CN110497232B

CN110497232B - Clamping mechanism

Info

Publication number: CN110497232B
Application number: CN201910872838.2A
Authority: CN
Inventors: 李成龙; 王建; 胡为纬
Original assignee: Gree Electric Appliances Inc of Zhuhai; Zhuhai Gree Intelligent Equipment Co Ltd
Current assignee: Gree Electric Appliances Inc of Zhuhai; Zhuhai Gree Intelligent Equipment Co Ltd
Priority date: 2019-09-16
Filing date: 2019-09-16
Publication date: 2024-03-08
Anticipated expiration: 2039-09-16
Also published as: CN110497232A

Abstract

The invention provides a clamping mechanism, comprising: a base; the clamping arms are movably arranged on the base and used for clamping the workpiece to be clamped; the first driving assembly is arranged on the base and comprises a driving part, a transmission part and a plurality of driven driving parts, wherein the driving part is in driving connection with the transmission part, and the transmission part is connected with the driven driving parts so that the driving part drives the driven driving parts to move through the transmission part; the driven driving parts are arranged in one-to-one correspondence with the clamping arms, and each driven driving part is used for driving the corresponding clamping arm to move so as to clamp the piece to be clamped under the combined action of the clamping arms. By the technical scheme provided by the invention, the technical problem of poor working stability of the clamping mechanism in the prior art can be solved.

Description

Clamping mechanism

Technical Field

The invention relates to the technical field of intelligent equipment, in particular to a clamping mechanism.

Background

At present, a clamping mechanism is generally adopted to clamp a workpiece to be clamped, and the clamping mechanism in the prior art generally comprises a plurality of active driving parts and controls the work of the active driving parts to clamp the workpiece to be clamped.

However, the provision of a plurality of active driving portions makes the cost of the clamping mechanism high, and thus the requirement for the control system of the clamping mechanism is high, which is disadvantageous in improving the working stability of the clamping mechanism.

Disclosure of Invention

The invention mainly aims to provide a clamping mechanism to solve the technical problem that the working stability of the clamping mechanism in the prior art is poor.

In order to achieve the above object, the present invention provides a clamping mechanism comprising: a base; the clamping arms are movably arranged on the base and used for clamping the workpiece to be clamped; the first driving assembly is arranged on the base and comprises a driving part, a transmission part and a plurality of driven driving parts, wherein the driving part is in driving connection with the transmission part, and the transmission part is connected with the driven driving parts so that the driving part drives the driven driving parts to move through the transmission part; the driven driving parts are arranged in one-to-one correspondence with the clamping arms, and each driven driving part is used for driving the corresponding clamping arm to move so as to clamp the piece to be clamped under the combined action of the clamping arms.

Further, the driving part is a driving bevel gear, the transmission part is a transmission bevel gear, the driven driving part comprises a driven bevel gear, the driving bevel gear is meshed with the transmission bevel gear to drive the transmission bevel gear to rotate, and the transmission bevel gear is meshed with the driven bevel gear to drive the driven bevel gears to rotate.

Further, the driven driving part further includes: the linear driving structure is arranged between the driven bevel gear and the clamping arm and is used for converting rotary motion into translational motion, so that the driven bevel gear drives the clamping arm to translate through the linear driving structure.

Further, the linear driving structure includes: the screw rod is connected with the driven bevel gear so that the driven bevel gear drives the screw rod to rotate; the nut is sleeved on the screw rod and connected with the clamping arm so as to drive the clamping arm to move through the nut.

Further, the clamping mechanism further includes: the first detection piece is used for detecting the movement position of the screw nut, the control system is connected with the first detection piece and the first driving component, and the control system controls the first driving component to work according to signals detected by the first detection piece.

Further, the clamping arms are three, the three clamping arms are arranged at intervals, the first driving assembly drives the three clamping arms to be movably arranged on the base, and the moving shafts of the two adjacent clamping arms are arranged at 120 degrees.

Further, the clamping mechanism further includes: the driving end of the second driving assembly is movably arranged on the base and is used for pushing the piece to be clamped to move so as to adjust the distance between the piece to be clamped and the base.

Further, the second driving assembly includes: the driving end of the spiral lifter is movably arranged on the base so as to push the piece to be clamped to move through the driving end of the spiral lifter.

Further, the clamping mechanism further comprises a second detection piece, wherein the second detection piece is used for detecting the movement position of the driving end of the second driving assembly; and the control system, the second detection piece and the second driving assembly are connected with the control system, so that the control system controls the second driving assembly to work according to the signal detected by the second detection piece.

Further, the clamping mechanism further includes: the guide structure is arranged on the base, and at least part of the clamping arm is movably arranged on the guide structure so as to guide the movement of the clamping arm through the guide structure.

Further, the guiding structure is a guide rail, and at least part of the clamping arm is arranged on the guide rail so as to guide the movement of the clamping arm through the guide rail.

Further, the clamping arm comprises a supporting arm and a positioning block, the supporting arm is arranged on the base, the positioning block is arranged on the supporting arm, and the positioning surface of the positioning block is matched with the clamping surface of the piece to be clamped, so that the piece to be clamped is clamped and positioned through the positioning surfaces of the positioning blocks.

Further, the clamping mechanism further includes: the base is rotatably arranged on the base, and the plurality of clamping arms are symmetrically arranged on the base by taking the rotating shaft of the base as a symmetry axis.

By adopting the technical scheme of the invention, the driving part is adopted, the driving part drives the driven driving parts to move through the transmission part, and the clamping arms are driven to move through the transmission driving parts, so that the clamping or loosening of the workpiece is realized, and the whole working process is stable. Therefore, the technical scheme provided by the invention can solve the technical problem of poor working stability of the clamping mechanism in the prior art.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention. In the drawings:

FIG. 1 illustrates a front view of a clamping mechanism provided in accordance with an embodiment of the present invention;

FIG. 2 shows A-A view of FIG. 1;

FIG. 3 shows a schematic structural view of a clamping mechanism provided in accordance with an embodiment of the present invention; and

fig. 4 shows a partial schematic structure of a clamping mechanism provided according to an embodiment of the present invention.

Wherein the above figures include the following reference numerals:

10. a base; 20. a clamp arm; 21. a support arm; 22. a positioning block; 31. an active driving part; 32. a transmission part; 33. a driven driving section; 331. a driven bevel gear; 332. a linear driving structure; 3321. a screw rod; 3322. a nut; 40. a first detecting member; 50. a second drive assembly; 60. a second detecting member; 70. a guide structure; 80. a connecting rod; 90. a pneumatic motor; 100. a motor; 110. a coupling; 120. a transmission shaft; 130. a first bearing; 140. a second bearing; 150. a third bearing; 160. and (5) mounting a frame.

Detailed Description

It should be noted that, in the case of no conflict, the embodiments and features in the embodiments may be combined with each other. The invention will be described in detail below with reference to the drawings in connection with embodiments.

As shown in fig. 1 to 4, an embodiment of the present invention provides a clamping mechanism including a base 10, a plurality of clamping arms 20, and a first driving assembly. The clamping arms 20 are movably arranged on the base 10, and the clamping arms 20 are used for clamping a piece to be clamped. The first driving component is disposed on the base 10, and the first driving component includes a driving portion 31, a transmission portion 32, and a plurality of driven driving portions 33, where the driving portion 31 is in driving connection with the transmission portion 32, and the transmission portion 32 is connected with the plurality of driven driving portions 33, so that the driving portion 31 drives the plurality of driven driving portions 33 to move through the transmission portion 32. The driven driving portions 33 are disposed in one-to-one correspondence with the clamping arms 20, and each driven driving portion 33 is configured to drive the corresponding clamping arm 20 to move so as to clamp the workpiece to be clamped under the combined action of the clamping arms 20.

With the clamping mechanism provided in this embodiment, only one driving portion 31 is required, and the driving portion 31 drives the plurality of driven driving portions 33 to move through the transmission portion 32, and drives the corresponding clamping arms 20 to move through each driven driving portion 33, so as to clamp or unclamp a workpiece (workpiece to be clamped) through the plurality of clamping arms 20. With such an arrangement, the clamp arm 20 can be stably driven to move by the stable transmission relationship among the driving drive portion 31, the transmission portion 32, and the driven drive portion 33, thereby improving the operational stability of the clamping mechanism. Specifically, the driving portion 31 in the present embodiment drives the driven driving portions 33 to move simultaneously through the transmission portion 32, and drives the clamping arms 20 to move simultaneously, so that the clamping arms 20 move simultaneously in a direction approaching to the workpiece to achieve clamping or move simultaneously in a direction separating from the workpiece to achieve unclamping.

In this embodiment, the driving portion 31 is a driving bevel gear, the transmission portion 32 is a driving bevel gear, the driven driving portion 33 includes a driven bevel gear 331, the driving bevel gear is meshed with the driving bevel gear to drive the driving bevel gear to rotate, and the driving bevel gear is meshed with the driven bevel gear 331 to drive the driven bevel gears 331 to rotate. Specifically, the driving bevel gear is disposed in the middle of the driven bevel gears 331, and the driving bevel gear rotates through the driving bevel gear to simultaneously drive the driven bevel gears 331 to rotate, so as to drive the plurality of clamping arms 20 to simultaneously move. With the arrangement, the transmission structure is stable and firm, the movement of the clamping arm 20 can be conveniently and stably driven, and the movement stability is better improved. Specifically, the transmission bevel gear has a large number of teeth, the driven bevel gear 331 has a small number of teeth, and the clamping center lines of the plurality of clamping arms coincide with the rotation axis of the transmission bevel gear.

In this embodiment, the driven driving portion 33 further includes a linear driving structure 332, where the linear driving structure 332 is disposed between the driven bevel gear 331 and the arm 20, and the linear driving structure 332 is used to convert a rotational motion into a translational motion, so that the driven bevel gear 331 drives the arm 20 to translate through the linear driving structure 332. With such arrangement, the rotation of the driven bevel gear 331 can be converted into the translation of the clamping arms 20 through the linear driving structure 332, so that the plurality of clamping arms 20 can move towards the direction close to the workpiece or the direction far away from the workpiece at the same time, thereby better clamping the workpiece and improving the working stability.

Specifically, the linear driving structure 332 in this embodiment includes a screw 3321 and a nut 3322. The screw rod 3321 is connected with the driven bevel gear 331 so that the driven bevel gear 331 drives the screw rod 3321 to rotate. The nut 3322 is sleeved on the screw rod 3321, and the nut 3322 is connected with the clamping arm 20 so as to drive the clamping arm 20 to move through the nut 3322. The movement of the clamp arm 20 can be stably driven by adopting the structure of the screw rod 3321 and the screw nut 3322. Meanwhile, the structure is convenient to manufacture and stable in transmission.

In this embodiment, the clamping mechanism further includes a first detecting member 40 and a control system, wherein the first detecting member 40 is used for detecting the movement position of the nut 3322. The first detecting member 40 and the first driving assembly are both connected to the control system, so that the control system controls the operation of the first driving assembly according to the signal detected by the first detecting member 40. Specifically, in order to avoid the fit disengagement of the nut 3322 and the screw rod 3321, the first detecting member 40 in this embodiment is used to detect whether the nut 3322 moves to the end of the screw rod 3321, and when the first detecting member 40 detects that the nut 3322 moves to the end of the screw rod 3321, the control system will control the first driving assembly to stop moving or move reversely so as to avoid the nut 3322 from moving beyond the thread section of the screw rod 3321, thereby facilitating better control of the movement of the nut 3322 and thus better control of the movement of the arm 20. Specifically, the first detecting element 40 may be disposed on the screw rod 3321 and located at an end of the screw rod 3321, and the first detecting element 40 may be a travel switch or other position detecting sensor.

Specifically, in this embodiment, three clamping arms 20 are disposed at intervals, the three clamping arms 20 are movably disposed on the base 10 by the first driving assembly, and the moving axes of two adjacent clamping arms 20 are disposed at 120 °. By adopting the arrangement, the workpiece can be stably clamped through the synchronous movement of the three clamping arms 20, the clamping contact area is effectively increased, and the movement stability can be further improved through the arrangement that the three clamping arms 20 are spaced at the same angle interval, so that the workpiece can be better clamped.

In this embodiment, the clamping mechanism further includes a second driving assembly 50, the driving end of the second driving assembly 50 is movably disposed on the base 10, and the driving end of the second driving assembly 50 is used for pushing the to-be-clamped member to move so as to adjust the distance between the to-be-clamped member and the base 10. Because the thickness of each work piece is different, promote the work piece through second drive assembly 50 and remove along the direction of transmission bevel gear's axis of rotation, can be convenient for adjust the contact position of work piece and arm lock 20 to press from both sides tightly the work piece better, thereby further improved the stability of pressing from both sides tightly.

Specifically, the second driving assembly 50 in this embodiment includes a screw lifter, and a driving end of the screw lifter is movably disposed on the base 10 to push the workpiece to be clamped to move by the driving end of the screw lifter. With such an arrangement, the workpiece can be stably pushed to move by the movement of the screw lifter to better adjust the distance between the workpiece and the base 10.

In this embodiment, the clamping mechanism further comprises a second detecting member 60 and a control system, wherein the second detecting member 60 is used for detecting the movement position of the driving end of the second driving assembly 50. The second detecting element 60 and the second driving assembly 50 are both connected to a control system, so that the control system controls the operation of the second driving assembly 50 according to the signal detected by the second detecting element 60. With this arrangement, when the second detecting member 60 detects that the second driving assembly 50 moves to the limit position, the control mechanism controls the second driving assembly 50 to stop operating or to reverse operating, so as to avoid affecting the normal operation of the second driving assembly 50. To better facilitate the detection of the second drive assembly 50, the second drive assembly 50 may be disposed at the end of the screw elevator in this embodiment to improve the accuracy of the detection. Specifically, the second detecting element 60 is disposed at an end of the second driving assembly 50 near the clamp arm 20. Specifically, the second detecting member 60 in this embodiment may be a travel switch or other position detecting sensor.

Specifically, the clamping mechanism in this embodiment further includes a guiding structure 70, where the guiding structure 70 is disposed on the base 10, and at least a portion of the clamping arm 20 is movably disposed on the guiding structure 70 to guide the movement of the clamping arm 20 through the guiding structure 70. With such an arrangement, it is possible to facilitate guiding the movement of the clamp arm 20 so that the clamp arm 20 can achieve clamping and unclamping of the workpiece in a predetermined direction, thereby further ensuring reliability and stability of clamping.

Specifically, the guiding structure 70 in this embodiment is a guide rail, and at least part of the clip arm 20 is disposed on the guide rail to guide the movement of the clip arm 20 through the guide rail. With such an arrangement, the movement of the clamp arm 20 can be better guided by the guide rail so that the clamp arm 20 can be moved in the extending direction of the guide rail to stably clamp or unclamp the clamp arm 20. Specifically, in this embodiment, three guide rails are disposed at intervals, and a moving axis between two adjacent guide rails is disposed at an angle of 120 degrees.

To further improve the stability of clamping, the clamping arm 20 in this embodiment includes a support arm 21 and a positioning block 22. The support arm 21 is arranged on the base 10, the positioning block 22 is arranged on the support arm 21, and the positioning surface of the positioning block 22 is matched with the clamping surface of the piece to be clamped, so that the piece to be clamped is clamped and positioned through the positioning surfaces of the positioning blocks 22. Specifically, the positioning surface in this embodiment is an inclined surface, and the inclined surface is used for abutting and clamping with the outer surface of the workpiece, so that a plurality of inclined surfaces abut against the surface of the workpiece to realize clamping, and the stability of clamping can be improved.

In this embodiment, the clamping mechanism further includes a base, on which the base 10 is rotatably disposed, and the plurality of clamping arms 20 are symmetrically disposed on the base 10 with a rotation axis of the base 10 as a symmetry axis. With such a configuration, it is possible to facilitate overlapping of the center of symmetry of the workpiece with the rotation axis, so that the workpiece rotates around its own axis of symmetry. Specifically, the workpiece in this embodiment may be of a symmetrical structure, the workpiece has a symmetrical center, and the clamping mechanism provided in this embodiment is capable of centering and clamping the workpiece, even if the symmetrical center of the workpiece coincides with the symmetrical center lines of the plurality of clamping arms 20 and coincides with the rotation axis of the base 10, so as to achieve positioning and clamping.

Specifically, the clamping mechanism in this embodiment further includes a connecting rod 80, an air motor 90, a motor 100, a coupling 110, a transmission shaft 120, a first bearing 130, a second bearing 140, a third bearing 150, and a mounting bracket 160. The number of the second detecting members 60 may be two, and the two second detecting members 60 are connected through the connecting rod 80, so as to improve the setting stability of the second detecting members 60. The pneumatic motor 90 is used to drive the screw lifter to move so as to stably push the workpiece to move. The motor 100 is connected with the drive bevel gear to drive the drive bevel gear to rotate through the motor 100, and drive the driven bevel gear 331 to move through the drive bevel gear. The first bearing 130, the second bearing 140 and the third bearing 150 are all intended to facilitate the provision of rotational fluency of the different components to facilitate the performance of the rotational movement. The mounting frame 160 is welded on the base 10, and the mounting frame 160 is used for mounting components such as a transmission bevel gear and the like, so that the stability of setting is improved. Specifically, the motor 100 is coupled to a coupling, and drives the screw lifter to move through a transmission shaft 120.

From the above description, it can be seen that the above embodiments of the present invention achieve the following technical effects: the driving part can drive the clamping arms to advance or retreat simultaneously so as to realize the functions of centering and clamping or loosening, and the motor is started to continuously provide clamping force for the clamping arms so as to prevent the workpiece from running or falling.

The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A clamping mechanism, comprising:

a base (10);

the clamping arms (20) are movably arranged on the base (10), and the clamping arms (20) are used for clamping a piece to be clamped;

the first driving assembly is arranged on the base (10) and comprises a driving part (31), a transmission part (32) and a plurality of driven driving parts (33), wherein the driving part (31) is in driving connection with the transmission part (32), and the transmission part (32) is connected with the plurality of driven driving parts (33) so that the driving part (31) drives the plurality of driven driving parts (33) to move through the transmission part (32);

the driven driving parts (33) are arranged in one-to-one correspondence with the clamping arms (20), and each driven driving part (33) is used for driving the corresponding clamping arm (20) to move so as to clamp a piece to be clamped under the combined action of the clamping arms (20); wherein,

the driving part (31) is a driving bevel gear, the transmission part (32) is a transmission bevel gear, the driven driving part (33) comprises a driven bevel gear (331), the driving bevel gear is meshed with the transmission bevel gear to drive the transmission bevel gear to rotate, and the transmission bevel gear is meshed with the driven bevel gear (331) to drive a plurality of the driven bevel gears (331) to rotate;

the driven driving part (33) further comprises a linear driving structure (332), the linear driving structure (332) is arranged between the driven bevel gear (331) and the clamping arm (20), and the linear driving structure (332) is used for converting rotary motion into translational motion so that the driven bevel gear (331) drives the clamping arm (20) to translate through the linear driving structure (332).

2. The clamping mechanism of claim 1, wherein the linear drive structure (332) comprises:

the screw rod (3321) is connected with the driven bevel gear (331) so that the driven bevel gear (331) drives the screw rod (3321) to rotate;

the screw nut (3322) is sleeved on the screw rod (3321), and the screw nut (3322) is connected with the clamping arm (20) so as to drive the clamping arm (20) to move through the screw nut (3322).

3. The clamping mechanism of claim 2, wherein the clamping mechanism further comprises:

a first detecting member (40), the first detecting member (40) being configured to detect a movement position of the nut (3322),

and the control system is connected with the first detection piece (40) and the first driving assembly, so that the control system controls the first driving assembly to work according to the signal detected by the first detection piece (40).

4. Clamping mechanism according to claim 1, wherein three clamping arms (20) are arranged at intervals, the first driving assembly drives the three clamping arms (20) to be movably arranged on the base (10), and the moving axes of two adjacent clamping arms (20) are arranged at 120 degrees.

5. The clamping mechanism of claim 1, wherein the clamping mechanism further comprises:

the driving end of the second driving assembly (50) is movably arranged on the base (10), and the driving end of the second driving assembly (50) is used for pushing the to-be-clamped piece to move so as to adjust the distance between the to-be-clamped piece and the base (10).

6. The clamping mechanism of claim 5, wherein the second drive assembly (50) comprises:

the driving end of the spiral lifter is movably arranged on the base (10) so as to push a piece to be clamped to move through the driving end of the spiral lifter.

7. The clamping mechanism of claim 5, further comprising

A second detection member (60), the second detection member (60) being configured to detect a movement position of the driving end of the second driving assembly (50);

and the second detection piece (60) and the second driving assembly (50) are connected with the control system, so that the control system controls the second driving assembly (50) to work according to the signal detected by the second detection piece (60).

8. The clamping mechanism of claim 1, wherein the clamping mechanism further comprises:

and a guide structure (70) arranged on the base (10), wherein at least part of the clamping arm (20) is movably arranged on the guide structure (70) so as to guide the movement of the clamping arm (20) through the guide structure (70).

9. Clamping mechanism according to claim 8, characterized in that the guiding structure (70) is a guide rail, on which at least part of the clamping arm (20) is arranged to guide the movement of the clamping arm (20) through the guide rail.

10. Clamping mechanism according to claim 1, characterized in that the clamping arm (20) comprises a supporting arm (21) and a positioning block (22), the supporting arm (21) is arranged on the base (10), the positioning block (22) is arranged on the supporting arm (21), and the positioning surface of the positioning block (22) is matched with the clamping surface of the piece to be clamped so as to clamp the piece to be clamped through the positioning surfaces of the positioning blocks (22).

11. The clamping mechanism of claim 1, wherein the clamping mechanism further comprises:

the base (10) is rotatably arranged on the base, and the clamping arms (20) are symmetrically arranged on the base (10) by taking the rotation axis of the base (10) as a symmetry axis.