CN109093612A - A kind of locating and clamping apparatus - Google Patents
A kind of locating and clamping apparatus Download PDFInfo
- Publication number
- CN109093612A CN109093612A CN201810968593.9A CN201810968593A CN109093612A CN 109093612 A CN109093612 A CN 109093612A CN 201810968593 A CN201810968593 A CN 201810968593A CN 109093612 A CN109093612 A CN 109093612A
- Authority
- CN
- China
- Prior art keywords
- fixture block
- holding seat
- straight line
- clamping
- column
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn
Links
Classifications
-
- 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
-
- 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
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/123—Linear actuators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/126—Rotary actuators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
- B25J9/144—Linear actuators
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Jigs For Machine Tools (AREA)
Abstract
The invention discloses a kind of locating and clamping apparatus, belong to automatic field, including positioning device, clamping device and movement mechanism, and positioning device includes the positioning base that several photo resistance are distributed with；Clamping device includes Holding seat, and Holding seat lower end surface is equipped with several circumferentially distributed sliding slots, and sliding slot is arranged radially along Holding seat, and sliding slot is equipped with fixture block；Fixture block is connect by the drag-line of elastic material with clamping motor, and fixture block is connected with reset spring, and the inner end of fixture block is equipped with pressure sensor；Movement mechanism includes and the column of positioning base rotation connection, the horizontal gird that is fixedly connected at the top of column, column is connected with rotating electric machine, horizontal gird is equipped with horizontal slide rail, horizontal slide rail is equipped with sliding block, sliding block is equipped with the first straight line driving mechanism of driving Holding seat, and column is equipped with the second straight line driving mechanism of driving sliding block.Rationally, positioning is convenient, fast for the configuration of the present invention is simple, design, can adapt to the crawl with the object of various shape size.
Description
Technical field
The present invention relates to automatic field, in particular to a kind of locating and clamping apparatus.
Background technique
In automated production, production equipment is particularly important to the positioning of the means of production, crawl step, this directly influences life
Produce precision and product quality；But in existing automation equipment, structure is complicated for positioning mechanism, use cost is high, Er Qieding
The precision of position is protected from environmental greatly；The structure of grasping mechanism is equally complicated simultaneously, and the rigidity of structure is big, it is easy to grab object
Broken, grasping force is not easy to control.
Summary of the invention
Structure is complicated for positioning mechanism during automated production of the existing technology, low precision and gripper
The problem of structure is difficult to control grasping force, easily scratches object, the purpose of the present invention is to provide a kind of locating and clamping apparatus.
To achieve the above object, the technical solution of the present invention is as follows:
A kind of locating and clamping apparatus, including positioning device, clamping device and movement mechanism, the positioning device include positioning
Pedestal, positioning base surface are equipped with several holes, are equipped with photo resistance in hole；The clamping device includes discoidal folder
Pedestal is held, Holding seat lower end surface is equipped with several circumferential equally distributed sliding slots, and sliding slot runs through the upper and lower end of Holding seat
Face, sliding slot are arranged along the radial direction of Holding seat, slidably connect fixture block on sliding slot；Holding seat upper surface is equipped with several
Circumferential equally distributed clamping motor, clamping motor and fixture block correspond, and clamping motor is interior by drag-line and fixture block top
End connection, drag-line are elastic material, and the outer rim of Holding seat upper surface is equipped with several circumferential equally distributed reset springs, multiple
Position spring and fixture block correspond, and the free end of reset spring is connect with the outer end on fixture block top, and the inner end of the lower part of fixture block is set
There is pressure sensor；The movement mechanism includes and the column of positioning base rotation connection, the water that is fixedly connected at the top of column
Flat crossbeam is equipped with the rotating electric machine being drivingly connected with column on positioning base, is equipped with horizontal slide rail on the horizontal gird,
Sliding block is installed on horizontal slide rail, first straight line driving mechanism, the output of first straight line driving mechanism are fixedly connected on sliding block
End is connect with Holding seat upper surface, is fixedly connected with second straight line driving mechanism on column, second straight line driving mechanism it is defeated
Outlet is connect with sliding block, and first straight line driving mechanism, second straight line driving mechanism are cylinder, electric pushrod or hydraulic cylinder.
It further, further include controller, the controller and clamping motor, pressure sensor, rotating electric machine, first are directly
Line driving mechanism, second straight line driving mechanism, photo resistance electrical connection.
Further, the inner end of the fixture block is laid with buffer layer, and the buffer layer is rubber, silica gel or sponge.
Preferably, the inner end of the fixture block is arc, the axis of the axis of the arc perpendicular to Holding seat.
Another preferred, the inner end of the fixture block is arc, and the axis of the arc is parallel to the axis of Holding seat
Line.
Another preferred, the inner end of the fixture block is plane, and the plane is perpendicular to sliding slot.
Preferably, it is fixedly installed with fluted disc on the column, is fixedly installed on the axis of rotating electric machine and is meshed with fluted disc
Gear.
By adopting the above technical scheme, the setting of the drag-line of clamping device elastomeric material, when so that fixture block clamping object, object
Body stress be it is linearly increasing, will not instantaneous breakdown, stop abundant reflecting time to force feedback system；The fixture block of independently moving
Setting, so that guarantee that the object of different shapes and sizes can be clamped among fixture block automatically when clamping motor operating, from
And reduce the required precision of positioning mechanism；The setting of photo resistance in positioning device, so that passing through the letter of analysis photo resistance
Number position and direction of the object on positioning base just can be positioned, structure is simple.
Detailed description of the invention
Fig. 1 is the structural diagram of the present invention；
Fig. 2 is the bottom view of clamping device in a kind of locating and clamping apparatus shown in Fig. 1；
Fig. 3 is the top view of positioning base in a kind of locating and clamping apparatus shown in Fig. 1.
In figure: 1- pedestal, 2- sliding slot, 3- fixture block, 4- clamping motor, 5- drag-line, 6- reset spring, 7- spring mounting plate,
8- buffer layer, 9- first straight line driving mechanism, 10- positioning base, 11- hole, 12- photo resistance, 13- column, 131- fluted disc,
14- horizontal gird, 15- rotating electric machine, 151- gear, 16- horizontal slide rail, 17- sliding block, 18- second straight line driving mechanism.
Specific embodiment
Specific embodiments of the present invention will be further explained with reference to the accompanying drawing.It should be noted that for
The explanation of these embodiments is used to help understand the present invention, but and does not constitute a limitation of the invention.In addition, disclosed below
The each embodiment of the present invention involved in technical characteristic can be combined with each other as long as they do not conflict with each other.
As shown in Figure 1-3, a kind of locating and clamping apparatus, the folder including positioning device, clamping object for positioning object
The movement mechanism held device and drive clamping device mobile, positioning device includes positioning base 10, and 10 surface of positioning base is equipped with
Several holes 11, in the present embodiment, several holes 11 are distributed in matrix, and photo resistance 12 is equipped in hole 11.
Clamping device includes discoidal Holding seat 1, and the lower end surface of Holding seat 1 is equipped with several circumferential directions and is uniformly distributed
Sliding slot 2, top, the bottom end of sliding slot 2 extend through the upper and lower end face of Holding seat 1, and sliding slot 2 is along the radial direction side of Holding seat 1
To setting, fixture block 3 is slidably connected on sliding slot 2, the inner end of fixture block 3 is arc or fixture block of the axis perpendicular to Holding seat 1
3 inner end is that the inner end of arc or fixture block 3 that axis is parallel to Holding seat 1 is the plane perpendicular to sliding slot 2；
1 upper surface of Holding seat is equipped with several circumferential equally distributed clamping motors 4, and clamping motor 4 and fixture block 3 are one by one
Corresponding, the clamping drag-line 5 made of elastic material of motor 4 is connect with the inner end on 3 top of fixture block, 2 upper surface of Holding seat
Outer rim is equipped with several circumferential equally distributed reset springs 6, and reset spring 6 and fixture block 3 correspond, and the one of reset spring 6
End is connect by spring mounting plate 7 with Holding seat 1, the outer end on 3 top of free end and fixture block connects；The lower part of fixture block 3 it is interior
End is equipped with pressure sensor, and the inner end of fixture block 3 is equipped with the buffer layer 8 of rubber, silica gel or sponge material.
Movement mechanism includes the column 13 being rotatablely connected with positioning base 10, the level cross for being fixedly connected on 13 top of column
Beam 14 is equipped with the rotating electric machine 15 being drivingly connected with column 13 on positioning base 10, is fixedly installed with fluted disc on column 13
131, the gear 151 being meshed with fluted disc 131 is fixedly installed on the axis of rotating electric machine 15；Level is installed on horizontal gird 14
Sliding rail 16 is equipped with sliding block 17 on horizontal slide rail 16, first straight line driving mechanism 9, first straight line is fixedly connected on sliding block 17
The output end of driving mechanism 9 is connect with 1 upper surface of Holding seat, several above-mentioned clamping motors 4 surround first straight line driving machine
Structure 9 is evenly spaced on, and second straight line driving mechanism 18, the output of second straight line driving mechanism 18 are fixedly connected on column 13
End connect with sliding block 17, first straight line driving mechanism 9, second straight line driving mechanism 18 be cylinder, electric pushrod or hydraulic cylinder,
It is preferably electric pushrod in the present embodiment.
It further include controller, controller and clamping motor 4, pressure sensor, rotating electric machine 15, first straight line driving mechanism
9, second straight line driving mechanism 18 is electrically connected.
Due to the setting of the drag-line 5 of elastic material, when so that fixture block 3 clamping object, object receiving force be it is linearly increasing, no
Meeting instantaneous breakdown, stops abundant reflecting time to force feedback system；The setting of the fixture block 3 of independently moving, so that clamping motor 4 is transported
When turning, guarantees that the object of different shapes and sizes can be clamped in automatically the centre of fixture block 3, set to reduce automation
The standby required precision to positioning mechanism；The setting of photo resistance 12 in positioning device, so that passing through the letter of analysis photo resistance 12
Number position and direction of the object on positioning base 10 just can be positioned, have that structure is simple, use and maintenance is at low cost
Feature.
In conjunction with attached drawing, the embodiments of the present invention are described in detail above, but the present invention is not limited to described implementations
Mode.For a person skilled in the art, in the case where not departing from the principle of the invention and spirit, to these embodiments
A variety of change, modification, replacement and modification are carried out, are still fallen in protection scope of the present invention.
Claims (7)
1. a kind of locating and clamping apparatus, it is characterised in that: including positioning device, clamping device and movement mechanism, the positioning dress
It sets including positioning base, positioning base surface is equipped with several holes, is equipped with photo resistance in hole；The clamping device includes
Discoidal Holding seat, Holding seat lower end surface are equipped with several circumferential equally distributed sliding slots, and sliding slot runs through Holding seat
Upper and lower end face, sliding slot is arranged along the radial direction of Holding seat, slidably connects fixture block on sliding slot；Holding seat upper surface
Equipped with several circumferential equally distributed clamping motors, clamping motor and fixture block are corresponded, and clamping motor passes through drag-line and folder
The inner end on block top connects, and drag-line is elastic material, and it is circumferential equally distributed that the outer rim of Holding seat upper surface is equipped with several
Reset spring, reset spring and fixture block correspond, and the free end of reset spring is connect with the outer end on fixture block top, under fixture block
The inner end in portion is equipped with pressure sensor；The movement mechanism include with positioning base rotation connection column, be fixedly connected on it is vertical
The horizontal gird of column top is equipped with the rotating electric machine being drivingly connected with column on positioning base, installs on the horizontal gird
There is horizontal slide rail, sliding block is installed on horizontal slide rail, first straight line driving mechanism, first straight line driving are fixedly connected on sliding block
The output end of mechanism is connect with Holding seat upper surface, and second straight line driving mechanism is fixedly connected on column, and second straight line is driven
The output end of motivation structure is connect with sliding block, first straight line driving mechanism, second straight line driving mechanism be cylinder, electric pushrod or
Hydraulic cylinder.
2. locating and clamping apparatus according to claim 1, it is characterised in that: it further include controller, the controller and folder
Hold motor, pressure sensor, rotating electric machine, first straight line driving mechanism, second straight line driving mechanism, photo resistance electrical connection.
3. locating and clamping apparatus according to claim 1, it is characterised in that: the inner end of the fixture block is laid with buffer layer,
The buffer layer is rubber, silica gel or sponge.
4. locating and clamping apparatus according to claim 1, it is characterised in that: the inner end of the fixture block is arc, the arc
Axis of the axis of shape perpendicular to Holding seat.
5. locating and clamping apparatus according to claim 1, it is characterised in that: the inner end of the fixture block is arc, the arc
The axis of shape is parallel to the axis of Holding seat.
6. locating and clamping apparatus according to claim 1, it is characterised in that: the inner end of the fixture block is plane, described flat
Face is perpendicular to sliding slot.
7. locating and clamping apparatus according to claim 1, it is characterised in that: be fixedly installed with fluted disc on the column, revolve
The gear being meshed with fluted disc is fixedly installed on the axis of rotating motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810968593.9A CN109093612A (en) | 2018-08-23 | 2018-08-23 | A kind of locating and clamping apparatus |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810968593.9A CN109093612A (en) | 2018-08-23 | 2018-08-23 | A kind of locating and clamping apparatus |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109093612A true CN109093612A (en) | 2018-12-28 |
Family
ID=64851091
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810968593.9A Withdrawn CN109093612A (en) | 2018-08-23 | 2018-08-23 | A kind of locating and clamping apparatus |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109093612A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112193642A (en) * | 2020-10-16 | 2021-01-08 | 马鞍山天哲环保科技有限公司 | Tank bottom supporting structure for tank type transportation and working method thereof |
| CN113458670A (en) * | 2021-07-13 | 2021-10-01 | 中南大学 | Multi-degree-of-freedom rapid positioning composite welding device |
| CN114441438A (en) * | 2022-01-12 | 2022-05-06 | 广西电网有限责任公司电力科学研究院 | Porcelain bushing flaw detection device |
| CN114454209A (en) * | 2022-01-10 | 2022-05-10 | 北京新长科科技发展有限公司 | Mechanical arm structure for mechanical equipment |
-
2018
- 2018-08-23 CN CN201810968593.9A patent/CN109093612A/en not_active Withdrawn
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112193642A (en) * | 2020-10-16 | 2021-01-08 | 马鞍山天哲环保科技有限公司 | Tank bottom supporting structure for tank type transportation and working method thereof |
| CN113458670A (en) * | 2021-07-13 | 2021-10-01 | 中南大学 | Multi-degree-of-freedom rapid positioning composite welding device |
| CN114454209A (en) * | 2022-01-10 | 2022-05-10 | 北京新长科科技发展有限公司 | Mechanical arm structure for mechanical equipment |
| CN114441438A (en) * | 2022-01-12 | 2022-05-06 | 广西电网有限责任公司电力科学研究院 | Porcelain bushing flaw detection device |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20181228 |
|
| WW01 | Invention patent application withdrawn after publication |