CN112659172A - Carrier rod clamping device with stable clamping jaw angle - Google Patents
Carrier rod clamping device with stable clamping jaw angle Download PDFInfo
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- CN112659172A CN112659172A CN202011444519.0A CN202011444519A CN112659172A CN 112659172 A CN112659172 A CN 112659172A CN 202011444519 A CN202011444519 A CN 202011444519A CN 112659172 A CN112659172 A CN 112659172A
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- 230000001360 synchronised effect Effects 0.000 claims description 27
- 238000010438 heat treatment Methods 0.000 claims description 4
- 230000010355 oscillation Effects 0.000 claims description 2
- 230000003068 static effect Effects 0.000 claims description 2
- MCMNRKCIXSYSNV-UHFFFAOYSA-N Zirconium dioxide Chemical group O=[Zr]=O MCMNRKCIXSYSNV-UHFFFAOYSA-N 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 239000004519 grease Substances 0.000 description 3
- 239000010687 lubricating oil Substances 0.000 description 3
- 238000005461 lubrication Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 239000012472 biological sample Substances 0.000 description 1
- 230000001050 lubricating effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000000087 stabilizing effect Effects 0.000 description 1
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Abstract
The invention relates to a carrier rod clamping device with stable clamping jaw angle, comprising: a drive shaft; one end of the swing rod is connected with the driving shaft, and the swing rod is used for rotating along the driving shaft; the clamping jaw assembly is connected to the swing rod and used for clamping a target carrying rod at a preset clamping angle, and when the clamping jaw assembly rotates around the driving shaft along with the swing rod at the preset clamping angle, the clamping jaw assembly generates an offset angle relative to the preset clamping angle; the angle compensation assembly is arranged on the swing rod or in the swing rod, is coaxially arranged with the clamping jaw assembly and is connected with the clamping jaw assembly, and is used for driving the clamping jaw assembly to rotate to compensate the offset angle. When the clamping jaw assembly moves to the target and carries the pole top, the pendulum rod swing can cause the skew, and angle compensation assembly drives the clamping jaw assembly and rotates, compensates the skew angle of clamping jaw assembly, makes the clamping jaw assembly keep presetting centre gripping angular position, when the clamping jaw assembly moves to the target pendulum rod top, can carry out the centre gripping with presetting the centre gripping angle to carrying the pole, guarantees to carry the normal clear that the pole clamp was got.
Description
Technical Field
The invention relates to the technical field of biological sample storage, in particular to a carrier rod clamping device with stable clamping jaw angles.
Background
When the front carrying rod is mainly stored in a certain container in a state that a plurality of front carrying rods are not arranged in sequence, the carrying rod is small in size, the automatic taking piece can only be clamped through the clamping jaws, the clamping jaws can be carried out through an XZR shaft mechanism, an R shaft is a rotating direction coaxial with a Z shaft, the size of the carrying rod is small, the density is large, the clamping jaws can clamp the carrying rod only when entering the carrying rod at a certain angle, after the angle of the clamping jaws is adjusted, the clamping jaws are moved to the upper portion of the carrying rod to be clamped through a XZR shaft mechanism, but under the swinging of the R shaft, the clamping angles of the clamping jaws can be changed, the situation that the clamping rods cannot enter the carrying rod can be generated, and the clamping of the carrying rod cannot be carried out.
Disclosure of Invention
Therefore, in order to solve the above problems, it is necessary to provide a carrier bar clamping device with stable jaw angles, which can maintain the jaw angles when the jaws move, and ensure smooth carrier bar clamping.
A carrier bar clamp device with angularly stable jaws, comprising:
a drive shaft;
one end of the swing rod is connected with the driving shaft, and the swing rod is used for rotating along the driving shaft;
the clamping jaw assembly is connected to the swing rod and used for clamping a target carrying rod at a preset clamping angle, and the clamping jaw assembly rotates around the driving shaft along with the swing rod at the preset clamping angle;
the angle compensation assembly is arranged between the swing rod and the clamping jaw assembly and is linked with the swing rod, so that the angle compensation assembly and the swing rod synchronously act on the clamping jaw assembly, and the angle compensation assembly is used for providing driving force for enabling the clamping jaw assembly to rotate in the direction opposite to the swing direction of the swing rod.
Above-mentioned carry pole to press from both sides and get device, when the clamping jaw subassembly moved the target and carried the pole top, because the skew that the pendulum rod swing caused, the clamping jaw subassembly was not in and predetermines the centre gripping angle, was difficult to carry the pole to press from both sides and gets. The angle compensation assembly can drive the clamping jaw assembly to rotate, compensates the offset angle of the clamping jaw assembly, enables the clamping jaw assembly to always keep a preset clamping angle position, and can clamp the carrying rod by the preset clamping angle when the clamping jaw assembly moves to the upper side of the target swing rod, so that the normal operation of clamping the carrying rod is guaranteed.
In one embodiment, the swing link has an axial end and a swing end, the axial end of the swing link is connected to the driving shaft, and the angle compensation assembly includes:
the first wheel body is arranged at the axle center end, and when the driving shaft rotates, the first wheel body is static;
the second wheel body is coaxially arranged and connected with the clamping jaw assembly and is used for driving the clamping jaw assembly to rotate;
the synchronous belt is connected with the first wheel body and the second wheel body;
the synchronous belt with during the pendulum rod synchronous oscillation, wobbling synchronous belt drives the second wheel body rotates, the rotation direction of second wheel body with pendulum rod swing direction is opposite, just the turned angle of second wheel body with the swing angle of pendulum rod is the same.
In one embodiment, the carrier bar gripping device further comprises: the support body, the drive shaft is established on the support body, the angle compensation subassembly still includes: the fixing assembly is connected with the first wheel body, and when the driving shaft rotates relative to the frame body, the fixing assembly and the first wheel body are fixed relative to the frame body.
In one embodiment, the fixing assembly comprises: the fixing shaft penetrates through the driving shaft, the axis of the guide shaft is parallel to the driving shaft, and the guide shaft is connected with the fixing shaft through the connecting plate.
In one embodiment, the swing rod is provided with a first bearing at an axial end, the first wheel body is matched with the first bearing, and the swing rod drives the first bearing to rotate relative to the first wheel body when swinging.
In one embodiment, the first wheel body, the second wheel body and the synchronous belt are arranged in the swing rod, the clamping jaw assembly penetrates through the swing end of the swing rod, and the part, located in the swing rod, of the clamping jaw assembly is connected with the second wheel body.
In one embodiment, the jaw assembly comprises: the clamping jaw comprises an electric module, a clamping jaw and a connecting block connected between the electric module and the clamping jaw, wherein the electric module is used for driving the clamping jaw to open or close; the electric module penetrates through the swing rod and is connected with the second wheel body, and the clamping jaw and the connecting block are located below the swing rod.
In one embodiment, a motor cover is arranged on the swing rod, a part of the electric module is positioned in the motor cover, and a heating module is arranged in the motor cover.
A carrier bar clamp device with angularly stable jaws, comprising:
a drive shaft;
one end of the swing rod is connected with the driving shaft, and the swing rod is used for rotating along the driving shaft;
the clamping jaw assembly is connected to the swing rod and used for clamping a target carrying rod at a preset clamping angle, and the clamping jaw assembly rotates around the driving shaft along with the swing rod at the preset clamping angle;
the angle compensation assembly comprises an angle compensation motor connected with the clamping jaw assembly;
the angle compensation motor is electrically connected with the upper computer, and the upper computer controls the angle compensation motor to rotate according to the working state of the driving motor.
In one embodiment, when the swing rod rotates, the rotation direction of the angle compensation motor is opposite to the rotation direction of the driving motor, and the rotation angles are the same; or the rotation direction of the angle compensation motor is the same as that of the driving motor, and the sum of the rotation angle of the angle compensation motor and that of the driving motor is 360 degrees.
Drawings
FIG. 1 is a schematic view of an embodiment of a loading bar clamping device;
FIG. 2 is an internal view of the loading bar clamping apparatus according to an embodiment;
FIG. 3 is a schematic diagram illustrating the position of the angle compensation assembly when the swing link is at the initial position according to an embodiment;
FIG. 4 is a schematic diagram illustrating a position of an angle-free assembly after the swing link swings in one embodiment;
FIG. 5 is a schematic structural diagram of a jaw and a swing link in one embodiment.
Wherein: 100. a frame body; 200. a drive shaft; 210. a fixed shaft; 300. a swing rod; 310. an axial end; 311. a first bearing; 320. a swing end; 321. a second bearing; 400. an angle compensation component; 410. a first wheel body; 420. a second wheel body; 430. a synchronous belt; 500. a jaw assembly; 510. an electromotive module; 520. a clamping jaw; 530. connecting blocks; 600. a guide shaft; 610. a connecting plate; 700. a motor cover.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein.
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are not to be considered limiting of the invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like as used herein are for illustrative purposes only and do not denote a unique embodiment.
Referring to fig. 1 and 2, fig. 1 and 2 show a carrier bar clamping device with stable clamping jaw angle in an embodiment of the invention, which can clamp carrier bars with high arrangement density. The carrier rod clamping device is provided with an XZR-shaft mechanism, wherein the R-shaft direction is the direction rotating around the Z-shaft, the R-shaft is a driving shaft 200, and the carrier rod clamping device further comprises: the swing rod 300 connected to the driving shaft 200, the clamping jaw assembly 500 arranged on the swing rod 300, and the XZR shaft mechanism drive the clamping jaw assembly 500 to move above the target loading rod, and then the clamping jaw assembly 500 moves downwards to clamp the target loading rod.
The swing link 300 is a linear type lever, the swing link 300 has an axial end 310 and a swing end 320, the axial end 310 and the swing end 320 are respectively located at two sides of the swing link 300, the axial end 310 of the swing link 300 is connected with the driving shaft 200, and the swing end 320 is used for rotating along the axial end 310. The clamping jaw assembly 500 is arranged at the swinging end 320, and when the driving shaft 200 rotates, the swinging rod 300 swings integrally to drive the clamping jaw assembly 500 to move. The clamping jaw assembly 500 is used for clamping the target carrying rod at a preset clamping angle, before clamping, the swing rod 300 is at an initial position, and the clamping jaw assembly 500 is at the preset clamping angle. When the position of the clamping jaw 520 is adjusted, the driving shaft 200 drives the swing rod 300 to swing, and when the clamping jaw assembly 500 swings along with the swing rod 300 at a preset clamping angle, the swinging clamping jaw assembly 500 may generate an offset angle relative to the preset clamping angle, specifically, the offset angle is the swinging angle of the swing rod 300. When the gripper assembly 500 moves above the target carrier bar, the gripper assembly 500 is not at the preset clamping angle due to the deviation caused by the swing of the swing rod 300, and the carrier bar is difficult to clamp.
The carrier bar gripping device in this embodiment further includes: the angle compensation assembly is arranged on the swing rod 300 or in the swing rod 300, the angle compensation assembly is coaxially arranged with the clamping jaw assembly 500 and is connected with the clamping jaw assembly 500, the angle compensation assembly is linked with the swing rod and can drive the clamping jaw assembly 500 to rotate, so that the angle compensation assembly and the swing rod synchronously act on the clamping jaw assembly, and the angle compensation assembly provides a driving force for the clamping jaw assembly 500 to rotate in a direction opposite to the swing direction of the swing rod 300; the offset angle of the clamping jaw assembly 500 is compensated, so that the clamping jaw assembly 500 always keeps a preset clamping angle position, when the clamping jaw assembly 500 moves to the position above the target swing rod 300, the carrying rod can be clamped by the preset clamping angle, and the normal operation of clamping the carrying rod is guaranteed.
In this embodiment, the angle compensation module includes: first wheel body 410, second wheel body 420 and the hold-in range 430 that is connected with first wheel body 410 and second wheel body 420, first wheel body 410 is established at axle center end 310, second wheel body 420 is established at swing end 320 department, and second wheel body 420 and clamping jaw subassembly 500 coaxial arrangement and be connected with clamping jaw subassembly 500, second wheel body 420 is used for driving clamping jaw subassembly 500 and removes, first wheel body 410 is fixed with self axle center relatively, can not take place to rotate, second wheel body 420 can follow self axle center and carry out the rotation. The synchronous belt 430 is synchronously wound around the first wheel 410 and the second wheel 420, and the arrangement direction of the synchronous belt 430 is parallel to the swing rod 300. In this embodiment, the inner periphery of the synchronous belt 430 is toothed or the synchronous belt 430 is a chain, preferably, the inner periphery of the synchronous belt 430 in this embodiment is toothed, the first wheel body 410 and the second wheel body 420 may be gears engaged with the inner periphery of the synchronous belt 430, and the synchronous belt 430 is engaged with the first wheel body 410 and the second wheel body 420 through teeth, so that lubrication by using lubricating oil or grease is not required, and the problem that the lubricating oil or grease is easy to condense when used in a deep low temperature environment is avoided.
When the driving shaft 200 rotates, the swing rod 300 and the gripper assembly 500 located at the swing end 320 are driven to swing, and the setting direction of the synchronous belt 430 is always parallel to the swing rod 300. Referring to fig. 3 and 4, when the driving shaft 200 rotates, the first wheel 410 is stationary and does not rotate; the second wheel body 420 and the synchronous belt 430 swing along with the swing rod 300, the synchronous belt 430 switches teeth meshed with the first wheel body 410 and the second wheel body 420 in the swing process, the first wheel body 410 is fixed, the second wheel body 420 and the synchronous belt 430 rotate relatively, and the number of the teeth of the synchronous belt 430 switched relative to the first wheel body 410 is the same as that of the teeth of the second wheel body 420. The angle between the synchronous belt 430 and the first wheel 410, that is, the swing angle of the swing rod 300, the number of teeth switched between the synchronous belt 430 and the first wheel 410 is: the size of the swing angle is switched under the radius of the first wheel 410. The second wheel 420 has the same size as the first wheel 410, and the timing belt 430 has the same number of teeth as the first wheel 410, so that the second wheel 420 rotates at the same angle and swings at the same angle, and the direction of the timing belt is opposite to the swing angle. When the swing rod 300 swings, the clamping jaw assembly 500 generates a deviation angle along the swinging direction along with the swinging of the swing rod 300, wherein the deviation angle is equal to the swinging angle, and the deviation direction is the swinging direction; meanwhile, when the swing rod 300 swings, the second wheel body 420 drives the clamping jaw assembly 500 to rotate, the offset angle is compensated, the rotation direction of the compensation is opposite to the swing direction, and the compensation angle is the same as the swing angle, obviously, the offset angle is compensated by the angle compensation assembly, the clamping jaw assembly 500 is always in the initial position, namely, the clamping angle is preset, when the clamping jaw assembly 500 reaches the position above the load rod, the preset clamping angle can still be kept, and the load rod can be smoothly clamped.
As shown in fig. 1 and 2, the carrier rod clipping device further includes a frame body 100, a driving motor (not shown) is disposed on the frame body 100, and a driving shaft 200 is disposed on the driving motor. The angle compensation assembly further includes: the fixing assembly is connected to the first wheel 410 to fix the first wheel 410, and when the driving shaft 200 rotates relative to the frame 100, the fixing assembly is fixed relative to the first wheel 410 and the frame 100 without rotating. The first wheel 410 is fixed to prevent the first wheel 410 and the second wheel 420 from rotating synchronously with the driving shaft 200, which may cause the first wheel 410 and the second wheel 420 to rotate synchronously with the driving shaft 200. The fixing assembly includes: the fixed shaft 210, the guide shaft 600 and the connecting plate 610, the fixed shaft 210 penetrates through the driving shaft 200, the first wheel body 410 and the driving shaft 200 are coaxially arranged, the bottom of the fixed shaft 210 is fixedly connected with the first wheel body 410, the axis of the guide shaft 600 is parallel to the driving shaft 200, the guide shaft 600 is used for stabilizing the position and the axis of the fixed shaft 210, the guide shaft 600 and the fixed shaft 210 are connected through the connecting plate 610, two fixing holes are formed in the connecting plate 610, annular grooves can be formed in the guide shaft 600 and the fixed shaft 210, the annular grooves are sleeved on the connecting plate 610 through the fixing holes, so that the guide shaft can be fixed relative to the fixed shaft 210, and the connecting plate 610 and the fixed shaft 210, for example, the first wheel 410 may be fixed when the driving shaft 200 rotates, and the fixed shaft 210 may be fixed to the guiding shaft 600.
When the driving shaft 200 rotates, the first wheel 410 is stationary, that is, when the swing link 300 swings, the swing link 300 rotates relative to the first wheel 410, the first wheel 410 bears the rotating force of the synchronous belt 430 and the second wheel 420, in order to keep the axial center of the first wheel 410 stable, the first bearing 311 is installed on the axial center end 310 of the swing link 300, the first wheel 410 is matched with the first bearing 311, and when the swing link 300 rotates, the first bearing 311 rotates relative to the first wheel 410. The arrangement of the first bearing 311 can stabilize the axial position of the first wheel 410, and prevent the first wheel 410 from shifting due to a large force, which affects the axial positions of the fixing shaft 210 and the driving shaft 200. The first bearing 311 is a zirconia bearing, which has a low thermal expansion coefficient, is not easy to deform at low temperature, has extremely high strength and wear resistance, can be stably used for a long time, is not easy to use lubricating oil or lubricating grease at low temperature, and can solve the problem of no lubrication due to the wear resistance of the zirconia bearing.
It should be noted that the angle compensation component and the first bearing 311 may be disposed inside the swing link 300 or on the surface of the swing link 300, and preferably, the angle compensation component and the first bearing 311 are both disposed inside the swing link 300 in the present application, so as to protect the angle compensation component and the first bearing 311, and at the same time, the whole occupied space of the swing link 300. The swing rod 300 is arranged in a hollow manner, the first bearing 311 is fixed on a bottom plate inside the axle center end 310 of the swing rod 300, and the fixed shaft 210 penetrates through a top plate of the swing rod 300 and is connected with the first wheel body 410 inside the first bearing 311. The swing link 300 is provided with a second bearing 321 at the swing end 320, the second wheel 420 is arranged on the second bearing 321, and the synchronous belt 430 connected between the first wheel 410 and the second wheel 420 is positioned in the swing link 300. The clamping jaw assembly 500 enters the swing rod 300 and is connected to the second wheel 420, in this embodiment, the clamping jaw assembly 500 penetrates through the swing end 320 of the swing rod 300, and the portion of the clamping jaw assembly 500 located in the swing rod 300 is connected to the second wheel 420. The second wheel body 420 can drive the clamping jaw assembly 500 to move integrally when rotating, and when the swing rod 300 swings, the clamping jaw assembly 500 is compensated, so that the clamping jaw assembly 500 is always positioned at a preset clamping angle.
Further, the jaw assembly 500 includes: a motorized module 510, a clamping jaw 520, a connection block 530 connected between the motorized module 510 and the clamping jaw 520. The electric module 510 is connected to the clamping jaws 520 through a connecting block 530 for controlling the clamping jaws 520 to grasp the carrying rod, as shown in fig. 5, in an embodiment, the clamping jaws 520 have three jaw bodies, and when the clamping jaws 520 are at different angles, the positions of the three jaw bodies are different, so that the clamping jaws 520 can enter the gap between the carrying rods to smoothly complete the grasping when the clamping jaws 520 need to be maintained at the preset clamping angle. The clamping jaw 520 and the connecting block 530 are arranged below the swing rod 300, and the electric module 510 is arranged on the swing rod 300 and can drive the clamping jaw 520 to open or close to complete clamping or releasing of the loading rod. The clamping jaw 520 can be set to be long enough, so that the swing rod 300 is high in height and far away from a low-temperature area of a storage environment of the loading rod, cold air can naturally sink under the condition that no external turbulence exists, and the conduction efficiency of low temperature flowing to the motor through air convection is extremely low, so that the temperature of the electric module 510 is close to the room temperature as long as the clamping jaw 520 is long enough. As shown in fig. 2, the electric module 510 penetrates the swing link 300 and is partially located above the swing link 300, and the portion of the electric module 510 located in the swing link 300 is connected to the second wheel 420. The upper end of the swing rod 300 is further provided with a motor cover 700, a sealed space is formed between the motor cover 700 and the upper portion of the swing rod 300, the electric module 510 is partially located in the motor cover 700, a heating module is arranged in the motor cover 700, the heating module heats an environment suitable for the electric module 510 to work in the motor cover 700, and the service life damage of the electric module 510 caused by low temperature is avoided.
The carrier bar clamping device in this embodiment is connected with the clamping jaw assembly 500 through the second wheel 420 by the angle compensation assembly, when the swing rod 300 swings at a certain angle, the synchronous belt 430 drives the second wheel 420 to rotate reversely by the same angle, so that when the clamping jaw assembly 500 at the preset clamping angle deflects due to the swing of the swing rod 300, the second wheel 420 can provide the clamping jaw assembly 500 with compensation rotation, so that the clamping jaw assembly 500 is always located at the preset clamping angle, and the carrier bar clamping is guaranteed to be smoothly carried out.
The second embodiment of the invention discloses a carrier rod clamping device with a stable clamping jaw angle, which is basically the same as the first embodiment, and mainly has the following difference that an angle compensation component in the embodiment is as follows: an angle compensation motor connected to the jaw assembly 500. The carrier bar clamping device further comprises an upper computer and a driving motor, the driving motor is connected with the driving shaft 200, the upper computer is electrically connected with the driving motor and the angle compensation motor, and the upper computer controls the angle compensation motor to rotate according to the working state of the driving motor. Specifically, the upper computer can accurately control the rotation number of the driving motor to control the swing angle of the swing rod 300, so that the clamping jaw 520 reaches the designated position. Therefore, the upper computer can record the swing angle of the swing rod 300, namely, the offset angle of the clamping jaw assembly 500 relative to the preset clamping angle, and then the offset angle is directly compensated by controlling the angle-removing compensation motor, so that the clamping jaw assembly 500 returns to the preset clamping angle, and the carrier can be smoothly clamped.
When the angle compensation is performed, various methods can be adopted, such as: the direction of the angle compensation motor is opposite to the rotation direction of the driving motor, and the rotation angle is the same, so that the clamping jaw assembly 500 returns to the preset clamping angle, if the swing rod 300 swings clockwise by 30 degrees, the angle compensation motor drives the clamping jaw assembly 500 to rotate anticlockwise by 30 degrees, or the angle compensation motor can rotate anticlockwise by 390 degrees, and the like, the clamping jaw assembly 500 can return to the preset clamping angle. Or the rotation direction of the angle compensation motor is opposite to the rotation direction of the driving motor, and the sum of the rotation angle of the angle compensation motor and the rotation angle of the driving motor is 360 degrees. If the swing rod 300 swings clockwise by 30 degrees, the angle compensation motor drives the clamping jaw assembly 500 to rotate clockwise by 330 degrees, the clamping jaw assembly 500 rotates by 360 degrees along one direction relative to the clamping jaw assembly 500, and the preset clamping angle is returned, the angle compensation can be realized in the above manner.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. The utility model provides a carrier bar clamping device that clamping jaw angle is stable which characterized in that includes:
a drive shaft;
one end of the swing rod is connected with the driving shaft, and the swing rod is used for rotating along the driving shaft;
the clamping jaw assembly is connected to the swing rod and used for clamping a target carrying rod at a preset clamping angle, and the clamping jaw assembly rotates around the driving shaft along with the swing rod at the preset clamping angle;
the angle compensation assembly is arranged between the swing rod and the clamping jaw assembly and is linked with the swing rod, so that the angle compensation assembly and the swing rod synchronously act on the clamping jaw assembly, and the angle compensation assembly is used for providing driving force for enabling the clamping jaw assembly to rotate in the direction opposite to the swing direction of the swing rod.
2. The carrier rod picking mechanism of claim 1, wherein the swing link has a hub end and a swing end, the hub end of the swing link being connected to the drive shaft, the angle compensation assembly comprising:
the first wheel body is arranged at the axle center end, and when the driving shaft rotates, the first wheel body is static;
the second wheel body is coaxially arranged and connected with the clamping jaw assembly and is used for driving the clamping jaw assembly to rotate;
the synchronous belt is connected with the first wheel body and the second wheel body;
the synchronous belt with during the pendulum rod synchronous oscillation, wobbling synchronous belt drives the second wheel body rotates, the rotation direction of second wheel body with pendulum rod swing direction is opposite, just the turned angle of second wheel body with the swing angle of pendulum rod is the same.
3. The carrier rod gripping device of claim 2, further comprising: the support body, the drive shaft is established on the support body, the angle compensation subassembly still includes: the fixing assembly is connected with the first wheel body, and when the driving shaft rotates relative to the frame body, the fixing assembly and the first wheel body are fixed relative to the frame body.
4. The carrier rod clipping device of claim 3, wherein the securing assembly comprises: the fixing shaft penetrates through the driving shaft, the axis of the guide shaft is parallel to the driving shaft, and the guide shaft is connected with the fixing shaft through the connecting plate.
5. The carrier bar picking apparatus as claimed in claim 3, wherein the swing link has a first bearing mounted at an axial end thereof, the first wheel is engaged with the first bearing, and the swing link swings to drive the first bearing to rotate relative to the first wheel.
6. The carrier rod clamping device as claimed in claim 5, wherein the first wheel body, the second wheel body and the timing belt are all disposed in the swing link, the clamping jaw assembly penetrates through a swing end of the swing link, and a portion of the clamping jaw assembly located in the swing link is connected with the second wheel body.
7. The carrier rod clamping device of claim 6, wherein the jaw assembly comprises: the clamping jaw comprises an electric module, a clamping jaw and a connecting block connected between the electric module and the clamping jaw, wherein the electric module is used for driving the clamping jaw to open or close; the electric module penetrates through the swing rod and is connected with the second wheel body, and the clamping jaw and the connecting block are located below the swing rod.
8. The carrier rod picking device as claimed in claim 7, wherein a motor housing is provided on the swing rod, and the motor module is partially located in the motor housing, and a heating module is provided in the motor housing.
9. The utility model provides a carrier bar clamping device that clamping jaw angle is stable which characterized in that includes:
a drive shaft;
one end of the swing rod is connected with the driving shaft, and the swing rod is used for rotating along the driving shaft;
the clamping jaw assembly is connected to the swing rod and used for clamping a target carrying rod at a preset clamping angle, and the clamping jaw assembly rotates around the driving shaft along with the swing rod at the preset clamping angle;
the angle compensation assembly comprises an angle compensation motor connected with the clamping jaw assembly;
the angle compensation motor is electrically connected with the upper computer, and the upper computer controls the angle compensation motor to rotate according to the working state of the driving motor.
10. The carrier rod gripping device according to claim 9, wherein the rotation direction of the angle compensation motor is opposite to the rotation direction of the driving motor and the rotation angles are the same when the swing link rotates; or the rotation direction of the angle compensation motor is the same as that of the driving motor, and the sum of the rotation angle of the angle compensation motor and that of the driving motor is 360 degrees.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011444519.0A CN112659172A (en) | 2020-12-11 | 2020-12-11 | Carrier rod clamping device with stable clamping jaw angle |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011444519.0A CN112659172A (en) | 2020-12-11 | 2020-12-11 | Carrier rod clamping device with stable clamping jaw angle |
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| CN112659172A true CN112659172A (en) | 2021-04-16 |
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| CN202011444519.0A Pending CN112659172A (en) | 2020-12-11 | 2020-12-11 | Carrier rod clamping device with stable clamping jaw angle |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115709478A (en) * | 2023-01-09 | 2023-02-24 | 烟台江土机械设备有限公司 | Lotus claw for grabbing waste steel |
Citations (11)
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| CN115709478A (en) * | 2023-01-09 | 2023-02-24 | 烟台江土机械设备有限公司 | Lotus claw for grabbing waste steel |
| CN115709478B (en) * | 2023-01-09 | 2023-04-28 | 烟台江土机械设备有限公司 | Lotus flower grab for grabbing waste steel |
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Application publication date: 20210416 |