CN108858163A - A kind of clamping device and tipping arrangement - Google Patents
A kind of clamping device and tipping arrangement Download PDFInfo
- Publication number
- CN108858163A CN108858163A CN201810713022.0A CN201810713022A CN108858163A CN 108858163 A CN108858163 A CN 108858163A CN 201810713022 A CN201810713022 A CN 201810713022A CN 108858163 A CN108858163 A CN 108858163A
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- clamping
- rotating shaft
- head
- transition plate
- limiting
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- 230000007246 mechanism Effects 0.000 claims abstract description 103
- 230000007704 transition Effects 0.000 claims description 66
- 230000007306 turnover Effects 0.000 claims description 14
- 238000009434 installation Methods 0.000 claims description 13
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 abstract 1
- 230000009471 action Effects 0.000 description 14
- 230000004048 modification Effects 0.000 description 4
- 238000012986 modification Methods 0.000 description 4
- 230000003028 elevating effect Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 1
- 230000000994 depressogenic effect Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
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- 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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Jigs For Machine Tools (AREA)
Abstract
The invention discloses a kind of clamping device and tipping arrangements, including pedestal, rotary drive mechanism and clamping device.Wherein, clamping device includes the first clamping head, the second clamping head and position-limit mechanism.Wherein, the second clamping head and the first clamping head are oppositely arranged and surround grasping part；The both ends of position-limit mechanism pass through first rotating shaft respectively and the second shaft is installed in rotation on the first clamping head and the second clamping head；The first line is formed between first rotating shaft and the second shaft；Position-limit mechanism is being in the first position being overlapped with the first line, and surrounds with the first line and switch between the second position of triangle；Position-limit mechanism is adapted to abut against at the top or bottom of the workpiece being located in grasping part at the second position.By changing the size of the grasping part surrounded between above-mentioned first clamping head and the second clamping head, to make piece-holder of the clamping device suitable for a variety of different sizes；The simple and reliable property of structure is high, high to the positional accuracy of workpiece vertically.
Description
Technical Field
The invention relates to the technical field of automation equipment, in particular to a clamping device and turnover equipment.
Background
In the automatic processing and the automatic assembly, two surfaces of a workpiece are generally required to be processed or clamped respectively, so that after one surface is processed or clamped, the workpiece needs to be turned over at a limited angle, and the other surface needs to be clamped or processed again.
For example, a conventional turnover mechanism for an automated production line includes: the clamping device comprises a base, a rotary cylinder and a clamping assembly; wherein, the rotary cylinder is arranged on the base; the clamping assembly is arranged above the rotating shaft of the rotating cylinder and used for clamping a workpiece to be turned; the rotary cylinder drives the clamping assembly to do reciprocating rotary motion under the control of the control system, so that the workpiece is turned over. The clamping assembly comprises a left clamping column and a right clamping column which are relatively fixedly arranged on the bottom plate, the left clamping column and the right clamping column face each other and are provided with clamping grooves which vertically extend on the surface, a clamping space is formed between the two clamping grooves, and a workpiece is clamped in the clamping space.
In the clamping assembly of the turnover mechanism, the clamping space between the two clamping columns cannot be adjusted, so that the size of a workpiece which can be clamped by the clamping assembly is single; meanwhile, the bottom plate is required to be independently arranged to support or limit the bottom or the top of the workpiece in the clamping space, so that the structure of the whole clamping assembly is complex.
Disclosure of Invention
Therefore, the technical problem to be solved by the present invention is that the clamping assembly in the turnover mechanism in the prior art has a narrow application range and a complex structure.
To this end, the invention provides a clamping device comprising
At least one first gripping head;
the second clamping head is opposite to the first clamping head and encloses a clamping space;
the two ends of the limiting mechanism are respectively and rotatably arranged on the first clamping head and the second clamping head through a first rotating shaft and a second rotating shaft; a first connecting line is formed between the first rotating shaft and the second rotating shaft;
the limiting mechanism is switched between a first position which is coincident with the first connecting line and a second position which forms a triangle with the first connecting line; the limiting mechanism is suitable for abutting against the top or the bottom of the workpiece in the clamping space when in the second position.
Preferably, in the clamping device, the limiting mechanism includes a first limiting member, a second limiting member and a third rotating shaft located between the first limiting member and the second limiting member;
the third pivot is located outside first centre gripping head and the second centre gripping head, the one end that first locating part and second locating part are close to each other all rotationally installs in the third pivot, the one end of keeping away from each other rotationally installs respectively in first pivot and second pivot.
Further preferably, the clamping device further comprises a first transition plate and a second transition plate which are oppositely arranged;
the first clamping head and the second clamping head are respectively fixed on one ends, far away from each other, of the first transition plate and the second transition plate; the first rotating shaft and the second rotating shaft are respectively fixed on one ends, close to each other, of the first transition plate and the second transition plate.
Further preferably, in the clamping device, a first through groove and a second through groove are respectively formed in end faces of one ends of the first transition plate and the second transition plate, which face each other; the first rotating shaft and the second rotating shaft are respectively fixed in the first through groove and the second through groove;
one end of each of the first limiting part and the second limiting part is located in the first through groove and the second through groove respectively, and the other end of each of the first limiting part and the second limiting part extends out of the groove opening of the through groove and then is sleeved on the third rotating shaft.
Further preferably, in the clamping device described above, the clamping device further includes a support;
the limiting mechanism further comprises a first sliding assembly, and the first sliding assembly and the second sliding assembly are used for slidably arranging the first transition plate and the second transition plate on the support respectively.
Further preferably, in the clamping device as described above, the first sliding member includes
A first sliding groove and a second sliding groove which are respectively arranged on the support along the extending direction of the first connecting line, wherein a raised track is formed between the first sliding groove and the second sliding groove;
the first sliding block and the second sliding block are respectively fixed on the first transition plate and the second transition plate, and the first sliding block and the second sliding block are opposite and can be arranged on the track in a sliding mode; and the first driver is connected with the first sliding block and the second sliding block respectively and drives the first sliding block and the second sliding block to slide.
Further preferably, the clamping device further includes an elastic member disposed on the first clamping head and/or the second clamping head, and the distance between the first clamping head and the second clamping head is adjusted under the elastic action of the elastic member.
Further preferably, in the clamping device, the first transition plate or the second transition plate is provided with an installation through hole along the extending direction of the elastic member;
the elastic piece is embedded in the installation through hole, one end of the elastic piece is abutted against the first clamping head or the second clamping head, and the other end of the elastic piece is abutted against the corresponding transition plate.
Preferably, the clamping device further comprises a fixing component, the fixing component comprises a connecting body embedded in the mounting through hole, one end of the connecting body extends out of the mounting through hole and then is connected to the corresponding clamping head, and an inward-concave mounting groove is formed in the end face of the other end of the connecting body; the cover plate is covered on the opening of one side of the mounting through hole, which is back to the clamping heads corresponding to the mounting through hole;
one end of the elastic piece extends into the mounting groove and abuts against the bottom of the mounting groove, and the other end of the elastic piece extends out of the groove opening of the mounting groove and abuts against the cover plate.
Further preferably, in the clamping device, the first clamping heads correspond to the second clamping heads one to one;
the first clamping heads are at least two and are arranged in a stacked and spaced mode, and the first clamping heads located above and the vertical end faces of the first clamping heads located below are arranged in a horizontally staggered mode.
Further preferably, in the clamping device, the first clamping head and the second clamping head are slidably disposed relative to each other through a second sliding assembly.
A turnover device comprises
A base frame;
the rotary driving mechanism is fixed on the base frame;
the clamping device of any one of the above claims, wherein the clamping device is fixed to the rotation driving mechanism and is driven by the rotation driving mechanism to rotate.
Preferably, the turning device further comprises a fixing bracket fixed on the rotating shaft of the rotating driving mechanism;
the fixed bracket is provided with at least one mounting cavity;
the clamping devices are correspondingly arranged in the mounting cavities one by one and/or arranged on the outer wall surface of the fixed support.
Preferably, the turnover device further includes a lifting mechanism vertically disposed on the base frame, the rotary driving mechanism is fixed to the lifting mechanism, and the lifting mechanism is configured to drive the rotary driving mechanism to drive the clamping device to perform lifting movement on the base frame.
The technical scheme provided by the invention has the following advantages:
1. the clamping device provided by the invention comprises: first clamping head, second clamping head and stop gear. The second clamping head and the first clamping head are oppositely arranged and enclose a clamping space; the two ends of the limiting mechanism are respectively and rotatably arranged on the first clamping head and the second clamping head through a first rotating shaft and a second rotating shaft; a first connecting line is formed between the first rotating shaft and the second rotating shaft; the limiting mechanism is switched between a first position which is coincident with the first connecting line and a second position which forms a triangle with the first connecting line; the limiting mechanism is suitable for abutting against the top or the bottom of the workpiece in the clamping space when in the second position.
According to the clamping device with the structure, when the limiting mechanism is superposed with the first connecting line, the distance between the first clamping head and the second clamping head is adjusted to be maximum; when the limiting mechanism and the first connecting line are overlapped to form a triangle, the distance between the first clamping head and the second clamping head is gradually reduced from large to small, so that the size of a clamping space enclosed between the two clamping heads is adjusted, and the clamping device is suitable for clamping workpieces with different sizes; simultaneously, stop gear is when the second position, the triangle-shaped that stop gear and first line enclose, except first line, two other limit levels of triangle-shaped stretch to in the clamping space, play the supporting role or play the limiting role at the top of work piece to the bottom of the work piece in the clamping space, thereby accurate spacing or location are carried out to the vertical of work piece to the clamping space size adjustable while realizing clamping device, make clamping device's simple structure reliability high simultaneously, prevent that the work piece from causing the inaccurate problem in location along vertical drunkenness.
2. According to the clamping device provided by the invention, a first through groove and a second through groove are respectively formed on the end faces of the mutually facing ends of the first transition plate and the second transition plate; the first rotating shaft and the second rotating shaft are respectively fixed in the first through groove and the second through groove; one end of each of the first limiting part and the second limiting part is located in the first through groove and the second through groove respectively, and the other end of each of the first limiting part and the second limiting part extends out of the groove opening of the through groove and then is sleeved on the third rotating shaft.
The clamping device with the structure is provided with the first through groove and the second through groove, and is used for respectively accommodating the first limiting part and the second limiting part in the first through groove and the second through groove when the limiting mechanism is at the first position, so that the placing space is saved, the clamping space is free from any blockage when the limiting mechanism is at the first position, the workpiece can be conveniently placed from top to bottom or from bottom to top along the vertical direction, and the height utilization rate is further improved; in addition, the both ends setting of first pivot and second pivot is led to the groove in the wall of the both sides relative respectively that first logical groove and second lead to further guarantee that the pivot installation is fixed stable, further improve the action reliability.
3. According to the clamping device provided by the invention, the first sliding assembly comprises a first sliding chute and a second sliding chute which are respectively arranged on the support along the extension direction of the first connecting line, and a raised track is formed between the first sliding chute and the second sliding chute; the first sliding block and the second sliding block are respectively fixed on the first transition plate and the second transition plate, and the first sliding block and the second sliding block are opposite and can be arranged on the track in a sliding mode; and the first driver is connected with the first sliding block and the second sliding block respectively and drives the first sliding block and the second sliding block to slide.
The clamping device with the structure has the advantages that the arrangement of the first sliding groove, the second sliding groove and the track formed between the first sliding groove and the second sliding groove guarantees that the first transition plate and the second transition plate do linear sliding close to or far away from each other along the direction of the first connecting line, and therefore the stability of clamping action is guaranteed.
4. The clamping device provided by the invention further comprises an elastic piece arranged on the first clamping head and/or the second clamping head, and the distance between the first clamping head and the second clamping head is adjusted under the elastic action of the elastic piece.
When the limiting mechanism is at the first position, the elastic part is kept in a free and relaxed state; when the limiting mechanism is located at the second position, the elastic piece is in a compressed state, and the distance between the first clamping head and the second clamping head is finely adjusted under the action of the elastic force of the elastic piece. Guarantee that the clamping head has the floatability when the centre gripping work piece, simultaneously, the elastic component can offset the too big clamping-force of second clamping head, further prevents that the too big damage that causes the work piece of clamping-force.
5. According to the clamping device provided by the invention, at least two first clamping heads are arranged, the two first clamping heads are stacked and arranged at intervals, and the vertical end surfaces of the first clamping head positioned above and the first clamping head positioned below are horizontally staggered.
According to the clamping device with the structure, the two first clamping heads are stacked and vertically staggered, so that the clamping device is suitable for clamping workpieces with different sizes of upper and lower cross sections and convex vertical sections, for example, the clamping space enclosed by the first clamping head positioned above is larger than the clamping space enclosed by the first clamping head positioned below, correspondingly, the first clamping head positioned above can be adapted to a side wall surface with a larger cross section in the clamped workpiece, and similarly, the first clamping head positioned below can be adapted to a side wall surface with a smaller cross section in the clamped workpiece; and then guarantee when first driver drive clamping head only moves between two extreme positions that stop gear is in, the one-to-one correspondence of two vertical different clamping heads and work piece cross-section further guarantees clamping device to being convex work piece's clamping stability.
6. The present invention provides a flipping apparatus, comprising: the clamping device comprises a base frame, a rotary driving mechanism and a clamping device. Wherein the rotary driving mechanism is fixed on the base frame; the clamping device is fixed on the rotary driving mechanism and driven by the rotary driving mechanism to rotate. The clamping device is characterized by further comprising a lifting mechanism vertically arranged on the base frame, the rotary driving mechanism is fixed on the lifting mechanism, and the lifting mechanism is used for driving the rotary driving mechanism to drive the clamping device to move up and down on the base frame.
The tipping arrangement of this structure carries out the centre gripping action to the work piece through the centre gripping subassembly, carries out the multi-angle upset to the work piece through rotary drive mechanism, and the structure combination is exquisite and can realize multiple function demand, in addition through setting up elevating system, guarantees to pass through smoothly between overturning and the centre gripping action, prevents that the work piece from receiving blockking of the tool that is used for fixed work piece, does to the upset and produces the influence.
7. The turnover equipment provided by the invention also comprises a fixed bracket fixed on the rotating shaft of the rotary driving mechanism; the fixed bracket is provided with at least one mounting cavity; the clamping devices are correspondingly arranged in the mounting cavities one by one and/or arranged on the outer wall surface of the fixed support. The overturning equipment with the structure further ensures the compactness of the overturning equipment and saves the installation space while ensuring the consistency of overturning actions by fixedly arranging the clamping device on the fixed support.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a schematic view of the overall structure of the turning device provided in embodiments 1 and 2;
FIG. 2 is a schematic view of a structure of a holding apparatus provided in embodiment 1;
FIG. 3 is an exploded view of the clamping device provided in embodiment 1;
fig. 4 is a schematic structural view of the turning apparatus provided in embodiment 2;
FIG. 5 is an enlarged view of circle A in FIG. 4;
fig. 6 is a flow chart of a clamping action of the clamping device of the turnover device in the embodiment 1 and the embodiment 2;
description of reference numerals:
1-a clamping device; 11-a first gripping head; 12-a second gripping head; 13-a limiting mechanism; 131-a first stop; 132-a second stop; 133-a third shaft; 134-a first runner; 135-a second chute; 136-a first slider; 137-a second slider; 138-a first driver;
141-a first rotating shaft; 142-a second shaft; 151-first transition plate; 1511-a first through slot; 152-a second transition plate; 1521-a second through slot; 153-mounting through holes; 16-a support; 17-an elastic member; 181-a linker; 1811-mounting groove; 182-a cover plate; 183-spacing pin;
2-a base frame;
3-a rotary drive mechanism; 31-a rotating shaft; 32-a first mounting plate; 33-a second driver; 34-a drive plate; 341-first limit projection; 342-a second stop protrusion; 35-a third limiting member;
4-fixing the bracket; 41-installation cavity;
5-a lifting mechanism; 51-a third driver; 52-a first guide rail; 53-third slider.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
In addition, the technical features involved in the different embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
Example 1
The present embodiment provides a clamping device 1, as shown in fig. 1 to 3 and fig. 6, including: the clamping device comprises a support 16, a limiting mechanism 13, a first clamping head 11 and a second clamping head 12 which are oppositely arranged, a first transition plate 151 and a second transition plate 152 which are oppositely arranged, a first rotating shaft 141 and a second rotating shaft 142 which are oppositely arranged, and a first driver 138.
The first clamping heads 11 and the second clamping heads 12 are in one-to-one correspondence and are arranged oppositely, and a clamping space is enclosed; the first clamping head 11 and the second clamping head 12 are respectively fixed on the ends, far away from each other, of the first transition plate 151 and the second transition plate 152; the first rotating shaft 141 and the second rotating shaft 142 are respectively fixed on the ends of the first transition plate 151 and the second transition plate 152 which are close to each other; two ends of the limiting mechanism 13 are rotatably mounted on the first transition plate 151 and the second transition plate 152 through the first rotating shaft 141 and the second rotating shaft 142 respectively; the first transition plate 151 and the second transition plate 152 are slidably mounted on the support 16, and the first actuator 138 is configured to drive the first transition plate 151 and the second transition plate 152 to linearly slide toward or away from each other relative to the support 16. For example, the support 16 in this embodiment is a housing for the first driver 138.
For example, the first transition plate 151 and the second transition plate 152 are formed in an "L" shape plate, and two first clamping heads 11 and two second clamping heads 12 are symmetrically disposed in a vertical direction. The two first clamping heads 11 and the two second clamping heads 12 are respectively stacked and arranged at intervals
As shown in fig. 2, the vertical end surfaces of the upper first gripping head 11 and the lower first gripping head 11 are horizontally arranged in a staggered manner, and similarly, the vertical end surfaces of the upper second gripping head 12 and the lower second gripping head 12 are horizontally arranged in a staggered manner.
Thus, the clamping device 1 is suitable for clamping workpieces with different vertical cross-sectional dimensions, for example, the clamping space enclosed by the upper first clamping head 11 and the upper second clamping head 12 is larger than the clamping space enclosed by the lower first clamping head 11 and the lower second clamping head 12, accordingly, as shown in fig. 6 (step S2 right side view, step S3, and step S5), the clamping head (upper) enclosing the larger clamping space in fig. 2 can be adapted to the wall surface of the side with the larger cross-sectional dimension in the clamped workpiece, similarly, the clamping head (lower) enclosing the smaller clamping space in fig. 2 can be adapted to the wall surface of the side with the smaller cross-sectional dimension in the clamped workpiece, and further, when the first driver 138 drives the clamping head to move only between the two limit positions of the limiting mechanism 13, two vertical different clamping heads are in one-to-one correspondence with workpieces with different cross-sectional dimensions, further ensuring the stability of the clamping device 1 for clamping convex workpieces.
As shown in fig. 2 and fig. 3, the limiting mechanism 13 includes a first limiting member 131, a second limiting member 132, and a third rotating shaft 133 connecting the first limiting member 131 and the second limiting member 132.
The ends of the first limiting member 131 and the second limiting member 132 close to each other are rotatably mounted on the third rotating shaft 133, for example, in a hinged connection manner, and the ends far away from each other are rotatably mounted on the first rotating shaft 141 and the second rotating shaft 142, respectively. Thus, a first connection line is formed between the first rotating shaft 141 and the second rotating shaft 142; the first limiting member 131, the second limiting member 132 and the third rotating shaft 133 have a first position coinciding with the first connecting line, and a second position where the first limiting member 131, the second limiting member 132 and the first connecting line enclose a triangle, and the limiting mechanism 13 performs a switching motion between the first position and the second position. For example, the first limiting member 131 and the second limiting member 132 have the same arm length, so that when the limiting mechanism 13 is at the second position, the vertical central plane of the workpiece clamped in the clamping space and the central line of the third rotating shaft 13 are overlapped, and the stability of the clamping action of the clamping device 1 is further ensured.
In practical use, when the limiting mechanism 13 is at the second position, as shown in fig. 2, the third rotating shaft 133 is located in the clamping space, and the first limiting member 131 and the second limiting member are respectively used as two sides of a triangle and horizontally extend from the first connecting line to the third rotating shaft located in the clamping space. At this time, if the workpiece is placed on the lower side of the clamping space, the bottom surface surfaces of the first limiting member 131 and the second limiting member 132 are adapted to abut on the top surface of the workpiece, so as to limit the top surface of the workpiece; the top surfaces of the first limiting member 131 and the second limiting member 132 are adapted to abut against the bottom surface of the workpiece to support the workpiece when the workpiece is placed above the clamping space.
As shown in fig. 2 and fig. 3, specifically, a first through groove 1511 and a second through groove 1521 are respectively opened on end surfaces of the first transition plate 151 and the second transition plate 152 facing each other; the first rotating shaft 141 and the first limiting member 131 are respectively and rotatably fixed in the first through groove 1511; the second rotating shaft 142 and the second limiting member 132 are rotatably fixed in the second through groove 1521, respectively.
The first through groove 1511 and the second through groove 1521 are arranged such that when the limiting mechanism 13 is at the first position, the first limiting member 131 and the second limiting member 132 are respectively accommodated in the first through groove 1511 and the second through groove 1521 and do not extend into the clamping space, thereby saving space, further ensuring that when the limiting mechanism 13 is at the first position, the clamping space is not blocked at all, facilitating the workpiece to be placed from top to bottom or from bottom to top along the vertical direction, and further improving the utilization rate of space; in addition, two ends of the first rotating shaft 141 and the second rotating shaft 142 are disposed in two opposite side walls of the first through groove 1511 and the second through groove 1521, for example, in fig. 2 and 3, a top wall surface and a bottom wall surface of the through groove, so that the rotating shaft is further ensured to be stably mounted and fixed, and the operation reliability is further improved.
As shown in fig. 2 and 3, the clamping device 1 further includes a first sliding assembly connected to and driving the first transition plate 151 and the second transition plate 152 to be slidably disposed on the support 16. Wherein, first slip subassembly includes: a first slide groove 134 and a second slide groove 135 opened on the support 16, and a first slider 136 and a second slider 137 slidably provided on the first slide groove 134 and the second slide groove 135.
Specifically, the first sliding chute 134 and the second sliding chute 135 are both arranged in parallel along a first linear direction, and a convex track is formed between the first sliding chute 134 and the second sliding chute 135; the first driver 138 is connected to the first slider 136 and the second slider 137, and drives the first slider 136 and the second slider 137 to slide along the rails.
For example, the support 16 has a cross-sectional shape along one side of the rail, the cross-sectional shape is a "mountain", one end of the first slider 136 and one end of the second slider 137 are respectively embedded in the first sliding groove 134 and the second sliding groove 135, and the other end of the first slider 136 and the other end of the second slider are respectively fixedly connected with the first transition plate 151 and the second transition plate 152. Therefore, the movement of the first driver 138 driving the sliding block is converted into the movement of the transition plate along the track, and is converted into the change of the relative distance of the two clamping heads, and then the workpiece placed in the clamping space is clamped.
As shown in fig. 2 and fig. 3, the clamping device 1 of the present embodiment further includes a connecting body 181, a cover plate 182, and an elastic member 17. The second transition plate 152 is provided with a mounting through hole 153 along a direction parallel to the first straight line; the cover plate 182 is fixedly installed on the opening of the side of the installation through hole 153, which faces away from the second clamping head 12; the connecting body 181 is installed in the installation through hole 153, and one end of the connecting body close to the third rotating shaft 133 extends out of the installation through hole 153 and is fixedly connected with the second clamping head 12 through a threaded fastener; an inward-concave mounting groove 1811 is formed on the end surface of the other end of the connecting body 181; the elastic member 17 is inserted into the mounting groove 1811 of the connecting body 181, one end of the elastic member abuts against the groove bottom of the mounting groove 1811, and the other end of the elastic member extends out of the notch of the mounting groove 1811 and abuts against the cover plate 182.
Specifically, when the limiting mechanism 13 is in the first position, the elastic member 17 is kept in a free relaxed state, and when the limiting mechanism 13 is in the second position, the elastic member 17 is in a compressed state, and under the action of the elastic force of the elastic member 17, the limiting groove finely adjusts the distance between the first clamping head 11 and the second clamping head 12. The first clamping head 11 is ensured to have floatability when clamping the workpiece, and meanwhile, the elastic piece 17 can offset the overlarge clamping force of the second clamping head 12, so that the damage of the workpiece caused by the overlarge clamping force is further prevented. The elastic member 17 is a spring, for example.
In addition, the clamping device 1 provided by this embodiment further includes a limiting pin 183 penetrating into the limiting groove, a vertically downward recessed limiting groove is vertically provided at the top of the connecting body 181, and the limiting groove is long-waist-shaped along a direction parallel to the first straight line; the second transition plate 152 is provided with a first through hole depressed downward on a top side wall surface. The limiting pin 183 vertically sequentially penetrates through the first through hole and is fixedly inserted into the elastic member 17 elastically stretching in the connecting body 181 after the limiting groove is formed, so that the elastic member 17 arranged in the mounting groove 1811 is prevented from falling off. When the elastic member 17 elastically extends and contracts in the first direction, the connecting body 181 stably reciprocates along the length of the long waist-shaped limit groove relative to the limit pin 183 as a stroke range.
In the clamping device 1 of the present embodiment, the clamping process is as follows:
firstly, the limiting mechanism 13 is in the first position, and the first driver 138 drives the first sliding block 136 and the second sliding block 137 to approach each other; then, the first transition plate 151 and the second transition plate 152 fixedly connected to the first slider 136 and the second slider 137 approach each other, and simultaneously drive the first clamping head 11 and the second clamping head 12 to approach each other, and finally stably clamp the workpiece placed in the clamping space, at this time, the limiting mechanism 13 is in the second position, that is, the first limiting member 131 and the second limiting member 132, and the first straight line of the connection line of the first rotating shaft 141 and the second rotating shaft 142 forms a triangle.
In the clamping device 1 provided in this embodiment, when the limiting mechanism 13 is in coincidence with the first connection line, the distance between the first clamping head 11 and the second clamping head 12 is adjusted to be the maximum; when the limiting mechanism 13 and the first connecting line are overlapped to form a triangle, the distance between the first clamping head 11 and the second clamping head 12 is gradually reduced from large to small, so that the size of a clamping space formed by the two clamping heads is adjusted, and the clamping device 1 is suitable for clamping workpieces with different sizes; simultaneously, stop gear 13 is when the second position, the triangle-shaped that stop gear 13 and first line enclose, except first line, two other limit levels of triangle-shaped stretch into the clamping space, play supporting role or the top of work piece to the bottom of the work piece in the clamping space and play limiting role, thereby accurate spacing or location are carried out to the vertical of work piece when realizing clamping device 1's clamping space size adjustable, make clamping device 1's simple structure reliability high simultaneously, prevent that the work piece from causing the inaccurate problem in location along vertical drunkenness.
As a first variant of the present embodiment, wherein the elastic member 17 may also be disposed at the connecting side of the first clamping head 11 and the first transition plate 151, it is ensured that the first clamping head 11 has floatability when clamping the workpiece, so as to offset a part of the excessive clamping force, and further prevent the workpiece from being damaged due to the excessive clamping force.
As a second variant of this embodiment, when workpieces with the same cross-sectional size need not to be limited in the arrangement position of the vertically arranged clamping head, at this time, the first clamping head 11 and the second clamping head 12 are respectively arranged as one, as long as it is ensured that the first clamping head 11 and the second clamping head 12 are arranged oppositely, so that the clamping space formed by the two clamping heads can also clamp the workpieces; moreover, the workpiece can be respectively clamped above the limiting mechanism 13 or below the limiting mechanism 13; or,
two groups of first clamping heads 11 and second clamping heads 12 are respectively arranged in the vertical direction, the first clamping heads 11 and the second clamping heads 12 are identical in size and are oppositely arranged, and a clamping space formed by enclosing the first clamping heads 11 and the second clamping heads 12 can clamp a workpiece; moreover, the workpiece can be respectively clamped above the limiting mechanism 13 or below the limiting mechanism 13; or
Three, four or more groups of first clamping heads 11 and second clamping heads 12 are respectively arranged along the vertical direction; the first clamping head 11 and the second clamping head 12 are arranged oppositely, so that a clamping space formed by enclosing the first clamping head and the second clamping head can clamp the workpiece; also, the workpiece may be held above the stopper mechanism 13 or below the stopper mechanism 13, respectively.
As a third modified embodiment of this embodiment, only one second clamping head 12 is provided, and if a workpiece with a convex vertical cross section is clamped, the cross section of the second clamping head 12 may have a lateral protrusion limit, and if a workpiece with the same cross section size is clamped, the second clamping head 12 may only be a vertically arranged plate surface.
As a fourth modified embodiment of this embodiment, the elastic member 17, the cover plate 182, and the connecting member may not be provided, and at this time, the clamping force of the clamping head on the workpiece may be ensured to be appropriate.
As a fifth modified embodiment of the present embodiment, the first transition plate 151 and the second transition plate 152 may not be provided, and the first clamping head 11 and the second clamping head 12 may be directly connected to the stopper mechanism 13.
As a sixth modified embodiment of this embodiment, the first sliding assembly may not be provided, and the first clamping head 11 and the second clamping head 12 are directly driven by the second sliding assembly, as long as the workpiece is clamped in the clamping space defined by the first clamping head 11 and the second clamping head 12.
Example 2
The present embodiment provides a flipping apparatus, as shown in fig. 1, 4 and 5, including: a base frame 2, a rotation driving mechanism 3, the clamping device 1 according to any one of embodiments 1, and an elevating mechanism 5.
The lifting mechanism 5 is vertically arranged on the base frame 2, the rotary driving mechanism 3 is fixed on the lifting mechanism 5, and the clamping device 1 is fixed on the rotary driving mechanism 3 and driven by the rotary driving mechanism 3 to rotate; the lifting mechanism 5 drives the rotary driving mechanism 3 and the clamping device 1 to move vertically.
Specifically, the turnover device further includes a fixed bracket 4 fixed to the rotation shaft 31 of the rotation driving mechanism 3; the fixing bracket 4 has a mounting cavity 41. For example, three mounting cavities 41 are formed in the fixing bracket 4, three clamping devices 1 are respectively mounted in one mounting cavity 41, and another clamping device 1 is mounted on the outer wall surface of the fixing bracket 4.
As shown in fig. 1 and 4, the lifting mechanism 5 includes: a third driver 51, a first rail 52 extending in the vertical direction, and a third slider 53 slidably provided in the vertical direction on the third driver 51 and the first rail 52. The third driver 51 is a motor-screw combination, and is used for clamping or placing workpieces at multiple heights; the first guide rail 52 is a linear guide rail extending vertically, and further ensures the linearity of the lifting movement.
As shown in fig. 1, 4, and 5, the rotary drive mechanism 3 includes: a first mounting plate 32, a second driver 33, and a drive plate 34. The first mounting plate 32 is fixedly arranged on the third sliding block 53 and driven by the third sliding block 53 to move vertically, and the second driver 33 is a rotary cylinder; the drive plate 34 is connected to the rotary shaft 31. For example, the second drive is a rack and pinion rotary cylinder.
The side wall of the driving plate 34 has a first limiting protrusion 341 and a second limiting protrusion 342 extending along the horizontal direction, correspondingly, a third limiting member 35 is arranged on the side wall surface of the second driver 33 close to the driving plate 34, and the driving plate 34 has a third position where the top side wall surface of the third limiting member 35 abuts against the side wall surface of the first limiting protrusion 341; and a fourth position where the bottom side wall surface of the third stopper 35 abuts against the side wall surface of the second stopper protrusion 342. The driving plate 34 is turned 180 degrees in the horizontal direction when turning from the third position to the fourth position, and the unique determination of the turning angle is further ensured by the cooperation of the third limiting member 35 and the limiting protrusion, so that the reliability of the turning action is improved.
In addition, a hydraulic buffer is further disposed along a side of the limiting protrusion of the driving plate 34 away from the third limiting member 35 for preventing the driving plate 34 from being damaged or broken due to an excessive impact force of the second driver 33 when the rotary driving device is turned over.
As shown in fig. 6, the working process of the turning apparatus provided by this embodiment is as follows:
s1: the third driver 51 drives the first mounting plate 32 to move vertically downward;
s2: driving the first clamping head 11 and the second clamping head 12 of the clamping device 1 to clamp the workpiece vertically inserted therebelow, switching the limiting mechanism 13 from the first position to the second position, and making the top surface of the workpiece abut against the bottom surfaces of the first limiting member 131 and the second limiting member 132;
s3: the third driver 51 drives the first mounting plate 32 to move vertically upwards, drives the second driver 33 to rotate the driving plate 34, and makes the driving plate 34 turn upwards by 180 degrees, and reaches a fourth position from the third position, at this time, the bottom of the turned workpiece is overlapped on the top surfaces of the first limiting piece 131 and the second limiting piece 132;
s4: the external limiting device clamps the workpiece and keeps the workpiece still; the workpiece is released by the clamping device 1, the limiting mechanism 13 returns to the first position from the second position, and at this time, the first limiting member 131 and the second limiting member 132 of the limiting mechanism 13 are separated from the workpiece in the horizontal direction and staggered, so that the workpiece does not block the limiting mechanism 13 from moving vertically upwards;
s5: the third driver 51 drives the first mounting plate 32 to move vertically upward, so that the clamping device 1 moves upward as a whole, the first limiting member 131 and the second limiting member 132 of the limiting mechanism 13 are just higher than the top position of the workpiece, the limiting mechanism 13 is switched from the first position to the second position, the first limiting member 131 and the second limiting member 132 horizontally extend outward to form a first connecting line, the bottoms of the first limiting member 131 and the second limiting member 132 are overlapped on the top surface of the workpiece, and the workpiece is clamped by the first clamping head 11 and the second clamping head 12 again;
s6: the third driver 51 vertically drives the first mounting plate 32 to vertically move downwards, and drives the clamping device 1 and the workpiece clamped in the clamping space to integrally move downwards, so that the bottom of the workpiece is inserted into a jig below the workpiece, and the workpiece is turned over.
The tipping arrangement of this structure carries out the centre gripping action to the work piece through clamping device 1, carries out the multi-angle upset to the work piece through rotary driving mechanism 3, and the structure combination is exquisite and can realize multiple function demand, in addition through setting up elevating system 5, guarantees to pass through smoothly between overturning and the centre gripping action, prevents that the work piece from receiving blockking of the tool that is used for fixed work piece, does to turn over and does and exert an influence.
Example 3
This embodiment provides a flipping apparatus which is different from the flipping apparatus provided in embodiment 2 in that
As a variant of the position of the holding device 1, it is possible to provide only one holding device 1 in the mounting space 41 of the fixing support 4, with only one mounting space 41 on the respective fixing support 4.
Alternatively, two holding devices 1 are provided, one of the holding devices 1 being arranged in the installation space 41 and the other being arranged on the outer wall surface of the fixed bracket 4.
Or, three, five or more clamping devices 1 are arranged on the same fixed support 4, so that a plurality of workpieces are clamped and turned, and the clamping efficiency is further improved.
Example 4
This embodiment provides a flipping apparatus which is different from that provided in embodiment 2 or embodiment 3 in that
The third actuator 51 may also be an electric cylinder, an air cylinder or other driving device, as long as the lifting mechanism 5 can control the lifting of the first mounting plate, and further control the workpieces mounted thereon to lift together.
The second drive 33 may also be a rotary motor or other drive device that can limit the angle, as long as it is ensured that the fixed support 4, which is fixedly connected to its rotary shaft 31, and the workpiece arranged in the fixed support 4 can be turned over by the limited angle.
As a limitation of the turning angle of the second driver 33, the second driver 33 may also be turned by 45 degrees, 60 degrees, 90 degrees, etc., as long as it is ensured that the workpiece in the clamping device 1 can be inserted into the jig to be installed.
Example 5
This embodiment provides a flipping apparatus, which is different from that provided in any one of embodiments 2 to 4 in that
The first limiting protrusion 341, the second limiting protrusion 342, and the third limiting member may not be provided, as long as the second driver 33 is ensured to limit the angle and stably turn over.
As a modification of the mounting position of the clamping device 1, the mounting cavity 41 may not be provided on the fixed bracket 4, and the clamping device 1 may be mounted only on the fixed bracket 4.
As a further modification of the mounting position of the clamping device 1, the fixing bracket 4 may not be provided, and the clamping device 1 may be directly connected to the rotating shaft 31 of the rotation driving mechanism 3, and then only one clamping device 1 may be provided, which may also meet the operation requirement of clamping and turning over the workpiece.
Example 6
This embodiment provides a flipping apparatus, which is different from that provided in any one of embodiments 2 to 5 in that
The turnover equipment can also be provided with no lifting mechanism 5, at the moment, the fixture correspondingly installed with the workpiece is provided with the lifting mechanism 5, and the turnover mechanism only can overturn the workpiece.
It should be understood that the above examples are only for clarity of illustration and are not intended to limit the embodiments. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. And obvious variations or modifications therefrom are within the scope of the invention.
Claims (14)
1. A clamping device is characterized by comprising
At least one first gripping head (11);
at least one second clamping head (12) which is arranged opposite to the first clamping head (11) and encloses a clamping space;
the two ends of the limiting mechanism (13) are respectively and rotatably arranged on the first clamping head (11) and the second clamping head (12) through a first rotating shaft (141) and a second rotating shaft (142); a first connecting line is formed between the first rotating shaft (141) and the second rotating shaft (142);
the limiting mechanism (13) is switched between a first position which is coincident with the first connecting line and a second position which forms a triangle with the first connecting line; the limiting mechanism (13) is suitable for abutting against the top or the bottom of the workpiece in the clamping space when in the second position.
2. The clamping device according to claim 1, wherein the limiting mechanism (13) comprises a first limiting member (131), a second limiting member (132) and a third rotating shaft (133) located between the first limiting member (131) and the second limiting member (132);
the third rotating shaft (133) is located outside the first clamping head (11) and the second clamping head (12), one ends, close to each other, of the first limiting piece (131) and the second limiting piece (132) are rotatably installed on the third rotating shaft (133), and one ends, far away from each other, of the first rotating shaft (141) and the second rotating shaft (142) are rotatably installed on the first rotating shaft and the second rotating shaft respectively.
3. Clamping device according to claim 1 or 2, characterized in that the clamping device further comprises a first transition plate (151) and a second transition plate (152) arranged opposite;
the first clamping head (11) and the second clamping head (12) are respectively fixed on the ends, far away from each other, of the first transition plate (151) and the second transition plate (152); the first rotating shaft (141) and the second rotating shaft (142) are respectively fixed on one ends of the first transition plate (151) and the second transition plate (152) which are close to each other.
4. The clamping device as recited in claim 3, characterized in that a first through groove (1511) and a second through groove (1521) are respectively opened on the end faces of the first transition plate (151) and the second transition plate (152) facing each other; the first rotating shaft (141) and the second rotating shaft (142) are respectively fixed in the first through groove (1511) and the second through groove (1521);
one end of each of the first limiting piece (131) and the second limiting piece (132) is respectively located in the first through groove (1511) and the second through groove (1521), and the other end of each of the first limiting piece and the second limiting piece extends out of the groove opening of the through groove and then is sleeved on the third rotating shaft (133).
5. Clamping device according to claim 3 or 4, characterized in that the clamping device (1) further comprises a seat (16);
the limiting mechanism (13) further comprises a first sliding assembly for slidably arranging the first transition plate (151) and the second transition plate (152) on the support (16) respectively.
6. The clamping device of claim 5, wherein said first slide assembly comprises
A first sliding chute (134) and a second sliding chute (135) which are respectively arranged on the support (16) along the extension direction of the first connecting line, wherein a raised track is formed between the first sliding chute (134) and the second sliding chute (135);
a first sliding block (136) and a second sliding block (137) which are respectively fixed on the first transition plate (151) and the second transition plate (152), wherein the first sliding block (136) and the second sliding block (137) are oppositely arranged on the track in a sliding way; and a first driver (138) which is respectively connected with the first sliding block (136) and the second sliding block (137) and drives the first sliding block and the second sliding block to slide.
7. Gripping device according to any of claims 1-6, further comprising a resilient member (17) arranged on the first gripping head (11) and/or on the second gripping head (12), the resilient member (17) being in a compressed state in the second position, adjusting the distance between the first gripping head (11) and the second gripping head (12).
8. The clamping device as claimed in claim 7, wherein the first transition plate (151) or the second transition plate (152) is provided with a mounting through hole (153) along the extension direction of the elastic member (17);
the elastic piece (17) is embedded in the installation through hole (153), one end of the elastic piece is abutted against the first clamping head (11) or the second clamping head (12), and the other end of the elastic piece is abutted against the corresponding transition plate.
9. The clamping device according to claim 8, further comprising a fixing component, wherein the fixing component comprises a connecting body (181) embedded in the installation through hole (153), one end of the connecting body (181) extends out of the installation through hole (153) and then is connected to the corresponding clamping head, and the end surface of the other end is provided with an inward-recessed installation groove (1811); and a cover plate (182) covering the opening of the mounting through hole (153) facing away from the corresponding clamping head;
one end of the elastic piece (17) extends into the mounting groove (1811) and abuts against the bottom of the mounting groove (1811), and the other end of the elastic piece extends out of the notch of the mounting groove (1811) and abuts against the cover plate (182).
10. Gripping apparatus according to any of claims 1-9, characterized in that the first gripping head (11) corresponds one-to-one with the second gripping head (12);
the first clamping heads (11) are at least two, the first clamping heads (11) are stacked and arranged at intervals, and the first clamping heads (11) located above and the vertical end faces of the first clamping heads (11) located below are horizontally staggered.
11. Gripping apparatus according to any of claims 1-10, characterized in that the first gripping head (11) and the second gripping head (12) are arranged relatively slidable by means of a second sliding assembly.
12. A turnover device is characterized by comprising
A base frame (2);
the rotary driving mechanism (3) is fixed on the base frame (2);
the holding device (1) of any one of claims 1 to 11, said holding device (1) being fixed to said rotary drive (3) and being rotated by said rotary drive (3).
13. A tipping arrangement according to claim 12, characterized by further comprising a fixed bracket (4) fixed to the rotational shaft (31) of the rotary drive mechanism (3);
the fixed support (4) has at least one mounting cavity (41);
the clamping devices (1) are correspondingly arranged in the mounting cavity (41) one by one and/or arranged on the outer wall surface of the fixed support (4).
14. The overturning device according to claim 12 or 13, further comprising a lifting mechanism (5) vertically arranged on the base frame (2), wherein the rotary driving mechanism (3) is fixed on the lifting mechanism (5), and the lifting mechanism (5) is used for driving the rotary driving mechanism (3) to drive the clamping device (1) to perform lifting motion on the base frame (2).
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| CN201810713022.0A CN108858163B (en) | 2018-06-29 | 2018-06-29 | Clamping device and tipping arrangement |
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| CN201810713022.0A CN108858163B (en) | 2018-06-29 | 2018-06-29 | Clamping device and tipping arrangement |
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| CN109524234A (en) * | 2018-11-27 | 2019-03-26 | 浙江田中精机股份有限公司 | A kind of turnover device |
| CN110103228A (en) * | 2019-06-10 | 2019-08-09 | 苏州茂特斯自动化设备有限公司 | A kind of open-and-close mechanism for IC jig in BIB device |
| CN110132620A (en) * | 2019-04-02 | 2019-08-16 | 上海大学 | A kind of device for the overturning structure automation test of specific twin shaft |
| CN110170839A (en) * | 2019-05-29 | 2019-08-27 | 浙江陀曼精密机械有限公司 | A kind of continous way gear hobbing chamfered edge combined machine |
| CN110625606A (en) * | 2019-10-25 | 2019-12-31 | 珠海格力智能装备有限公司 | Mechanical arm |
| CN111029602A (en) * | 2019-12-26 | 2020-04-17 | 无锡先导智能装备股份有限公司 | Positioning device and insertion equipment |
| CN114917977A (en) * | 2021-01-29 | 2022-08-19 | 广东润鹏生物技术有限公司 | Capillary support transfer device |
| CN116277144A (en) * | 2023-05-24 | 2023-06-23 | 北京智能智造科技有限公司 | Multi-mode six-axis robot |
| WO2023131015A1 (en) * | 2022-01-05 | 2023-07-13 | 宁德时代新能源科技股份有限公司 | Battery positioning device, and battery positioning method |
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