 1990-09-05 | 1992-04-16 | Kokusai Syst Sci Kk | Work positioning apparatus |
| US5253911A (en) * | 1992-04-03 | 1993-10-19 | Storage Technology Corporation | Gripper apparatus for use in a robotics system |
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| DE10118664A1 (en) * | 2001-04-14 | 2002-11-07 | Stiefelmayer Gmbh & Co Kg C | Clamping unit for machining device, comprising balancing mechanism working with hydraulically operated sliding element |
| JP2005131729A (en) * | 2003-10-30 | 2005-05-26 | Matsushita Electric Ind Co Ltd | Thin plate material gripping device |
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| JP2009026936A (en) * | 2007-07-19 | 2009-02-05 | Ueno Seiki Kk | Positioning device |
| CN201383912Y (en) * | 2008-12-22 | 2010-01-13 | 深圳市大族激光科技股份有限公司 | Four-jaw positioning mechanism of SMD tape mounting machine |
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| CN206287053U (en) * | 2016-12-23 | 2017-06-30 | 上海莘翔自动化科技有限公司 | A kind of Automatic-clamping positioner suitable for rectangle plate |
| CN107720248A (en) * | 2017-11-03 | 2018-02-23 | 深圳市君奕豪科技有限公司 | A kind of high temperature resistant clamping device |
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| CN208697216U (en) * | 2018-06-21 | 2019-04-05 | 天津伍嘉联创科技发展股份有限公司 | A kind of four paws positioning mechanism of sequence folding |
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2018
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Also Published As
| Publication number | Publication date |
|---|---|
| CN108544401A (en) | 2018-09-18 |
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